+ python -m lidar_slam --no-model /working/bb43672a-fa49-4450-9b16-01380da72ae4 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/bb43672a-fa49-4450-9b16-01380da72ae4 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 start_distance from 0.0 to 0.000371743 Adjusted end_distance from 9.223372036854776e+18 to 383.890371743 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000371743 meters Centerline goodness : 0.983692 Centerline is valid? [0, True] SLAMing on 0.030371743 meters Centerline goodness : 0.982765 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99999885e-01 3.18301998e-04 3.59016404e-04 2.92989517e-02] [-3.18670140e-04 9.99999423e-01 1.02582960e-03 -1.91032300e-03] [-3.58689673e-04 -1.02594389e-03 9.99999409e-01 -5.91154162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060371743 meters Centerline goodness : 0.984630 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99988908e-01 4.62959415e-03 -8.66402937e-04 5.83932078e-02] [-4.63204981e-03 9.99985199e-01 -2.85410627e-03 -2.35321675e-03] [ 8.53176760e-04 2.85808784e-03 9.99995552e-01 8.92354295e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09037174299999999 meters Centerline goodness : 0.984827 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:-0.00 [[ 9.99975948e-01 6.91796176e-03 4.95141307e-04 8.65606764e-02] [-6.91856517e-03 9.99975313e-01 1.22750749e-03 -5.78061399e-03] [-4.86637233e-04 -1.23090363e-03 9.99999124e-01 -1.63246309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12037174299999999 meters Centerline goodness : 0.985135 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 0.99987517 0.01568751 0.00188396 0.11614887] [-0.01564955 0.99970253 -0.01870668 -0.0079529 ] [-0.00217686 0.01867487 0.99982324 0.00167915] [ 0. 0. 0. 1. ]] SLAMing on 0.150371743 meters Centerline goodness : 0.985286 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.01, Z:-0.01 [[ 9.99853114e-01 1.64060570e-02 4.95909675e-03 1.43347563e-01] [-1.64044856e-02 9.99865374e-01 -3.57378902e-04 -1.38735557e-02] [-4.96429230e-03 2.75974976e-04 9.99987640e-01 -7.33462113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180371743 meters Centerline goodness : 0.985811 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.01, Z:-0.00 [[ 9.99726007e-01 2.27925038e-02 5.33027041e-03 1.71063706e-01] [-2.27907838e-02 9.99740183e-01 -3.83199094e-04 -1.24804698e-02] [-5.33761958e-03 2.61613059e-04 9.99985721e-01 -4.48923445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.210371743 meters Centerline goodness : 0.979907 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.00, Z:-0.01 [[ 0.99976237 0.02093524 0.0060762 0.19546702] [-0.02089564 0.99976047 -0.00650976 -0.00279316] [-0.00621103 0.00638124 0.99996035 -0.00586678] [ 0. 0. 0. 1. ]] SLAMing on 0.240371743 meters Centerline goodness : 0.985821 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.02, Z:-0.01 [[ 0.99961915 0.02690145 0.00615385 0.2250764 ] [-0.02704155 0.99934747 0.02394536 -0.02043615] [-0.00550567 -0.02410265 0.99969433 -0.01393348] [ 0. 0. 0. 1. ]] SLAMing on 0.270371743 meters Centerline goodness : 0.984559 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.01, Z:-0.00 [[ 9.99198858e-01 3.92494578e-02 7.81812548e-03 2.55079825e-01] [-3.90738159e-02 9.99005488e-01 -2.14772207e-02 -8.85883843e-03] [-8.65331954e-03 2.11545304e-02 9.99738769e-01 -4.68919757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30037174299999997 meters Centerline goodness : 0.984689 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.02, Z:-0.01 [[ 9.99072226e-01 4.21116301e-02 9.01657169e-03 2.82204351e-01] [-4.21074632e-02 9.99112875e-01 -6.51560001e-04 -2.01938975e-02] [-9.03601112e-03 2.71290540e-04 9.99959138e-01 -9.05292829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33037174299999994 meters Centerline goodness : 0.984471 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.02, Z:-0.01 [[ 9.98977186e-01 4.40632727e-02 1.01494141e-02 3.10107937e-01] [-4.40581088e-02 9.99028702e-01 -7.31921807e-04 -2.20698610e-02] [-1.01718069e-02 2.84009194e-04 9.99948226e-01 -1.01039039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36037174299999997 meters Centerline goodness : 0.980700 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.01, Z:-0.01 [[ 0.99912835 0.03996172 0.01206691 0.33478427] [-0.0398792 0.99917996 -0.00700353 -0.01337284] [-0.01233689 0.00651621 0.99990267 -0.01112208] [ 0. 0. 0. 1. ]] SLAMing on 0.390371743 meters Centerline goodness : 0.986125 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.03, Z:-0.01 [[ 0.99883009 0.04700403 0.01136107 0.36609781] [-0.04706815 0.99887685 0.00544336 -0.03034961] [-0.01109245 -0.00597174 0.99992064 -0.01250386] [ 0. 0. 0. 1. ]] SLAMing on 0.42037174299999996 meters Centerline goodness : 0.986030 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.03, Z:-0.01 [[ 9.98872579e-01 4.61451300e-02 1.11444265e-02 3.94609634e-01] [-4.61391100e-02 9.98934706e-01 -7.96826741e-04 -3.00410966e-02] [-1.11693241e-02 2.81734460e-04 9.99937581e-01 -1.04212987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45037174299999994 meters Centerline goodness : 0.986903 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.03, Z:-0.01 [[ 9.98925640e-01 4.48805638e-02 1.15456125e-02 4.22267578e-01] [-4.48740356e-02 9.98992313e-01 -8.23999116e-04 -3.25944116e-02] [-1.15709596e-02 3.05015619e-04 9.99933008e-01 -1.12049612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48037174299999996 meters Centerline goodness : 0.987278 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.04, Z:-0.01 [[ 9.99151364e-01 4.07437128e-02 6.04161962e-03 4.50238392e-01] [-4.07418489e-02 9.99169613e-01 -4.31321972e-04 -3.62850147e-02] [-6.05417640e-03 1.84809183e-04 9.99981656e-01 -7.79582370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.510371743 meters Centerline goodness : 0.986872 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.04, Z:-0.01 [[ 9.99265834e-01 3.77504887e-02 6.53403079e-03 4.78157429e-01] [-3.77482462e-02 9.99287172e-01 -4.66238011e-04 -3.86241530e-02] [-6.54697387e-03 2.19247512e-04 9.99978544e-01 -8.01416370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.540371743 meters Centerline goodness : 0.987330 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.04, Z:-0.01 [[ 9.99351375e-01 3.52959895e-02 7.14296725e-03 5.05560849e-01] [-3.52932646e-02 9.99376870e-01 -5.07215064e-04 -4.12583954e-02] [-7.15641892e-03 2.54787439e-04 9.99974360e-01 -7.57163312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5703717429999999 meters Centerline goodness : 0.986878 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.05, Z:-0.01 [[ 9.99490359e-01 3.15377990e-02 4.93864121e-03 5.33405992e-01] [-3.15364506e-02 9.99502541e-01 -3.50687820e-04 -4.74106599e-02] [-4.94724436e-03 1.94761881e-04 9.99987743e-01 -5.58151972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600371743 meters Centerline goodness : 0.982327 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.04, Z:-0.01 [[ 0.99969473 0.02404628 0.00567625 0.55981269] [-0.02402031 0.99970089 -0.00459904 -0.04177471] [-0.00578515 0.00446129 0.99997331 -0.00715788] [ 0. 0. 0. 1. ]] SLAMing on 0.630371743 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.04, Z:0.00 [[ 0.99960361 0.02792322 0.00359347 0.60001458] [-0.02782059 0.99927487 -0.02599509 -0.04381116] [-0.00431674 0.02588481 0.99965561 0.00248684] [ 0. 0. 0. 1. ]] SLAMing on 0.6603717429999999 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.06, Z:-0.01 [[ 0.99971091 0.02332576 0.00583119 0.62910579] [-0.02333935 0.99972502 0.00227337 -0.05869478] [-0.00577656 -0.00240881 0.99998041 -0.00840324] [ 0. 0. 0. 1. ]] SLAMing on 0.6903717429999999 meters Centerline goodness : 0.982239 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.07, Z:-0.02 [[ 0.99979481 0.01882213 0.00748769 0.64892094] [-0.01897431 0.99960358 0.02080047 -0.06521968] [-0.00709321 -0.02093827 0.99975561 -0.01811102] [ 0. 0. 0. 1. ]] SLAMing on 0.720371743 meters Centerline goodness : 0.987797 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.07, Z:-0.00 [[ 9.99782471e-01 2.08465105e-02 6.58800535e-04 6.80865096e-01] [-2.08508208e-02 9.99755175e-01 7.40500015e-03 -6.66768155e-02] [-5.04270831e-04 -7.41712588e-03 9.99972366e-01 -3.07454041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.750371743 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.06, Z:-0.01 [[ 9.99812667e-01 1.71980894e-02 8.88011336e-03 7.06840308e-01] [-1.71937214e-02 9.99852016e-01 -5.68000510e-04 -6.34995402e-02] [-8.88856776e-03 4.15211910e-04 9.99960410e-01 -7.54553917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.780371743 meters Centerline goodness : 0.981311 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.06, Z:-0.01 [[ 0.99977824 0.0146546 0.01512333 0.73556196] [-0.01460237 0.99988705 -0.00355889 -0.06293813] [-0.01517378 0.00333726 0.9998793 -0.01288796] [ 0. 0. 0. 1. ]] SLAMing on 0.8103717429999999 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.06, Z:0.00 [[ 0.99987944 0.01494122 0.00422741 0.77297004] [-0.01481972 0.99951349 -0.02744376 -0.05630097] [-0.00463539 0.0273778 0.99961441 0.00412083] [ 0. 0. 0. 1. ]] SLAMing on 0.840371743 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.06, Z:-0.00 [[ 0.99987716 0.01357835 0.00782936 0.80573324] [-0.01341294 0.99969357 -0.02080533 -0.06358453] [-0.00810946 0.02069776 0.99975289 -0.0048554 ] [ 0. 0. 0. 1. ]] SLAMing on 0.870371743 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.08, Z:-0.02 [[ 0.99986275 0.01303853 0.01022105 0.83335934] [-0.01309708 0.99989808 0.00568219 -0.07725152] [-0.01014592 -0.00581528 0.99993162 -0.01563834] [ 0. 0. 0. 1. ]] SLAMing on 0.9003717429999999 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.07, Z:-0.01 [[ 0.99991819 0.01105424 0.00643522 0.86646221] [-0.01098865 0.99988821 -0.01014002 -0.07182532] [-0.00654659 0.01006848 0.99992788 -0.00929872] [ 0. 0. 0. 1. ]] SLAMing on 0.9303717429999999 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.07, Z:-0.01 [[ 0.99994903 0.00931343 0.00389746 0.8965323 ] [-0.00928603 0.99993247 -0.00698794 -0.0737049 ] [-0.00396227 0.00695139 0.99996799 -0.00956649] [ 0. 0. 0. 1. ]] SLAMing on 0.9603717429999999 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.08, Z:-0.02 [[ 0.99996973 0.00683582 0.00371647 0.92387936] [-0.00689074 0.99986421 0.01496913 -0.0826187 ] [-0.00361364 -0.01499429 0.99988105 -0.01557204] [ 0. 0. 0. 1. ]] SLAMing on 0.990371743 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.09, Z:-0.01 [[ 0.99989885 -0.00651478 -0.012643 0.93485032] [ 0.00735247 0.99770006 0.06738342 -0.08606996] [ 0.01217493 -0.06746956 0.99764705 -0.00776876] [ 0. 0. 0. 1. ]] SLAMing on 1.020371743 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.06, Z:0.02 [[ 9.99835772e-01 -7.14128253e-03 -1.66562578e-02 9.64479791e-01] [ 7.15343335e-03 9.99974189e-01 6.70039343e-04 -5.70555816e-02] [ 1.66510429e-02 -7.89078733e-04 9.99861050e-01 1.85634195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0503717430000001 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.06, Z:0.02 [[ 0.9998851 -0.0041302 -0.01458508 0.99496706] [ 0.00405408 0.99997803 -0.00524469 -0.05676551] [ 0.01460642 0.00518496 0.99987988 0.01875498] [ 0. 0. 0. 1. ]] SLAMing on 1.0803717430000002 meters Centerline goodness : 0.984642 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.06, Z:0.02 [[ 0.99987495 -0.00575215 -0.01473093 1.02187076] [ 0.00576963 0.9999827 0.00114412 -0.05604605] [ 0.01472409 -0.00122897 0.99989084 0.01654198] [ 0. 0. 0. 1. ]] SLAMing on 1.110371743 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.06, Z:0.02 [[ 0.99988275 -0.0030505 -0.01500626 1.05121433] [ 0.00300092 0.99998997 -0.00332488 -0.05797335] [ 0.01501625 0.00327945 0.99988187 0.019345 ] [ 0. 0. 0. 1. ]] SLAMing on 1.140371743 meters Centerline goodness : 0.984743 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.06, Z:0.02 [[ 0.99987124 -0.00513434 -0.01520361 1.07705504] [ 0.00520174 0.9999768 0.00439704 -0.05693152] [ 0.01518068 -0.00447556 0.99987475 0.01700309] [ 0. 0. 0. 1. ]] SLAMing on 1.170371743 meters Centerline goodness : 0.983872 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.05, Z:0.02 [[ 0.99988305 -0.0053219 -0.01433726 1.10513173] [ 0.00535613 0.9999829 0.00234979 -0.05288104] [ 0.01432451 -0.00242631 0.99989446 0.01864092] [ 0. 0. 0. 1. ]] SLAMing on 1.200371743 meters Centerline goodness : 0.984632 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.05, Z:0.02 [[ 0.99982129 -0.00562282 -0.01804936 1.13418188] [ 0.00558434 0.99998203 -0.00218152 -0.04941951] [ 0.0180613 0.00208034 0.99983472 0.02265388] [ 0. 0. 0. 1. ]] SLAMing on 1.230371743 meters Centerline goodness : 0.984673 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.05, Z:0.02 [[ 0.99987323 -0.00635887 -0.01459737 1.16171989] [ 0.00639467 0.99997666 0.00240698 -0.05044066] [ 0.01458173 -0.00250002 0.99989056 0.0200639 ] [ 0. 0. 0. 1. ]] SLAMing on 1.260371743 meters Centerline goodness : 0.984003 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.05, Z:0.02 [[ 0.99985563 -0.00683377 -0.01555702 1.18997355] [ 0.00681378 0.99997589 -0.00133768 -0.04829881] [ 0.01556579 0.00123148 0.99987809 0.023088 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2903717430000001 meters Centerline goodness : 0.984003 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.05, Z:0.02 [[ 9.99857790e-01 -6.83148055e-03 -1.54185048e-02 1.21737193e+00] [ 6.84314822e-03 9.99976338e-01 7.04098989e-04 -5.06087526e-02] [ 1.54133299e-02 -8.09509972e-04 9.99880880e-01 2.22189712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.320371743 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.05, Z:0.03 [[ 0.99990318 -0.00557444 -0.01274989 1.25016876] [ 0.00540068 0.99989262 -0.01362252 -0.0463534 ] [ 0.01282446 0.01355234 0.99982592 0.02501512] [ 0. 0. 0. 1. ]] SLAMing on 1.350371743 meters Centerline goodness : 0.983746 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.06, Z:0.01 [[ 0.99987524 -0.00881911 -0.01310473 1.27465368] [ 0.00907891 0.99976077 0.01989924 -0.05776973] [ 0.0129261 -0.02001573 0.9997161 0.01291237] [ 0. 0. 0. 1. ]] SLAMing on 1.380371743 meters Centerline goodness : 0.984605 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.05, Z:0.02 [[ 0.99985384 -0.01179812 -0.01237373 1.30254733] [ 0.01191907 0.99988145 0.00974745 -0.05112085] [ 0.01225727 -0.00989351 0.99987593 0.01502871] [ 0. 0. 0. 1. ]] SLAMing on 1.410371743 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.04, Z:0.03 [[ 0.9998226 -0.01174242 -0.0147271 1.33617109] [ 0.011413 0.99968716 -0.02225612 -0.03837831] [ 0.01498384 0.02208409 0.99964383 0.02858418] [ 0. 0. 0. 1. ]] SLAMing on 1.440371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.05, Z:0.02 [[ 0.99974292 -0.01509077 -0.01692255 1.36006811] [ 0.01536103 0.99975469 0.01595606 -0.04941552] [ 0.01667761 -0.01621191 0.99972948 0.01565067] [ 0. 0. 0. 1. ]] SLAMing on 1.470371743 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.04, Z:0.02 [[ 9.99703559e-01 -1.57095569e-02 -1.86011692e-02 1.39055424e+00] [ 1.56963558e-02 9.99876439e-01 -8.55483800e-04 -3.75200049e-02] [ 1.86123100e-02 5.63259630e-04 9.99826617e-01 2.30741026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.04, Z:0.02 [[ 0.9998333 -0.0103085 -0.01507024 1.42125052] [ 0.0101956 0.99991953 -0.00754912 -0.03715605] [ 0.01514684 0.00739421 0.99985794 0.0219363 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5303717430000001 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.03, Z:0.02 [[ 0.99983315 -0.00591934 -0.01728073 1.45180963] [ 0.00579842 0.99995841 -0.00703966 -0.03261536] [ 0.01732168 0.00693829 0.99982589 0.0224728 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5603717430000001 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.04, Z:0.02 [[ 0.99986278 -0.00208638 -0.01643403 1.47948428] [ 0.00218513 0.99997965 0.00599359 -0.03610152] [ 0.01642119 -0.00602867 0.99984699 0.01827454] [ 0. 0. 0. 1. ]] SLAMing on 1.590371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.03, Z:0.02 [[ 9.99861018e-01 8.36377970e-04 -1.66506745e-02 1.50717965e+00] [-7.42792192e-04 9.99983898e-01 5.62593099e-03 -3.30902079e-02] [ 1.66551118e-02 -5.61278110e-03 9.99845540e-01 2.08555548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620371743 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.03, Z:0.02 [[ 0.99983415 0.00846834 -0.01612296 1.53516557] [-0.00843391 0.99996201 0.00220254 -0.02693685] [ 0.016141 -0.0020662 0.99986759 0.02455772] [ 0. 0. 0. 1. ]] SLAMing on 1.650371743 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.02, Z:0.03 [[ 0.99982637 0.0107145 -0.0152455 1.5621882 ] [-0.01076688 0.9999364 -0.00335812 -0.02335641] [ 0.01520855 0.00352168 0.99987814 0.02602041] [ 0. 0. 0. 1. ]] SLAMing on 1.680371743 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:0.02 [[ 0.99979665 0.01237288 -0.0159238 1.59009119] [-0.01228089 0.9999074 0.00586194 -0.02538007] [ 0.01599486 -0.00566519 0.99985602 0.02381802] [ 0. 0. 0. 1. ]] SLAMing on 1.710371743 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.02, Z:0.03 [[ 0.99975568 0.01364692 -0.01738807 1.61700143] [-0.01355192 0.99989266 0.00556965 -0.02404572] [ 0.01746221 -0.00533265 0.9998333 0.02575364] [ 0. 0. 0. 1. ]] SLAMing on 1.740371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.02, Z:0.03 [[ 0.99972892 0.0141231 -0.0185103 1.64621836] [-0.01416531 0.99989735 -0.00215169 -0.02078476] [ 0.01847801 0.00241331 0.99982635 0.02896356] [ 0. 0. 0. 1. ]] SLAMing on 1.770371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.02, Z:0.03 [[ 0.99971793 0.01461895 -0.01871758 1.67519316] [-0.01467582 0.99988809 -0.00290437 -0.0204471 ] [ 0.01867303 0.00317825 0.99982059 0.02832083] [ 0. 0. 0. 1. ]] SLAMing on 1.800371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.02, Z:0.03 [[ 9.99751197e-01 1.44861963e-02 -1.69615617e-02 1.70205690e+00] [-1.45077396e-02 9.99894098e-01 -1.14775767e-03 -2.25544794e-02] [ 1.69431388e-02 1.39354602e-03 9.99855484e-01 2.64115707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.830371743 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.03, Z:0.03 [[ 0.99975319 0.01297095 -0.01803644 1.72826092] [-0.01288475 0.99990504 0.00488724 -0.02583101] [ 0.01809812 -0.00465364 0.99982539 0.02611032] [ 0. 0. 0. 1. ]] SLAMing on 1.860371743 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.02, Z:0.03 [[ 0.99981412 0.01095574 -0.01586526 1.75807498] [-0.01110435 0.99989501 -0.00930929 -0.02478045] [ 0.01576161 0.00948373 0.9998308 0.03095341] [ 0. 0. 0. 1. ]] SLAMing on 1.890371743 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.03, Z:0.03 [[ 0.99985603 0.00945664 -0.01408887 1.78682553] [-0.00951384 0.99994675 -0.00399827 -0.03036092] [ 0.01405031 0.00413173 0.99989275 0.02695768] [ 0. 0. 0. 1. ]] SLAMing on 1.920371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.04, Z:0.03 [[ 9.99865362e-01 7.72451793e-03 -1.44772180e-02 1.81559180e+00] [-7.72544643e-03 9.99970158e-01 -8.21115559e-06 -3.50047664e-02] [ 1.44767225e-02 1.20053022e-04 9.99895200e-01 2.58961296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.950371743 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.04, Z:0.03 [[ 9.99894520e-01 5.06229087e-03 -1.36132789e-02 1.84144728e+00] [-5.04148644e-03 9.99986071e-01 1.56212843e-03 -3.84135421e-02] [ 1.36209972e-02 -1.49333250e-03 9.99906115e-01 2.54491965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.980371743 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.04, Z:0.03 [[ 9.99885059e-01 4.38374334e-03 -1.45138705e-02 1.87004639e+00] [-4.37576243e-03 9.99990257e-01 5.81592632e-04 -4.01054792e-02] [ 1.45162786e-02 -5.18016534e-04 9.99894499e-01 2.61579697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.010371743 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.04, Z:0.03 [[ 0.99986488 0.00275351 -0.01620638 1.89765505] [-0.0026853 0.99998745 0.00422944 -0.04285604] [ 0.01621782 -0.00418534 0.99985972 0.02619677] [ 0. 0. 0. 1. ]] SLAMing on 2.040371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.04, Z:0.03 [[ 9.99863606e-01 7.74463824e-04 -1.64975442e-02 1.92724722e+00] [-8.91822348e-04 9.99974344e-01 -7.10752791e-03 -4.20092662e-02] [ 1.64916164e-02 7.12127136e-03 9.99838644e-01 2.91765344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.070371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.05, Z:0.02 [[ 9.99858009e-01 -9.25721189e-04 -1.68257199e-02 1.95296464e+00] [ 1.13373165e-03 9.99923003e-01 1.23573170e-02 -5.10473015e-02] [ 1.68129849e-02 -1.23746383e-02 9.99782072e-01 2.27970642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.100371743 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.05, Z:0.03 [[ 9.99854028e-01 -2.04372236e-03 -1.69630595e-02 1.98192048e+00] [ 1.97176852e-03 9.99988993e-01 -4.25743773e-03 -4.70145183e-02] [ 1.69715738e-02 4.22336904e-03 9.99847053e-01 2.94360309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.130371743 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.05, Z:0.03 [[ 0.99984098 -0.00365795 -0.01745382 2.01108971] [ 0.00356888 0.99998047 -0.00513139 -0.04924355] [ 0.01747225 0.00506828 0.9998345 0.03020954] [ 0. 0. 0. 1. ]] SLAMing on 2.1603717430000002 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.05, Z:0.03 [[ 0.99984026 -0.00435416 -0.01733471 2.04014772] [ 0.00441654 0.9999839 0.00356235 -0.05385859] [ 0.01731892 -0.00363834 0.9998434 0.02754915] [ 0. 0. 0. 1. ]] SLAMing on 2.190371743 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.05, Z:0.03 [[ 0.99982935 -0.00508314 -0.01776042 2.06873187] [ 0.00512247 0.99998453 0.00216977 -0.05407643] [ 0.01774912 -0.00226038 0.99983992 0.02992346] [ 0. 0. 0. 1. ]] SLAMing on 2.220371743 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.05, Z:0.03 [[ 9.99795503e-01 -6.10221426e-03 -1.92799277e-02 2.09778079e+00] [ 6.11332832e-03 9.99981179e-01 5.17572042e-04 -5.39879321e-02] [ 1.92764065e-02 -6.35330728e-04 9.99813991e-01 3.31538567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.250371743 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.06, Z:0.03 [[ 9.99824259e-01 -5.88179333e-03 -1.78004583e-02 2.12481662e+00] [ 5.91355158e-03 9.99981015e-01 1.73201481e-03 -5.61262374e-02] [ 1.77899330e-02 -1.83697435e-03 9.99840059e-01 3.44513090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.280371743 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.06, Z:0.03 [[ 0.99984705 -0.00483164 -0.01680887 2.1539468 ] [ 0.00488149 0.99998381 0.00292586 -0.05853993] [ 0.01679446 -0.00300746 0.99985444 0.03417906] [ 0. 0. 0. 1. ]] SLAMing on 2.310371743 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.06, Z:0.04 [[ 9.99811690e-01 -5.31048707e-03 -1.86650208e-02 2.18183645e+00] [ 5.30402553e-03 9.99985855e-01 -3.95671548e-04 -5.80958355e-02] [ 1.86668580e-02 2.96597292e-04 9.99825715e-01 3.79618271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.340371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.06, Z:0.04 [[ 9.99868965e-01 -2.77593826e-03 -1.59482717e-02 2.20996115e+00] [ 2.80180559e-03 9.99994795e-01 1.59983709e-03 -6.14444360e-02] [ 1.59437476e-02 -1.64431141e-03 9.99871538e-01 3.70860209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.370371743 meters Centerline goodness : 0.992878 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.06, Z:0.04 [[ 9.99876853e-01 -1.59620962e-03 -1.56118637e-02 2.23882851e+00] [ 1.51845086e-03 9.99986390e-01 -4.99133405e-03 -6.08575910e-02] [ 1.56196184e-02 4.96701354e-03 9.99865669e-01 3.92679676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.400371743 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.06, Z:0.04 [[ 9.99886246e-01 6.43237766e-04 -1.50692268e-02 2.26665979e+00] [-6.68390201e-04 9.99998392e-01 -1.66414892e-03 -6.34006031e-02] [ 1.50681321e-02 1.67403174e-03 9.99885068e-01 3.73084338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.430371743 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.07, Z:0.04 [[ 9.99908137e-01 1.79847284e-03 -1.34343807e-02 2.30087583e+00] [-1.80905685e-03 9.99998063e-01 -7.75719367e-04 -6.71887223e-02] [ 1.34329596e-02 7.99951666e-04 9.99909454e-01 3.68013082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.460371743 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.07, Z:0.04 [[ 9.99882279e-01 5.62507454e-03 -1.42753719e-02 2.32567550e+00] [-5.64117449e-03 9.99983497e-01 -1.08779613e-03 -6.83663928e-02] [ 1.42690174e-02 1.16819793e-03 9.99897510e-01 3.67810888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.490371743 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.07, Z:0.04 [[ 0.99984071 0.00619787 -0.01673747 2.35192463] [-0.00612711 0.99997209 0.00427506 -0.07045212] [ 0.0167635 -0.00417183 0.99985078 0.03698609] [ 0. 0. 0. 1. ]] SLAMing on 2.520371743 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.07, Z:0.04 [[ 0.99985475 0.00870599 -0.0146518 2.37875282] [-0.00865938 0.99995725 0.00324115 -0.07172203] [ 0.01467939 -0.0031138 0.9998874 0.03717974] [ 0. 0. 0. 1. ]] SLAMing on 2.550371743 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.07, Z:0.04 [[ 0.99983395 0.01195722 -0.01375124 2.41230484] [-0.01215715 0.99982026 -0.0145482 -0.06765884] [ 0.01357481 0.01471296 0.99979961 0.04207737] [ 0. 0. 0. 1. ]] SLAMing on 2.580371743 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.08, Z:0.04 [[ 0.99984092 0.01020566 -0.01462825 2.44334716] [-0.01009622 0.99992064 0.00753546 -0.07745662] [ 0.01470399 -0.00738657 0.99986461 0.03557443] [ 0. 0. 0. 1. ]] SLAMing on 2.610371743 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.07, Z:0.04 [[ 0.99978405 0.01226173 -0.016778 2.46754917] [-0.01230559 0.99992112 -0.0025136 -0.07448525] [ 0.01674585 0.00271952 0.99985608 0.04010641] [ 0. 0. 0. 1. ]] SLAMing on 2.6403717429999998 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.08, Z:0.04 [[ 0.99978072 0.01173689 -0.01734215 2.49817949] [-0.01160296 0.99990223 0.00780355 -0.08103731] [ 0.01743204 -0.00760062 0.99981916 0.03701319] [ 0. 0. 0. 1. ]] SLAMing on 2.670371743 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.08, Z:0.04 [[ 0.99979678 0.01296426 -0.01543797 2.52959843] [-0.01314374 0.99984654 -0.01158178 -0.07631339] [ 0.01528546 0.01178234 0.99981375 0.04176581] [ 0. 0. 0. 1. ]] SLAMing on 2.700371743 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.08, Z:0.04 [[ 9.99780196e-01 1.55663457e-02 -1.40445128e-02 2.55750309e+00] [-1.55670618e-02 9.99878824e-01 5.83366701e-05 -8.34111833e-02] [ 1.40437190e-02 1.60307952e-04 9.99901369e-01 3.56764447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.730371743 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.08, Z:0.04 [[ 0.9997832 0.01667264 -0.01247314 2.58510618] [-0.01671375 0.9998552 -0.00319862 -0.08428457] [ 0.01241801 0.00340639 0.99991709 0.03618307] [ 0. 0. 0. 1. ]] SLAMing on 2.760371743 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.09, Z:0.04 [[ 9.99810233e-01 1.37531425e-02 -1.37966786e-02 2.61509635e+00] [-1.37211865e-02 9.99902960e-01 2.40820613e-03 -8.79958186e-02] [ 1.38284601e-02 -2.21844233e-03 9.99901921e-01 3.76337019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.790371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.09, Z:0.04 [[ 0.99982204 0.01419375 -0.01242683 2.64527237] [-0.01429104 0.99986764 -0.0077758 -0.08643506] [ 0.01231482 0.00795201 0.99989255 0.0406614 ] [ 0. 0. 0. 1. ]] SLAMing on 2.820371743 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.10, Z:0.04 [[ 0.99980881 0.01132105 -0.01594301 2.66980296] [-0.01098672 0.99972111 0.02090431 -0.09682063] [ 0.01617522 -0.02072516 0.99965436 0.03624253] [ 0. 0. 0. 1. ]] SLAMing on 2.850371743 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.09, Z:0.05 [[ 0.99981832 0.01076558 -0.01572996 2.69873971] [-0.01085203 0.99992642 -0.00542046 -0.08873168] [ 0.01567045 0.00559017 0.99986158 0.04629462] [ 0. 0. 0. 1. ]] SLAMing on 2.880371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.09, Z:0.05 [[ 0.99981067 0.01037413 -0.01646203 2.72996091] [-0.01043372 0.99993931 -0.00353813 -0.09317419] [ 0.01642432 0.00370922 0.99985823 0.0459632 ] [ 0. 0. 0. 1. ]] SLAMing on 2.910371743 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.09, Z:0.05 [[ 0.99983262 0.00984679 -0.01541984 2.75886115] [-0.00992844 0.99993705 -0.00522734 -0.09491238] [ 0.0153674 0.00537956 0.99986744 0.04503711] [ 0. 0. 0. 1. ]] SLAMing on 2.940371743 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.10, Z:0.05 [[ 0.99978023 0.00760437 -0.01953649 2.78918925] [-0.00768382 0.9999625 -0.0039948 -0.09681548] [ 0.01950538 0.00414404 0.99980116 0.04678089] [ 0. 0. 0. 1. ]] SLAMing on 2.970371743 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.11, Z:0.04 [[ 0.99981179 0.00840042 -0.0174879 2.81206206] [-0.00798524 0.99968777 0.02367703 -0.11124979] [ 0.01768134 -0.02353292 0.99956669 0.0383606 ] [ 0. 0. 0. 1. ]] SLAMing on 3.000371743 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.10, Z:0.06 [[ 0.99973397 0.00437392 -0.02264643 2.84392994] [-0.00468197 0.99989699 -0.01356772 -0.0979718 ] [ 0.02258475 0.01367014 0.99965147 0.0554983 ] [ 0. 0. 0. 1. ]] SLAMing on 3.030371743 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.11, Z:0.05 [[ 0.99981015 0.00474673 -0.01889809 2.87526226] [-0.00490699 0.99995232 -0.00844295 -0.10622922] [ 0.01885711 0.00853408 0.99978577 0.05125595] [ 0. 0. 0. 1. ]] SLAMing on 3.060371743 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.11, Z:0.05 [[ 0.99977955 0.00354943 -0.02069417 2.90309869] [-0.00335451 0.99994976 0.00944585 -0.11486092] [ 0.02072666 -0.00937435 0.99974123 0.04748387] [ 0. 0. 0. 1. ]] SLAMing on 3.090371743 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.11, Z:0.05 [[ 9.99732986e-01 2.08762402e-03 -2.30130048e-02 2.93126574e+00] [-2.01550569e-03 9.99992987e-01 3.15655692e-03 -1.13726656e-01] [ 2.30194331e-02 -3.10933123e-03 9.99730182e-01 5.26274991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120371743 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.12, Z:0.05 [[ 9.99731077e-01 4.28099450e-03 -2.27913802e-02 2.95980884e+00] [-4.34741448e-03 9.99986444e-01 -2.86550849e-03 -1.15344514e-01] [ 2.27788040e-02 2.96382147e-03 9.99736136e-01 5.44042896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.150371743 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.12, Z:0.05 [[ 9.99717098e-01 3.76468363e-03 -2.34851264e-02 2.98920441e+00] [-3.73707247e-03 9.99992274e-01 1.21946536e-03 -1.17427694e-01] [ 2.34895358e-02 -1.13135475e-03 9.99723443e-01 5.39647240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.180371743 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.12, Z:0.06 [[ 9.99687163e-01 5.14316006e-03 -2.44770237e-02 3.01800737e+00] [-5.10358210e-03 9.99985567e-01 1.67913880e-03 -1.19749462e-01] [ 2.44853065e-02 -1.55369300e-03 9.99698983e-01 5.50263563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.210371743 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.12, Z:0.06 [[ 0.99961014 0.00649147 -0.02715548 3.04499255] [-0.00620526 0.99992445 0.0106109 -0.12440886] [ 0.02722231 -0.01043826 0.9995749 0.05536586] [ 0. 0. 0. 1. ]] SLAMing on 3.240371743 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.13, Z:0.06 [[ 9.99317478e-01 3.96620724e-03 -3.67266604e-02 3.06003391e+00] [-2.47384175e-03 9.99172782e-01 4.05910314e-02 -1.30699748e-01] [ 3.68572719e-02 -4.04724711e-02 9.98500636e-01 5.75718208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.270371743 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.12, Z:0.07 [[ 9.99309862e-01 5.03957519e-03 -3.68022162e-02 3.08736382e+00] [-5.01406162e-03 9.99987121e-01 7.85524867e-04 -1.16831967e-01] [ 3.68057009e-02 -6.00454166e-04 9.99322260e-01 7.41393978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.300371743 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.11, Z:0.08 [[ 0.99961772 0.01434196 -0.02363725 3.13058794] [-0.01569883 0.99817826 -0.05825549 -0.10683967] [ 0.02275869 0.0586043 0.99802183 0.0812981 ] [ 0. 0. 0. 1. ]] SLAMing on 3.330371743 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.14, Z:0.05 [[ 0.99956536 0.01990235 -0.02174813 3.15934894] [-0.01978246 0.99978798 0.00571419 -0.13791194] [ 0.02185724 -0.00528147 0.99974715 0.05496333] [ 0. 0. 0. 1. ]] SLAMing on 3.360371743 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.15, Z:0.05 [[ 0.99928956 0.01328486 -0.03526891 3.16992401] [-0.01117095 0.99816749 0.05947168 -0.14973175] [ 0.03599436 -0.05903544 0.99760675 0.05325053] [ 0. 0. 0. 1. ]] SLAMing on 3.3903717429999998 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.12, Z:0.08 [[ 0.99954493 0.01947029 -0.02303996 3.21580503] [-0.02090303 0.99775197 -0.0636716 -0.11545492] [ 0.02174846 0.06412423 0.99770491 0.08332259] [ 0. 0. 0. 1. ]] SLAMing on 3.420371743 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.15, Z:0.06 [[ 9.99491522e-01 2.19922921e-02 -2.30875918e-02 3.24541618e+00] [-2.19546965e-02 9.99757198e-01 1.88063463e-03 -1.48245565e-01] [ 2.31233456e-02 -1.37279729e-03 9.99731677e-01 5.64505243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.450371743 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.16, Z:0.06 [[ 0.9994437 0.02066179 -0.02617966 3.27052046] [-0.02019718 0.99963596 0.01788907 -0.15616828] [ 0.02653975 -0.01735036 0.99949718 0.05571904] [ 0. 0. 0. 1. ]] SLAMing on 3.480371743 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.16, Z:0.06 [[ 0.99921312 0.01209942 -0.03777238 3.28429962] [-0.01036035 0.99889222 0.045902 -0.15847805] [ 0.03828593 -0.04547454 0.99823156 0.06221081] [ 0. 0. 0. 1. ]] SLAMing on 3.510371743 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.14, Z:0.08 [[ 0.99950265 0.01691036 -0.02661761 3.32657751] [-0.01827231 0.99849111 -0.05178448 -0.13705187] [ 0.02570176 0.05224509 0.9983035 0.08368943] [ 0. 0. 0. 1. ]] SLAMing on 3.540371743 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.16, Z:0.06 [[ 0.99950989 0.01758647 -0.02589776 3.35761917] [-0.01746514 0.99983545 0.00490381 -0.16428269] [ 0.02597974 -0.0044491 0.99965257 0.06319062] [ 0. 0. 0. 1. ]] SLAMing on 3.570371743 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.16, Z:0.07 [[ 9.99546023e-01 1.58062709e-02 -2.56497484e-02 3.38546083e+00] [-1.58846375e-02 9.99869757e-01 -2.85437436e-03 -1.64353440e-01] [ 2.56012907e-02 3.26051550e-03 9.99666916e-01 6.61555031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6003717429999997 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.17, Z:0.07 [[ 9.99596095e-01 1.32167929e-02 -2.51587458e-02 3.41577136e+00] [-1.32599427e-02 9.99910883e-01 -1.54903733e-03 -1.71583122e-01] [ 2.51360305e-02 1.88201519e-03 9.99682269e-01 6.61463659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.630371743 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.17, Z:0.07 [[ 9.99647692e-01 1.27111084e-02 -2.33006334e-02 3.44500445e+00] [-1.27793630e-02 9.99914468e-01 -2.78274046e-03 -1.74843106e-01] [ 2.32632687e-02 3.07952734e-03 9.99724631e-01 6.59595996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.660371743 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.18, Z:0.07 [[ 0.99956771 0.00944805 -0.02784111 3.47071556] [-0.00885882 0.99973575 0.02121184 -0.18479222] [ 0.02803416 -0.02095603 0.99938728 0.06568622] [ 0. 0. 0. 1. ]] SLAMing on 3.690371743 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.18, Z:0.07 [[ 0.99957894 0.00640964 -0.02829962 3.5004917 ] [-0.0065475 0.99996713 -0.00478131 -0.17680378] [ 0.02826805 0.00496458 0.99958805 0.07440947] [ 0. 0. 0. 1. ]] SLAMing on 3.720371743 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.19, Z:0.07 [[ 9.99491970e-01 1.62709312e-03 -3.18301010e-02 3.52887061e+00] [-1.42047474e-03 9.99977782e-01 6.51282476e-03 -1.86385871e-01] [ 3.18399908e-02 -6.46430220e-03 9.99472075e-01 7.31109391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.750371743 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.19, Z:0.08 [[ 0.99900197 -0.00950736 -0.04364264 3.54246576] [ 0.01126472 0.99912818 0.04019931 -0.19021768] [ 0.0432224 -0.04065081 0.99823812 0.07646717] [ 0. 0. 0. 1. ]] SLAMing on 3.780371743 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.18, Z:0.09 [[ 9.98911631e-01 -1.38997606e-02 -4.45235887e-02 3.57047700e+00] [ 1.39396844e-02 9.99902666e-01 5.86324037e-04 -1.76725085e-01] [ 4.45111053e-02 -1.20633068e-03 9.99008161e-01 9.12292148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.810371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.18, Z:0.09 [[ 9.98856682e-01 -1.91015034e-02 -4.38230729e-02 3.59690987e+00] [ 1.91449552e-02 9.99816555e-01 5.72006857e-04 -1.81673872e-01] [ 4.38041076e-02 -1.41034364e-03 9.99039144e-01 9.26965386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.840371743 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.19, Z:0.09 [[ 0.99924783 -0.01468664 -0.03588992 3.63809444] [ 0.01391449 0.99966834 -0.02167014 -0.1854995 ] [ 0.03619628 0.02115445 0.99912077 0.09342471] [ 0. 0. 0. 1. ]] SLAMing on 3.8703717429999998 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.20, Z:0.09 [[ 0.99885773 -0.0229443 -0.04191422 3.65539788] [ 0.02398194 0.99941401 0.02442351 -0.19535951] [ 0.04132927 -0.0254008 0.99882265 0.08760639] [ 0. 0. 0. 1. ]] SLAMing on 3.900371743 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.19, Z:0.10 [[ 9.98796185e-01 -2.58297324e-02 -4.17013865e-02 3.68288378e+00] [ 2.58733680e-02 9.99665100e-01 5.06919190e-04 -1.87566341e-01] [ 4.16743272e-02 -1.58526427e-03 9.99129990e-01 9.74915820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.930371743 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.19, Z:0.10 [[ 0.9991645 -0.02322119 -0.03363139 3.72306635] [ 0.02209736 0.99919739 -0.03341085 -0.18762582] [ 0.03438023 0.03263977 0.99887569 0.09920658] [ 0. 0. 0. 1. ]] SLAMing on 3.960371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.20, Z:0.09 [[ 9.99172776e-01 -2.37346379e-02 -3.30216593e-02 3.75283506e+00] [ 2.37464787e-02 9.99718012e-01 -3.36136469e-05 -2.03479387e-01] [ 3.30131454e-02 -7.50562288e-04 9.99454636e-01 8.77725773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.990371743 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.21, Z:0.09 [[ 0.99863667 -0.03096941 -0.04202024 3.77024372] [ 0.03252839 0.99878799 0.03693858 -0.20893348] [ 0.04082534 -0.03825508 0.99843369 0.08856346] [ 0. 0. 0. 1. ]] SLAMing on 4.020371742999999 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.20, Z:0.10 [[ 9.98500156e-01 -3.42491398e-02 -4.27133925e-02 3.79657138e+00] [ 3.43002726e-02 9.99411465e-01 4.64599095e-04 -1.96739179e-01] [ 4.26723420e-02 -1.92898328e-03 9.99087259e-01 1.00961394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0503717429999995 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.20, Z:0.10 [[ 0.99887201 -0.03042803 -0.03645334 3.83577457] [ 0.02964685 0.99932308 -0.02178187 -0.19856987] [ 0.03709144 0.02067658 0.99909795 0.10128272] [ 0. 0. 0. 1. ]] SLAMing on 4.080371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.20, Z:0.10 [[ 0.9988986 -0.03097508 -0.03524382 3.86736719] [ 0.03058089 0.99946417 -0.01166949 -0.20437536] [ 0.0355864 0.01057885 0.99931061 0.09630452] [ 0. 0. 0. 1. ]] SLAMing on 4.110371742999999 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.21, Z:0.09 [[ 0.99894995 -0.03120212 -0.03354734 3.89745423] [ 0.03092299 0.99948297 -0.00880731 -0.20729153] [ 0.0338048 0.00776067 0.99939832 0.09418558] [ 0. 0. 0. 1. ]] SLAMing on 4.140371742999999 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.21, Z:0.09 [[ 9.98894945e-01 -3.19966671e-02 -3.44252998e-02 3.92788008e+00] [ 3.19457430e-02 9.99487546e-01 -2.02842363e-03 -2.10221693e-01] [ 3.44725613e-02 9.26440332e-04 9.99405215e-01 9.32704370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.170371743 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.22, Z:0.09 [[ 0.99879042 -0.03243975 -0.03695075 3.95316518] [ 0.03335602 0.99914426 0.02445663 -0.22011794] [ 0.03612577 -0.02565958 0.99901778 0.09086246] [ 0. 0. 0. 1. ]] SLAMing on 4.200371743 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.21, Z:0.10 [[ 0.99809698 -0.04045571 -0.04653769 3.97320688] [ 0.04169752 0.99879115 0.02602983 -0.21126839] [ 0.04542838 -0.0279208 0.99857733 0.10020781] [ 0. 0. 0. 1. ]] SLAMing on 4.230371742999999 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.20, Z:0.11 [[ 9.98012109e-01 -4.22347697e-02 -4.67766550e-02 4.00081641e+00] [ 4.22952493e-02 9.99105109e-01 3.03499750e-04 -2.01044761e-01] [ 4.67219768e-02 -2.28132671e-03 9.98905327e-01 1.08933305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260371742999999 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.20, Z:0.11 [[ 9.97962144e-01 -4.30592671e-02 -4.70899060e-02 4.02901805e+00] [ 4.31208224e-02 9.99069822e-01 2.91657383e-04 -2.01247294e-01] [ 4.70335454e-02 -2.32161850e-03 9.98890612e-01 1.09587378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.290371743 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.20, Z:0.11 [[ 9.97815341e-01 -4.50257988e-02 -4.83448323e-02 4.05649690e+00] [ 4.50922890e-02 9.98982785e-01 2.85033689e-04 -2.00359798e-01] [ 4.82828213e-02 -2.46439014e-03 9.98830664e-01 1.10270541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.19, Z:0.11 [[ 0.99847525 -0.04020771 -0.03782206 4.09874175] [ 0.03838028 0.99811636 -0.04786111 -0.19063574] [ 0.03967521 0.04633651 0.99813767 0.11312302] [ 0. 0. 0. 1. ]] SLAMing on 4.350371742999999 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.22, Z:0.10 [[ 0.99775528 -0.046014 -0.04865291 4.11470612] [ 0.04847159 0.997542 0.05060098 -0.21972883] [ 0.04620497 -0.05284568 0.99753318 0.09639845] [ 0. 0. 0. 1. ]] SLAMing on 4.3803717429999995 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.20, Z:0.11 [[ 9.97546685e-01 -4.97992664e-02 -4.92000500e-02 4.14230330e+00] [ 4.98715629e-02 9.98755610e-01 2.42184752e-04 -1.98233365e-01] [ 4.91267653e-02 -2.69527398e-03 9.98788915e-01 1.14536525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.410371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.19, Z:0.12 [[ 0.99809254 -0.04758458 -0.03933166 4.18345355] [ 0.04603196 0.99815947 -0.03948065 -0.19087906] [ 0.04113794 0.03759483 0.99844594 0.11753962] [ 0. 0. 0. 1. ]] SLAMing on 4.440371742999999 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.21, Z:0.10 [[ 0.99736269 -0.05432357 -0.04813129 4.20013626] [ 0.05636263 0.99752356 0.04207136 -0.21354691] [ 0.04572663 -0.04467321 0.9979546 0.10374556] [ 0. 0. 0. 1. ]] SLAMing on 4.470371742999999 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.20, Z:0.12 [[ 9.97151620e-01 -5.78709459e-02 -4.83694192e-02 4.22870866e+00] [ 5.79480805e-02 9.98319579e-01 1.92765286e-04 -1.95290000e-01] [ 4.82769827e-02 -2.99513121e-03 9.98829496e-01 1.19480272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.500371743 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.19, Z:0.12 [[ 9.97054736e-01 -5.92432881e-02 -4.87040728e-02 4.25812410e+00] [ 5.93225959e-02 9.98238847e-01 1.83218558e-04 -1.92865760e-01] [ 4.86074430e-02 -3.07193096e-03 9.98813236e-01 1.21553659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.530371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.19, Z:0.12 [[ 9.97061653e-01 -5.92613033e-02 -4.85402673e-02 4.28749570e+00] [ 5.93400137e-02 9.98237812e-01 1.80849055e-04 -1.91307583e-01] [ 4.84440129e-02 -3.06069779e-03 9.98821210e-01 1.22722026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.560371742999999 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.18, Z:0.12 [[ 0.997781 -0.05331474 -0.03988247 4.32742981] [ 0.05206131 0.99813639 -0.03183356 -0.18470654] [ 0.04150534 0.02968658 0.99869716 0.12469547] [ 0. 0. 0. 1. ]] SLAMing on 4.5903717429999995 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.20, Z:0.11 [[ 9.97945642e-01 -5.11813324e-02 -3.85352788e-02 4.35864198e+00] [ 5.10373543e-02 9.98685632e-01 -4.71142368e-03 -1.95131950e-01] [ 3.87257662e-02 2.73500605e-03 9.99246133e-01 1.14455943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620371743 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.19, Z:0.11 [[ 0.99823499 -0.04832319 -0.03452203 4.38853087] [ 0.04795276 0.99878364 -0.01147952 -0.19219951] [ 0.03503477 0.00980383 0.99933801 0.11253221] [ 0. 0. 0. 1. ]] SLAMing on 4.650371742999999 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.20, Z:0.11 [[ 0.99798398 -0.04806162 -0.04144937 4.41951498] [ 0.04864744 0.99872823 0.01324182 -0.19716493] [ 0.04076023 -0.01523153 0.99905285 0.11016941] [ 0. 0. 0. 1. ]] SLAMing on 4.680371742999999 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.19, Z:0.12 [[ 9.98020008e-01 -4.73808450e-02 -4.13656759e-02 4.44875713e+00] [ 4.72883865e-02 9.98876116e-01 -3.21132394e-03 -1.88279285e-01] [ 4.14713409e-02 1.24884948e-03 9.99138913e-01 1.15586233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.710371743 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.19, Z:0.12 [[ 9.98063453e-01 -4.57732599e-02 -4.21206966e-02 4.47670335e+00] [ 4.59196556e-02 9.98941972e-01 2.51419076e-03 -1.87790759e-01] [ 4.19610490e-02 -4.44348979e-03 9.99109366e-01 1.15523345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740371743 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.18, Z:0.12 [[ 0.99823293 -0.04297704 -0.04103645 4.50822511] [ 0.04260146 0.99904226 -0.00998375 -0.17778531] [ 0.04142622 0.00821789 0.99910777 0.11897367] [ 0. 0. 0. 1. ]] SLAMing on 4.770371742999999 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.19, Z:0.12 [[ 0.99806348 -0.04295297 -0.04499258 4.53548972] [ 0.04377549 0.99888885 0.01745798 -0.18507294] [ 0.04419272 -0.01939375 0.99883476 0.11605343] [ 0. 0. 0. 1. ]] SLAMing on 4.8003717429999995 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.18, Z:0.12 [[ 0.99721411 -0.04927103 -0.05600349 4.5507909 ] [ 0.05152685 0.99788714 0.03957564 -0.17965164] [ 0.05393523 -0.04235107 0.99764592 0.12384818] [ 0. 0. 0. 1. ]] SLAMing on 4.830371743 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.16, Z:0.14 [[ 9.97366452e-01 -4.84325947e-02 -5.39855878e-02 4.57675485e+00] [ 4.84971581e-02 9.98823314e-01 -1.14221086e-04 -1.58626225e-01] [ 5.39275957e-02 -2.50422730e-03 9.98541708e-01 1.40347567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860371742999999 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.15, Z:0.14 [[ 0.99817604 -0.04178401 -0.04357386 4.61784969] [ 0.04034134 0.99862493 -0.03347872 -0.15336315] [ 0.04491282 0.03165983 0.99848911 0.14209334] [ 0. 0. 0. 1. ]] SLAMing on 4.890371742999999 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.16, Z:0.13 [[ 0.99833039 -0.03916238 -0.04245867 4.65045966] [ 0.03878018 0.99919982 -0.00978859 -0.16002147] [ 0.04280804 0.00812569 0.99905027 0.13176866] [ 0. 0. 0. 1. ]] SLAMing on 4.920371743 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.17, Z:0.13 [[ 0.99743851 -0.04536367 -0.05530425 4.66557924] [ 0.04793033 0.99779081 0.0460019 -0.16962856] [ 0.05309526 -0.04853482 0.99740928 0.1275923 ] [ 0. 0. 0. 1. ]] SLAMing on 4.950371743 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.15, Z:0.15 [[ 9.97273889e-01 -4.79186454e-02 -5.61123319e-02 4.69214328e+00] [ 4.79792078e-02 9.98848299e-01 -2.68146601e-04 -1.48578174e-01] [ 5.60605565e-02 -2.42480963e-03 9.98424426e-01 1.45748871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980371742999999 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.15, Z:0.15 [[ 9.97175805e-01 -4.82806606e-02 -5.75273128e-02 4.71960337e+00] [ 4.83439545e-02 9.98830705e-01 -2.91765957e-04 -1.47223458e-01] [ 5.74741330e-02 -2.49015584e-03 9.98343890e-01 1.46526931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.010371742999999 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.13, Z:0.15 [[ 0.99806475 -0.04267093 -0.04523223 4.76344313] [ 0.03991201 0.9973859 -0.06023618 -0.13239327] [ 0.04768432 0.0583143 0.99715879 0.1526528 ] [ 0. 0. 0. 1. ]] SLAMing on 5.040371743 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.16, Z:0.13 [[ 9.98127773e-01 -4.00904400e-02 -4.61920529e-02 4.79320142e+00] [ 4.02140162e-02 9.99189559e-01 1.74872987e-03 -1.56986307e-01] [ 4.60845096e-02 -3.60302381e-03 9.98931047e-01 1.29174906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.070371742999999 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.16, Z:0.13 [[ 9.98047405e-01 -4.09627951e-02 -4.71532211e-02 4.82254753e+00] [ 4.10735358e-02 9.99155171e-01 1.38160838e-03 -1.56284162e-01] [ 4.70567902e-02 -3.31566018e-03 9.98886713e-01 1.31308618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.100371742999999 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.16, Z:0.13 [[ 0.99768985 -0.04378357 -0.05194191 4.84818093] [ 0.04486655 0.99879537 0.01986982 -0.15926244] [ 0.05100937 -0.02215437 0.99845242 0.13194118] [ 0. 0. 0. 1. ]] SLAMing on 5.1303717429999995 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.15, Z:0.14 [[ 0.99769071 -0.04579144 -0.05016371 4.87712508] [ 0.04542211 0.9989319 -0.00847863 -0.14585351] [ 0.05049838 0.00618051 0.99870502 0.14178464] [ 0. 0. 0. 1. ]] SLAMing on 5.160371743 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.15, Z:0.14 [[ 9.97638086e-01 -4.59631157e-02 -5.10454894e-02 4.90650233e+00] [ 4.62528415e-02 9.98919590e-01 4.50851783e-03 -1.49653260e-01] [ 5.07831139e-02 -6.85886803e-03 9.98686153e-01 1.39858811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190371742999999 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.14, Z:0.14 [[ 0.99795737 -0.04421494 -0.04610984 4.93604443] [ 0.04376132 0.99898362 -0.01080187 -0.14211099] [ 0.04654058 0.00876198 0.99887797 0.14239356] [ 0. 0. 0. 1. ]] SLAMing on 5.220371742999999 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.15, Z:0.14 [[ 0.99756618 -0.04601552 -0.05238597 4.96351803] [ 0.0471201 0.99868801 0.02004861 -0.15131391] [ 0.0513947 -0.02246824 0.99842564 0.13873917] [ 0. 0. 0. 1. ]] SLAMing on 5.250371743 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.14, Z:0.15 [[ 9.97319846e-01 -4.87900965e-02 -5.45220198e-02 4.99082392e+00] [ 4.90393976e-02 9.98791579e-01 3.24321987e-03 -1.40889837e-01] [ 5.42978973e-02 -5.90825455e-03 9.98507301e-01 1.48241488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280371742999999 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.14, Z:0.15 [[ 9.97296356e-01 -4.95631861e-02 -5.42537529e-02 5.02110903e+00] [ 4.93484207e-02 9.98767605e-01 -5.29188482e-03 -1.36026194e-01] [ 5.44491735e-02 2.60024043e-03 9.98513158e-01 1.51569525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310371742999999 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.14, Z:0.15 [[ 0.99720741 -0.05064971 -0.05488167 5.04765369] [ 0.05102318 0.99868274 0.00542445 -0.13830298] [ 0.05453463 -0.00820954 0.99847813 0.15011735] [ 0. 0. 0. 1. ]] SLAMing on 5.3403717429999995 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.14, Z:0.15 [[ 0.99729222 -0.05280918 -0.05118028 5.07464103] [ 0.05333823 0.99853571 0.00902587 -0.1362048 ] [ 0.05062869 -0.0117313 0.99864864 0.15208464] [ 0. 0. 0. 1. ]] SLAMing on 5.370371743 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.13, Z:0.16 [[ 9.96719054e-01 -5.62961955e-02 -5.81538133e-02 5.10371468e+00] [ 5.59482984e-02 9.98404783e-01 -7.59461502e-03 -1.27282679e-01] [ 5.84885933e-02 4.31609060e-03 9.98278747e-01 1.60613393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400371742999999 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.13, Z:0.16 [[ 0.99669925 -0.05607337 -0.05870589 5.13047572] [ 0.05656459 0.9983762 0.00673814 -0.13161021] [ 0.05823273 -0.01003657 0.99825258 0.15714271] [ 0. 0. 0. 1. ]] SLAMing on 5.430371742999999 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.13, Z:0.16 [[ 9.96529057e-01 -5.82016943e-02 -5.95180818e-02 5.15927202e+00] [ 5.83190405e-02 9.98297969e-01 2.34974420e-04 -1.25375121e-01] [ 5.94031043e-02 -3.70519626e-03 9.98227200e-01 1.62839459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.460371743 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.12, Z:0.16 [[ 0.99646719 -0.05832172 -0.06042942 5.18669924] [ 0.05876006 0.99825698 0.00550061 -0.12497233] [ 0.06000328 -0.00903202 0.99815732 0.16436982] [ 0. 0. 0. 1. ]] SLAMing on 5.490371743 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.12, Z:0.17 [[ 0.99664794 -0.05761436 -0.05808158 5.21694378] [ 0.05720939 0.99832505 -0.00861266 -0.11802204] [ 0.05848051 0.00526098 0.99827469 0.169083 ] [ 0. 0. 0. 1. ]] SLAMing on 5.520371742999999 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.12, Z:0.17 [[ 9.96611257e-01 -5.70825924e-02 -5.92248338e-02 5.24644042e+00] [ 5.72883869e-02 9.98356083e-01 1.78131181e-03 -1.19888507e-01] [ 5.90257912e-02 -5.16817059e-03 9.98243080e-01 1.67236781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5503717429999995 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.12, Z:0.17 [[ 9.97128475e-01 -5.27014515e-02 -5.43816211e-02 5.27609298e+00] [ 5.23852131e-02 9.98600813e-01 -7.22532215e-03 -1.15391407e-01] [ 5.46863160e-02 4.35578165e-03 9.98494083e-01 1.67572170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580371743 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.12, Z:0.16 [[ 0.99593588 -0.05827217 -0.06867366 5.29134522] [ 0.06169953 0.99689665 0.04888996 -0.12448835] [ 0.06561162 -0.05292839 0.99644052 0.16463041] [ 0. 0. 0. 1. ]] SLAMing on 5.610371742999999 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.09, Z:0.19 [[ 0.99703439 -0.05451778 -0.05431608 5.33303353] [ 0.05180386 0.99739578 -0.0501798 -0.09272672] [ 0.05691032 0.0472172 0.99726213 0.19091632] [ 0. 0. 0. 1. ]] SLAMing on 5.640371742999999 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.12, Z:0.17 [[ 0.9959889 -0.05687702 -0.06907329 5.3495113 ] [ 0.06047594 0.99685673 0.05117923 -0.11880303] [ 0.06594525 -0.05515122 0.99629793 0.16829257] [ 0. 0. 0. 1. ]] SLAMing on 5.670371743 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.09, Z:0.19 [[ 9.95840783e-01 -5.98673622e-02 -6.86806602e-02 5.37593946e+00] [ 5.99275903e-02 9.98202024e-01 -1.18495722e-03 -9.44294188e-02] [ 6.86281143e-02 -2.93583774e-03 9.97637992e-01 1.92045239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700371743 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.08, Z:0.20 [[ 0.99700342 -0.05383102 -0.05555541 5.41829565] [ 0.05099058 0.99737872 -0.05133856 -0.08331651] [ 0.05817339 0.04835192 0.99713487 0.19796316] [ 0. 0. 0. 1. ]] SLAMing on 5.730371742999999 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.10, Z:0.18 [[ 0.99678862 -0.05149698 -0.06132297 5.44912106] [ 0.05207091 0.99861295 0.00779709 -0.10325597] [ 0.06083638 -0.0109652 0.99808752 0.17763923] [ 0. 0. 0. 1. ]] SLAMing on 5.760371742999999 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.10, Z:0.18 [[ 9.96666200e-01 -5.22177369e-02 -6.26880615e-02 5.47623295e+00] [ 5.24521753e-02 9.98621232e-01 2.09879672e-03 -9.82434313e-02] [ 6.24920348e-02 -5.37992495e-03 9.98030962e-01 1.81972357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.790371743 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.10, Z:0.18 [[ 9.96597509e-01 -5.19034324e-02 -6.40268607e-02 5.50447215e+00] [ 5.21569439e-02 9.98636267e-01 2.29326202e-03 -9.62570567e-02] [ 6.38205170e-02 -5.62490460e-03 9.97945541e-01 1.84490046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820371742999999 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.09, Z:0.19 [[ 9.96603383e-01 -5.11292543e-02 -6.45561435e-02 5.53170027e+00] [ 5.13173555e-02 9.98681604e-01 1.25788883e-03 -9.19467317e-02] [ 6.44067180e-02 -4.56646683e-03 9.97913284e-01 1.87406607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.850371742999999 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.09, Z:0.19 [[ 9.96662311e-01 -5.05698972e-02 -6.40852808e-02 5.56068738e+00] [ 5.06617220e-02 9.98715852e-01 -1.92386041e-04 -8.93501705e-02] [ 6.40127147e-02 -3.05492676e-03 9.97944407e-01 1.90250443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8803717429999995 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.09, Z:0.19 [[ 0.99692743 -0.04723032 -0.06248993 5.58659216] [ 0.04782184 0.99882382 0.00800345 -0.089125 ] [ 0.06203843 -0.01096724 0.9980135 0.19037615] [ 0. 0. 0. 1. ]] SLAMing on 5.910371743 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.08, Z:0.20 [[ 9.96983841e-01 -4.69826628e-02 -6.17725631e-02 5.61518837e+00] [ 4.69520575e-02 9.98895245e-01 -1.94772295e-03 -8.27256605e-02] [ 6.17958288e-02 -9.58500625e-04 9.98088351e-01 1.96973225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940371742999999 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.08, Z:0.20 [[ 9.96850446e-01 -4.68921841e-02 -6.39555469e-02 5.64526537e+00] [ 4.69413717e-02 9.98897376e-01 -7.34140715e-04 -8.06730642e-02] [ 6.39194534e-02 -2.27033260e-03 9.97952478e-01 2.00160421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.970371742999999 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.08, Z:0.20 [[ 9.96996645e-01 -4.37301586e-02 -6.39168385e-02 5.67189454e+00] [ 4.39183174e-02 9.99033937e-01 1.54110613e-03 -7.83618493e-02] [ 6.37876980e-02 -4.34359764e-03 9.97954038e-01 2.01806033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000371743 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.08, Z:0.21 [[ 9.97039493e-01 -4.22888715e-02 -6.42176098e-02 5.70162847e+00] [ 4.21825384e-02 9.99105382e-01 -3.01136061e-03 -7.52460210e-02] [ 6.42875066e-02 2.93583667e-04 9.97931376e-01 2.05180542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030371742999999 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.08, Z:0.21 [[ 9.96953560e-01 -4.13867120e-02 -6.61115697e-02 5.72955251e+00] [ 4.15858229e-02 9.99133593e-01 1.63783591e-03 -7.55923458e-02] [ 6.59865056e-02 -4.38215037e-03 9.97810893e-01 2.05722783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060371742999999 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.08, Z:0.21 [[ 0.99686322 -0.03949001 -0.06858755 5.75523413] [ 0.04024211 0.99914366 0.00961822 -0.0774879 ] [ 0.06814899 -0.01234816 0.99759874 0.20500963] [ 0. 0. 0. 1. ]] SLAMing on 6.0903717429999995 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.07, Z:0.21 [[ 9.96535697e-01 -4.13893786e-02 -7.21354533e-02 5.78319397e+00] [ 4.19020081e-02 9.99105991e-01 5.60709997e-03 -7.43552338e-02] [ 7.18388893e-02 -8.61029563e-03 9.97379084e-01 2.11269820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120371743 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.07, Z:0.22 [[ 9.96507045e-01 -4.28005475e-02 -7.17064994e-02 5.81108769e+00] [ 4.27194376e-02 9.99083554e-01 -2.66506573e-03 -7.07688335e-02] [ 7.17548505e-02 -4.07504546e-04 9.97422215e-01 2.15781609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150371742999999 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.08, Z:0.22 [[ 0.99602494 -0.04606946 -0.07623595 5.83809969] [ 0.04721386 0.99879657 0.01327674 -0.07591241] [ 0.07553255 -0.01682336 0.99700141 0.21542545] [ 0. 0. 0. 1. ]] SLAMing on 6.180371742999999 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.07, Z:0.22 [[ 9.95913806e-01 -4.89217663e-02 -7.59101550e-02 5.86754225e+00] [ 4.89998947e-02 9.98798435e-01 -8.34038268e-04 -7.02188739e-02] [ 7.58597467e-02 -2.88895938e-03 9.97114313e-01 2.23500279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.07, Z:0.23 [[ 0.99598339 -0.0520044 -0.07288774 5.89572231] [ 0.05125244 0.99861181 -0.01215058 -0.06640795] [ 0.07341844 0.0083661 0.99726613 0.22706426] [ 0. 0. 0. 1. ]] SLAMing on 6.240371743 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.07, Z:0.22 [[ 0.99537912 -0.05767523 -0.07677221 5.92269363] [ 0.05864737 0.99822389 0.01046703 -0.07494457] [ 0.07603217 -0.01492116 0.99699372 0.22318011] [ 0. 0. 0. 1. ]] SLAMing on 6.270371742999999 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.07, Z:0.23 [[ 9.95165531e-01 -6.11431201e-02 -7.68575667e-02 5.94910362e+00] [ 6.12683654e-02 9.98121062e-01 -7.29539993e-04 -7.00223524e-02] [ 7.67577624e-02 -3.98292442e-03 9.97041816e-01 2.30101198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3003717429999995 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.07, Z:0.23 [[ 9.95081814e-01 -6.52707473e-02 -7.45111581e-02 5.97835402e+00] [ 6.47352797e-02 9.97856471e-01 -9.58162489e-03 -6.67226083e-02] [ 7.49768411e-02 4.71100001e-03 9.97174147e-01 2.33484208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.330371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.07, Z:0.23 [[ 9.94975886e-01 -6.79941675e-02 -7.34831915e-02 6.00826312e+00] [ 6.76980639e-02 9.97684579e-01 -6.51565694e-03 -6.81867059e-02] [ 7.37560736e-02 1.50825175e-03 9.97275171e-01 2.33126395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360371742999999 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.07, Z:0.23 [[ 9.94549628e-01 -7.38789016e-02 -7.35727162e-02 6.03635205e+00] [ 7.38858335e-02 9.97263235e-01 -2.63119551e-03 -6.99148034e-02] [ 7.35657549e-02 -2.81912695e-03 9.97286384e-01 2.33251051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.390371742999999 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.07, Z:0.23 [[ 9.94391378e-01 -7.51898257e-02 -7.43792782e-02 6.06392417e+00] [ 7.56087047e-02 9.97133555e-01 2.82801716e-03 -7.14594032e-02] [ 7.39534360e-02 -8.43587676e-03 9.97226015e-01 2.33890962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.07, Z:0.24 [[ 9.94047432e-01 -7.96879236e-02 -7.42935862e-02 6.09494716e+00] [ 7.95173650e-02 9.96819627e-01 -5.25555117e-03 -6.79851196e-02] [ 7.44761088e-02 -6.83363062e-04 9.97222564e-01 2.38870092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.450371743 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.07, Z:0.24 [[ 0.99301797 -0.08684313 -0.07983469 6.11833911] [ 0.08847281 0.99593178 0.01710114 -0.07030946] [ 0.07802479 -0.02404494 0.99666141 0.23810837] [ 0. 0. 0. 1. ]] SLAMing on 6.480371742999999 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.06, Z:0.25 [[ 0.9936473 -0.08615919 -0.07239912 6.15368521] [ 0.08464417 0.99612826 -0.02374546 -0.05897071] [ 0.07416469 0.01746645 0.99709304 0.25073544] [ 0. 0. 0. 1. ]] SLAMing on 6.510371742999999 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.06, Z:0.25 [[ 9.93905263e-01 -8.49728452e-02 -7.02278034e-02 6.18655510e+00] [ 8.44856720e-02 9.96375672e-01 -9.88385934e-03 -6.40918684e-02] [ 7.08131345e-02 3.89037664e-03 9.97482012e-01 2.45128018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540371743 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.07, Z:0.24 [[ 9.93931459e-01 -8.40811790e-02 -7.09268012e-02 6.21942312e+00] [ 8.42278543e-02 9.96446091e-01 -9.25575112e-04 -6.56663404e-02] [ 7.07525573e-02 -5.05405406e-03 9.97481094e-01 2.44465436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.570371742999999 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.06, Z:0.25 [[ 9.94073060e-01 -8.21598095e-02 -7.11935197e-02 6.25182347e+00] [ 8.22214725e-02 9.96611935e-01 -2.06895196e-03 -6.19612597e-02] [ 7.11222962e-02 -3.79694662e-03 9.97460376e-01 2.47901224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.600371742999999 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.06, Z:0.25 [[ 9.94152028e-01 -8.11531324e-02 -7.12454477e-02 6.28296330e+00] [ 8.10772274e-02 9.96699950e-01 -3.96141584e-03 -5.93842988e-02] [ 7.13318154e-02 -1.83813377e-03 9.97450948e-01 2.49757694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6303717429999995 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.06, Z:0.25 [[ 9.94051115e-01 -8.02136485e-02 -7.36759934e-02 6.31313194e+00] [ 8.06103257e-02 9.96742751e-01 2.42156793e-03 -5.95328617e-02] [ 7.32417695e-02 -8.34620812e-03 9.97279291e-01 2.50175593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660371743 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.06, Z:0.25 [[ 9.94175275e-01 -7.88486784e-02 -7.34738680e-02 6.34362000e+00] [ 7.91043587e-02 9.96866176e-01 5.71862281e-04 -5.71367229e-02] [ 7.31985232e-02 -6.38063454e-03 9.97296979e-01 2.52256873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690371742999999 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.05, Z:0.26 [[ 9.93953676e-01 -7.94909820e-02 -7.57447938e-02 6.37352592e+00] [ 7.95685398e-02 9.96827395e-01 -1.99810310e-03 -5.36458736e-02] [ 7.56633167e-02 -4.04088072e-03 9.97125235e-01 2.56007530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720371742999999 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.05, Z:0.26 [[ 9.94324909e-01 -7.68289499e-02 -7.35886435e-02 6.40273121e+00] [ 7.63671006e-02 9.97038483e-01 -9.07353829e-03 -4.84749222e-02] [ 7.40678199e-02 3.40229380e-03 9.97247403e-01 2.56954441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750371743 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.05, Z:0.25 [[ 0.99422236 -0.07540172 -0.0763969 6.43038139] [ 0.07639934 0.99702495 0.0102168 -0.05282823] [ 0.07539926 -0.01599445 0.99702514 0.25373989] [ 0. 0. 0. 1. ]] SLAMing on 6.780371742999999 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.04, Z:0.26 [[ 9.94071943e-01 -7.64761741e-02 -7.72810901e-02 6.45984830e+00] [ 7.62581111e-02 9.97071397e-01 -5.77317398e-03 -4.23178423e-02] [ 7.74962748e-02 -1.54359675e-04 9.96992630e-01 2.63489287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810371742999999 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.04, Z:0.26 [[ 9.94153827e-01 -7.61116518e-02 -7.65844950e-02 6.48865507e+00] [ 7.61604554e-02 9.97092951e-01 -2.28745023e-03 -4.17179093e-02] [ 7.65359617e-02 -3.55863262e-03 9.97060471e-01 2.64017200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8403717429999995 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.05, Z:0.26 [[ 0.99362435 -0.07619282 -0.08309821 6.51690681] [ 0.07833331 0.99666635 0.02280515 -0.04734189] [ 0.0810836 -0.02916911 0.99628039 0.26343534] [ 0. 0. 0. 1. ]] SLAMing on 6.870371743 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.03, Z:0.28 [[ 0.99443279 -0.07654116 -0.07242147 6.54530012] [ 0.07478363 0.99684281 -0.02668011 -0.0270775 ] [ 0.07423495 0.02111564 0.9970172 0.27822312] [ 0. 0. 0. 1. ]] SLAMing on 6.900371742999999 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.03, Z:0.27 [[ 9.94168250e-01 -7.61471298e-02 -7.63616692e-02 6.57656944e+00] [ 7.62136750e-02 9.97089408e-01 -2.04658390e-03 -3.47534127e-02] [ 7.62952530e-02 -3.78515471e-03 9.97078085e-01 2.70718448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.930371742999999 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.03, Z:0.27 [[ 9.94132987e-01 -7.61593592e-02 -7.68072722e-02 6.60491510e+00] [ 7.62500050e-02 9.97087184e-01 -1.75602848e-03 -3.27642932e-02] [ 7.67172847e-02 -4.11082906e-03 9.97044412e-01 2.72762746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.03, Z:0.28 [[ 9.94028284e-01 -7.68726107e-02 -7.74491599e-02 6.63403800e+00] [ 7.70236491e-02 9.97028724e-01 -1.03958765e-03 -3.15915938e-02] [ 7.72989529e-02 -4.93203739e-03 9.96995761e-01 2.75064982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990371742999999 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.03, Z:0.28 [[ 9.93804256e-01 -7.73595018e-02 -7.98035573e-02 6.66229480e+00] [ 7.78924645e-02 9.96955330e-01 3.58248540e-03 -2.97205747e-02] [ 7.92834425e-02 -9.77638499e-03 9.96804172e-01 2.77757657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020371742999999 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.03, Z:0.28 [[ 9.93824652e-01 -7.76623531e-02 -7.92535175e-02 6.69152630e+00] [ 7.76916242e-02 9.96973731e-01 -2.71880045e-03 -2.58250248e-02] [ 7.92248235e-02 -3.45532359e-03 9.96850785e-01 2.82884440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0503717429999995 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.03, Z:0.28 [[ 0.99354186 -0.07812719 -0.08228431 6.7202182 ] [ 0.07912905 0.99682393 0.00898072 -0.02763425] [ 0.08132133 -0.0154338 0.99656843 0.28333778] [ 0. 0. 0. 1. ]] SLAMing on 7.080371743 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.02, Z:0.29 [[ 9.93350581e-01 -7.99522610e-02 -8.28387571e-02 6.74852714e+00] [ 8.00989557e-02 9.96785702e-01 -1.55635358e-03 -2.06351784e-02] [ 8.26969226e-02 -5.08929320e-03 9.96561748e-01 2.90634365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110371742999999 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.02, Z:0.29 [[ 9.93387339e-01 -8.03185323e-02 -8.20397933e-02 6.77818557e+00] [ 7.99788855e-02 9.96768916e-01 -7.42327739e-03 -1.71992656e-02] [ 8.23709426e-02 8.12738536e-04 9.96601408e-01 2.93531238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140371742999999 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.02, Z:0.29 [[ 9.93042227e-01 -8.11129244e-02 -8.53687855e-02 6.80701736e+00] [ 8.17358027e-02 9.96646708e-01 3.82076983e-03 -1.93305902e-02] [ 8.47726052e-02 -1.07718720e-02 9.96342096e-01 2.91751934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170371743 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.02, Z:0.29 [[ 0.99253185 -0.08197046 -0.09034035 6.83369444] [ 0.08364983 0.99638297 0.01495622 -0.02044704] [ 0.08878762 -0.02240148 0.99579864 0.29463236] [ 0. 0. 0. 1. ]] SLAMing on 7.200371742999999 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.01, Z:0.31 [[ 9.92626735e-01 -8.45516528e-02 -8.68514996e-02 6.86292538e+00] [ 8.35125356e-02 9.96385622e-01 -1.55354312e-02 -6.81782473e-03] [ 8.78511318e-02 8.16769542e-03 9.96100129e-01 3.06997515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230371742999999 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.01, Z:0.30 [[ 9.92528742e-01 -8.36550294e-02 -8.88174074e-02 6.89172083e+00] [ 8.37910962e-02 9.96480910e-01 -2.20191685e-03 -9.37633883e-03] [ 8.86890523e-02 -5.25664216e-03 9.96045491e-01 3.03684009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260371742999999 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.01, Z:0.30 [[ 9.92492286e-01 -8.30775307e-02 -8.97618339e-02 6.91856017e+00] [ 8.37254435e-02 9.96482817e-01 3.47057243e-03 -9.07104916e-03] [ 8.91577986e-02 -1.09598657e-02 9.95957212e-01 3.04843760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.290371743 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.00, Z:0.31 [[ 9.92725081e-01 -8.35492441e-02 -8.66973869e-02 6.94860933e+00] [ 8.27938837e-02 9.96491050e-01 -1.22784447e-02 -1.55110656e-03] [ 8.74190249e-02 5.01110668e-03 9.96159025e-01 3.11027942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320371742999999 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.00, Z:0.31 [[ 9.92462737e-01 -8.36688877e-02 -8.95389968e-02 6.97769282e+00] [ 8.41646951e-02 9.96450286e-01 1.76946991e-03 -4.48257297e-03] [ 8.90731094e-02 -9.29215531e-03 9.95981745e-01 3.09519051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.350371742999999 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:7.01, Y:0.00, Z:0.31 [[ 9.92689295e-01 -8.39535050e-02 -8.67166186e-02 7.00572849e+00] [ 8.37381895e-02 9.96468972e-01 -6.12406843e-03 1.06956536e-03] [ 8.69245568e-02 -1.18219547e-03 9.96214196e-01 3.14570212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3803717429999995 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:7.03, Y:0.00, Z:0.32 [[ 9.92794316e-01 -8.36159536e-02 -8.58359984e-02 7.03461930e+00] [ 8.35535589e-02 9.96493900e-01 -4.32556737e-03 2.63664364e-03] [ 8.58967352e-02 -2.87750444e-03 9.96299890e-01 3.15693544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.410371743 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:7.06, Y:0.00, Z:0.32 [[ 9.92628293e-01 -8.36322831e-02 -8.77195172e-02 7.06334783e+00] [ 8.43150908e-02 9.96430702e-01 4.10136810e-03 2.02047057e-03] [ 8.70634134e-02 -1.14672131e-02 9.96136770e-01 3.16646587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440371742999999 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:7.09, Y:0.01, Z:0.32 [[ 9.92683263e-01 -8.36404204e-02 -8.70874243e-02 7.09012186e+00] [ 8.39338391e-02 9.96471286e-01 -2.93498203e-04 6.66833163e-03] [ 8.68046660e-02 -7.01823111e-03 9.96200630e-01 3.20744843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470371742999999 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:7.12, Y:0.01, Z:0.32 [[ 9.92579995e-01 -8.48338258e-02 -8.71101294e-02 7.11901499e+00] [ 8.47008563e-02 9.96392709e-01 -5.22820939e-03 1.04214516e-02] [ 8.72394268e-02 -2.18888649e-03 9.96184968e-01 3.24911703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500371743 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:7.15, Y:0.01, Z:0.32 [[ 9.92340804e-01 -8.57372940e-02 -8.89316847e-02 7.14671206e+00] [ 8.59431773e-02 9.96298883e-01 -1.51856508e-03 1.11990714e-02] [ 8.87327358e-02 -6.13613745e-03 9.96036570e-01 3.24910752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530371742999999 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:7.17, Y:0.01, Z:0.33 [[ 9.91757409e-01 -8.80576981e-02 -9.30756823e-02 7.17493148e+00] [ 8.86788006e-02 9.96057010e-01 2.55029118e-03 1.20175000e-02] [ 9.24841130e-02 -1.07831100e-02 9.95655771e-01 3.28379222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560371742999999 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:7.20, Y:0.02, Z:0.33 [[ 9.91541786e-01 -9.02189623e-02 -9.33028645e-02 7.20356219e+00] [ 9.02396233e-02 9.95912025e-01 -4.00622243e-03 1.64386714e-02] [ 9.32828819e-02 -4.44727840e-03 9.95629713e-01 3.33278076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5903717429999995 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:7.23, Y:0.02, Z:0.34 [[ 9.91269209e-01 -9.22968852e-02 -9.41628365e-02 7.23161570e+00] [ 9.24095497e-02 9.95716028e-01 -3.17265993e-03 1.84921983e-02] [ 9.40522722e-02 -5.55658523e-03 9.95551754e-01 3.36405122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620371743 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:7.26, Y:0.02, Z:0.34 [[ 9.91286241e-01 -9.24051460e-02 -9.38769285e-02 7.25977431e+00] [ 9.26966642e-02 9.95693598e-01 -1.25999489e-03 1.96850189e-02] [ 9.35890867e-02 -7.45306253e-03 9.95583012e-01 3.38153745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650371742999999 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:7.29, Y:0.02, Z:0.34 [[ 9.91192097e-01 -9.38966682e-02 -9.33897351e-02 7.28992827e+00] [ 9.36275003e-02 9.95580759e-01 -7.26929784e-03 2.41600584e-02] [ 9.36595863e-02 -1.53857689e-03 9.95603091e-01 3.42901598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680371742999999 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:7.32, Y:0.02, Z:0.34 [[ 0.99090217 -0.09334668 -0.09694995 7.31879686] [ 0.09482223 0.99543655 0.01071535 0.02054243] [ 0.09550728 -0.01981088 0.99523158 0.34139563] [ 0. 0. 0. 1. ]] SLAMing on 7.710371743 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:7.35, Y:0.03, Z:0.35 [[ 9.91120164e-01 -9.55246733e-02 -9.24978802e-02 7.34697897e+00] [ 9.46644984e-02 9.95415608e-01 -1.36528274e-02 3.26206405e-02] [ 9.33780156e-02 4.77532712e-03 9.95619276e-01 3.52820155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740371742999999 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:7.38, Y:0.03, Z:0.35 [[ 9.91153938e-01 -9.47526932e-02 -9.29289929e-02 7.37798320e+00] [ 9.49115777e-02 9.95481995e-01 -2.71837749e-03 3.04457339e-02] [ 9.27667128e-02 -6.12570678e-03 9.95669028e-01 3.50543668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770371742999999 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:7.41, Y:0.03, Z:0.35 [[ 9.91075593e-01 -9.57157930e-02 -9.27774584e-02 7.40800331e+00] [ 9.56870585e-02 9.95400045e-01 -4.76836110e-03 3.37441154e-02] [ 9.28070938e-02 -4.15179579e-03 9.95675452e-01 3.53487340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8003717429999995 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:7.44, Y:0.04, Z:0.36 [[ 9.90968582e-01 -9.63660266e-02 -9.32462217e-02 7.43909602e+00] [ 9.62305680e-02 9.95341235e-01 -5.95852944e-03 3.60410350e-02] [ 9.33860092e-02 -3.06842140e-03 9.95625250e-01 3.55654523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.830371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:7.47, Y:0.04, Z:0.36 [[ 9.91086171e-01 -9.55664462e-02 -9.28184004e-02 7.46908537e+00] [ 9.57884155e-02 9.95399563e-01 -2.07097788e-03 3.61137856e-02] [ 9.25893112e-02 -6.83840997e-03 9.95680900e-01 3.55839358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860371742999999 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:7.50, Y:0.04, Z:0.36 [[ 9.90893740e-01 -9.79603138e-02 -9.23762587e-02 7.49932735e+00] [ 9.76662133e-02 9.95189362e-01 -7.71002056e-03 3.97254553e-02] [ 9.26871460e-02 -1.38222829e-03 9.95694322e-01 3.59551514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.890371742999999 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:7.53, Y:0.04, Z:0.36 [[ 9.90714452e-01 -9.88213381e-02 -9.33767543e-02 7.53117611e+00] [ 9.89476433e-02 9.95087210e-01 -3.28764350e-03 3.99227349e-02] [ 9.32429032e-02 -5.98229385e-03 9.95625418e-01 3.60789766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920371743 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:7.56, Y:0.04, Z:0.36 [[ 9.90568660e-01 -9.98166780e-02 -9.38635234e-02 7.56044966e+00] [ 1.00053465e-01 9.94979648e-01 -2.19186778e-03 4.15460595e-02] [ 9.36110805e-02 -7.22017523e-03 9.95582661e-01 3.63460688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.950371742999999 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:7.59, Y:0.04, Z:0.37 [[ 9.90646173e-01 -9.98710299e-02 -9.29835315e-02 7.58959973e+00] [ 1.00027034e-01 9.94980218e-01 -2.99301009e-03 4.20759553e-02] [ 9.28156894e-02 -6.33585288e-03 9.95663148e-01 3.65145784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980371742999999 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:7.62, Y:0.04, Z:0.37 [[ 9.90502316e-01 -1.00797160e-01 -9.35152092e-02 7.61945331e+00] [ 1.00827858e-01 9.94894118e-01 -4.40863958e-03 4.38889397e-02] [ 9.34821100e-02 -5.06217055e-03 9.95608090e-01 3.67998830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010371743 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:7.65, Y:0.05, Z:0.37 [[ 9.90284788e-01 -1.03320675e-01 -9.30638296e-02 7.65063540e+00] [ 1.02371352e-01 9.94634198e-01 -1.49304479e-02 4.88888234e-02] [ 9.41070915e-02 5.25832542e-03 9.95548193e-01 3.73473777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040371743 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:7.68, Y:0.05, Z:0.37 [[ 9.90274869e-01 -1.03599757e-01 -9.28588975e-02 7.68166784e+00] [ 1.03295398e-01 9.94617814e-01 -8.09106575e-03 4.62648193e-02] [ 9.31973461e-02 -1.57951767e-03 9.95646403e-01 3.70990463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070371743 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:7.70, Y:0.04, Z:0.37 [[ 0.98844514 -0.10732357 -0.10704142 7.7002639 ] [ 0.1119302 0.99298993 0.03798195 0.03806645] [ 0.10221469 -0.04952424 0.99352881 0.36661968] [ 0. 0. 0. 1. ]] SLAMing on 8.100371743 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:7.74, Y:0.07, Z:0.40 [[ 0.99018811 -0.10693023 -0.08996353 7.73686447] [ 0.10282522 0.99348674 -0.04910274 0.06648304] [ 0.09462814 0.03937043 0.99473388 0.39524028] [ 0. 0. 0. 1. ]] SLAMing on 8.130371743 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:7.77, Y:0.05, Z:0.38 [[ 9.90495721e-01 -1.02187493e-01 -9.20648885e-02 7.77004492e+00] [ 1.02123372e-01 9.94756978e-01 -5.41963257e-03 5.04118518e-02] [ 9.21360089e-02 -4.03385403e-03 9.95738261e-01 3.77512254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160371743 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:7.80, Y:0.05, Z:0.38 [[ 9.90952426e-01 -9.98194716e-02 -8.97182439e-02 7.79969810e+00] [ 9.99706281e-02 9.94986396e-01 -2.81860102e-03 5.09950659e-02] [ 8.95497835e-02 -6.17608968e-03 9.95963198e-01 3.78200515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.190371743 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:7.83, Y:0.06, Z:0.39 [[ 9.91167071e-01 -9.90842919e-02 -8.81483994e-02 7.83141318e+00] [ 9.83012291e-02 9.95069273e-01 -1.31913109e-02 5.76239000e-02] [ 8.90208154e-02 4.40969699e-03 9.96020004e-01 3.85345546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:7.86, Y:0.05, Z:0.38 [[ 9.91488694e-01 -9.58877456e-02 -8.80665054e-02 7.86070584e+00] [ 9.67603170e-02 9.95291486e-01 5.68324553e-03 5.23312488e-02] [ 8.71068894e-02 -1.41562167e-02 9.96098384e-01 3.80614452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.250371743 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:7.89, Y:0.06, Z:0.39 [[ 9.91325481e-01 -9.66478050e-02 -8.90673486e-02 7.89246208e+00] [ 9.62476723e-02 9.95318634e-01 -8.78651094e-03 6.07661787e-02] [ 8.94995888e-02 1.37767198e-04 9.95986850e-01 3.90797923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280371743 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:7.92, Y:0.06, Z:0.39 [[ 9.91311260e-01 -9.52059890e-02 -9.07623528e-02 7.92274574e+00] [ 9.55270547e-02 9.95426504e-01 -8.10026011e-04 6.04198817e-02] [ 9.04243709e-02 -7.86727233e-03 9.95872250e-01 3.91328883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310371743000001 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:7.95, Y:0.06, Z:0.40 [[ 9.91119352e-01 -9.47219904e-02 -9.33283165e-02 7.95322032e+00] [ 9.50748490e-02 9.95469902e-01 -6.68262415e-04 6.34902379e-02] [ 9.29688293e-02 -8.21084779e-03 9.95635163e-01 3.96143223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340371743 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:7.98, Y:0.07, Z:0.40 [[ 9.91296644e-01 -9.13609067e-02 -9.47847429e-02 7.98279767e+00] [ 9.14822647e-02 9.95801963e-01 -3.07336605e-03 6.71106140e-02] [ 9.46676185e-02 -5.62450548e-03 9.95493047e-01 4.00695868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370371743 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:8.01, Y:0.07, Z:0.40 [[ 9.91163272e-01 -8.94022102e-02 -9.79929228e-02 8.00988577e+00] [ 9.02943446e-02 9.95904039e-01 4.69845913e-03 6.70362320e-02] [ 9.71714950e-02 -1.35051469e-02 9.95176020e-01 4.02253320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400371743000001 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:8.04, Y:0.07, Z:0.41 [[ 9.91701059e-01 -8.50814546e-02 -9.63854574e-02 8.03711074e+00] [ 8.47916534e-02 9.96373363e-01 -7.10607825e-03 7.27985505e-02] [ 9.66404979e-02 -1.12557698e-03 9.95318716e-01 4.08617414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:8.07, Y:0.07, Z:0.41 [[ 9.91781246e-01 -8.26586217e-02 -9.76601890e-02 8.06552470e+00] [ 8.29625808e-02 9.96552209e-01 -9.51260605e-04 7.21152527e-02] [ 9.74021070e-02 -7.15869889e-03 9.95219364e-01 4.10011518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460371743 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:8.09, Y:0.07, Z:0.41 [[ 9.92097929e-01 -8.02681974e-02 -9.64298444e-02 8.09239406e+00] [ 8.02605582e-02 9.96766034e-01 -3.96432500e-03 7.48813980e-02] [ 9.64362028e-02 -3.80651451e-03 9.95331889e-01 4.13874936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490371743 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:8.12, Y:0.08, Z:0.42 [[ 9.92185597e-01 -7.74167242e-02 -9.78488261e-02 8.12336508e+00] [ 7.71861350e-02 9.96997760e-01 -6.14549221e-03 7.70174974e-02] [ 9.80308243e-02 -1.45510385e-03 9.95182315e-01 4.20206938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520371743 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:8.15, Y:0.07, Z:0.42 [[ 9.92210557e-01 -7.49075375e-02 -9.95342696e-02 8.15071690e+00] [ 7.56282931e-02 9.97129998e-01 3.48260073e-03 7.49044764e-02] [ 9.89877330e-02 -1.09830801e-02 9.95028040e-01 4.21136864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550371743 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:8.18, Y:0.08, Z:0.43 [[ 9.92249825e-01 -7.32602583e-02 -1.00365429e-01 8.17731180e+00] [ 7.38261894e-02 9.97269254e-01 1.93114721e-03 7.61347127e-02] [ 9.99498805e-02 -9.32577768e-03 9.94948768e-01 4.26626787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580371743 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:8.20, Y:0.07, Z:0.43 [[ 0.99163244 -0.07374959 -0.10595332 8.2040575 ] [ 0.07550019 0.99706615 0.012602 0.074287 ] [ 0.10471307 -0.02049605 0.99429125 0.43047366] [ 0. 0. 0. 1. ]] SLAMing on 8.610371743 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:8.23, Y:0.09, Z:0.44 [[ 0.99212762 -0.0760161 -0.09952055 8.23249874] [ 0.07406642 0.99698466 -0.0231465 0.08760305] [ 0.10097997 0.01559315 0.99476625 0.44304918] [ 0. 0. 0. 1. ]] SLAMing on 8.640371743000001 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:8.26, Y:0.08, Z:0.44 [[ 9.91599931e-01 -7.64561419e-02 -1.04326580e-01 8.26291372e+00] [ 7.67141897e-02 9.97051931e-01 -1.54283498e-03 7.96408707e-02] [ 1.04136977e-01 -6.47345401e-03 9.94541897e-01 4.37917732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670371743 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:8.29, Y:0.07, Z:0.44 [[ 0.99073751 -0.0794857 -0.11009635 8.28879172] [ 0.0810087 0.99666885 0.00942303 0.07470511] [ 0.10898061 -0.01825451 0.99387625 0.4399838 ] [ 0. 0. 0. 1. ]] SLAMing on 8.700371743 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:8.32, Y:0.09, Z:0.45 [[ 0.99121539 -0.08405394 -0.10211262 8.31845067] [ 0.08152185 0.9962574 -0.02872954 0.08845571] [ 0.10414528 0.02015275 0.9943579 0.45257316] [ 0. 0. 0. 1. ]] SLAMing on 8.730371743000001 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:8.35, Y:0.08, Z:0.44 [[ 9.90784815e-01 -8.38950865e-02 -1.06334681e-01 8.34739938e+00] [ 8.44977162e-02 9.96422990e-01 1.16670484e-03 7.68197183e-02] [ 1.05856440e-01 -1.01409911e-02 9.94329711e-01 4.44254848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760371743 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:8.38, Y:0.08, Z:0.45 [[ 9.90640607e-01 -8.74747446e-02 -1.04782426e-01 8.37748963e+00] [ 8.66225114e-02 9.96160692e-01 -1.26655284e-02 8.20839799e-02] [ 1.05488048e-01 3.47046983e-03 9.94414515e-01 4.51789056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790371743 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:8.41, Y:0.08, Z:0.45 [[ 9.90204455e-01 -9.03399110e-02 -1.06460499e-01 8.40518311e+00] [ 9.06762422e-02 9.95878995e-01 -1.68701853e-03 7.58045769e-02] [ 1.06174180e-01 -7.98294471e-03 9.94315501e-01 4.50538286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820371743 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:8.43, Y:0.07, Z:0.45 [[ 0.98918085 -0.09253616 -0.11383452 8.43085249] [ 0.09517459 0.99529868 0.0179538 0.07012228] [ 0.11163797 -0.02859371 0.99333749 0.45309708] [ 0. 0. 0. 1. ]] SLAMing on 8.850371743 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:8.45, Y:0.08, Z:0.47 [[ 9.87948455e-01 -1.01659944e-01 -1.16718065e-01 8.44762656e+00] [ 1.02718124e-01 9.94705762e-01 3.07133414e-03 8.36823570e-02] [ 1.15787900e-01 -1.50233805e-02 9.93160340e-01 4.67712022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880371743 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:8.47, Y:0.09, Z:0.48 [[ 9.87895716e-01 -1.03228020e-01 -1.15784409e-01 8.47478738e+00] [ 1.02877044e-01 9.94653189e-01 -9.01924304e-03 9.08833445e-02] [ 1.16096371e-01 -3.00148625e-03 9.93233419e-01 4.75995910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910371743 meters Centerline goodness : 0.992342 Centerline is valid? [True, True] Translation: X:8.51, Y:0.09, Z:0.48 [[ 0.98946884 -0.10159131 -0.10310494 8.51488009] [ 0.09785474 0.99436866 -0.04068672 0.09204273] [ 0.10665773 0.03016894 0.993838 0.48187849] [ 0. 0. 0. 1. ]] SLAMing on 8.940371743 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:8.55, Y:0.08, Z:0.47 [[ 9.89529839e-01 -9.96261042e-02 -1.04428626e-01 8.54698155e+00] [ 9.92446973e-02 9.95023655e-01 -8.85524532e-03 7.84905363e-02] [ 1.04791167e-01 -1.60145789e-03 9.94492960e-01 4.70578162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970371743 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:8.58, Y:0.08, Z:0.47 [[ 9.89645619e-01 -1.01285963e-01 -1.01699080e-01 8.57716467e+00] [ 1.00866791e-01 9.94856762e-01 -9.26898812e-03 7.50288174e-02] [ 1.02114836e-01 -1.08504632e-03 9.94772026e-01 4.72325349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000371743 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:8.60, Y:0.07, Z:0.47 [[ 9.89531425e-01 -1.02069943e-01 -1.02025910e-01 8.60485353e+00] [ 1.02169789e-01 9.94757852e-01 -4.26028875e-03 7.30576542e-02] [ 1.01925923e-01 -6.20827616e-03 9.94772619e-01 4.74260594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030371743 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:8.63, Y:0.07, Z:0.48 [[ 9.89939556e-01 -1.00813776e-01 -9.92786858e-02 8.63233265e+00] [ 1.00891414e-01 9.94888361e-01 -4.25116571e-03 7.22110200e-02] [ 9.91997851e-02 -5.80796991e-03 9.95050587e-01 4.75796253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060371743000001 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:8.66, Y:0.07, Z:0.48 [[ 9.89829564e-01 -1.02117895e-01 -9.90422621e-02 8.66371294e+00] [ 1.01259064e-01 9.94766128e-01 -1.36730306e-02 7.21538582e-02] [ 9.99201487e-02 3.50504308e-03 9.94989286e-01 4.80287440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090371743 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:8.69, Y:0.07, Z:0.48 [[ 9.89640696e-01 -1.02311343e-01 -1.00715848e-01 8.69436886e+00] [ 1.02064377e-01 9.94748645e-01 -7.61556900e-03 6.92143587e-02] [ 1.00966112e-01 -2.74282321e-03 9.94886085e-01 4.79988152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120371743 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:8.71, Y:0.06, Z:0.48 [[ 0.98679364 -0.1069011 -0.12169828 8.70768683] [ 0.11352138 0.99233575 0.04881244 0.05762951] [ 0.11554745 -0.06198316 0.99136617 0.47957944] [ 0. 0. 0. 1. ]] SLAMing on 9.150371743000001 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:8.75, Y:0.09, Z:0.51 [[ 0.9892787 -0.11055487 -0.09542154 8.74881938] [ 0.10355992 0.99176143 -0.0753964 0.09339308] [ 0.10297084 0.06470621 0.99257751 0.51029411] [ 0. 0. 0. 1. ]] SLAMing on 9.180371743 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:8.78, Y:0.06, Z:0.48 [[ 9.89220693e-01 -1.03057027e-01 -1.04027259e-01 8.78319246e+00] [ 1.04200741e-01 9.94540488e-01 5.60567172e-03 5.98957669e-02] [ 1.02881617e-01 -1.63849638e-02 9.94558649e-01 4.83864398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210371743 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:8.81, Y:0.06, Z:0.49 [[ 9.88901549e-01 -1.05705175e-01 -1.04403743e-01 8.81206241e+00] [ 1.05493819e-01 9.94391221e-01 -7.56004353e-03 6.30131013e-02] [ 1.04617302e-01 -3.53781082e-03 9.94506261e-01 4.92529873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240371743 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:8.82, Y:0.05, Z:0.49 [[ 0.98584289 -0.11017573 -0.12639264 8.82416542] [ 0.11780244 0.99153919 0.05452174 0.05054001] [ 0.11931628 -0.06863923 0.99048083 0.49261783] [ 0. 0. 0. 1. ]] SLAMing on 9.270371743 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:8.86, Y:0.09, Z:0.52 [[ 0.98852897 -0.11349788 -0.09964288 8.86288609] [ 0.10659749 0.99168798 -0.07205505 0.09125974] [ 0.10699274 0.06060682 0.99241089 0.52489256] [ 0. 0. 0. 1. ]] SLAMing on 9.300371743 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:8.90, Y:0.06, Z:0.50 [[ 9.89004576e-01 -1.04330881e-01 -1.04809424e-01 8.89651129e+00] [ 1.05313661e-01 9.94431518e-01 3.87155916e-03 5.82461305e-02] [ 1.03821871e-01 -1.48668538e-02 9.94484789e-01 4.99049778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330371743 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:8.92, Y:0.06, Z:0.51 [[ 9.88878645e-01 -1.06350357e-01 -1.03964549e-01 8.92471767e+00] [ 1.06040438e-01 9.94325321e-01 -8.51951936e-03 6.37956519e-02] [ 1.04280638e-01 -2.59967557e-03 9.94544514e-01 5.06937658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360371743 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:8.94, Y:0.05, Z:0.51 [[ 0.98605174 -0.11035562 -0.12459373 8.93938923] [ 0.11794171 0.99148365 0.05522612 0.05144192] [ 0.11743814 -0.06915061 0.99066971 0.50803484] [ 0. 0. 0. 1. ]] SLAMing on 9.390371743 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:8.98, Y:0.09, Z:0.54 [[ 0.98851161 -0.1133214 -0.10001532 8.97599908] [ 0.10762555 0.99234079 -0.06063418 0.08863604] [ 0.10612043 0.04917339 0.99313666 0.538383 ] [ 0. 0. 0. 1. ]] SLAMing on 9.420371743 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:9.00, Y:0.05, Z:0.52 [[ 0.9861586 -0.11236943 -0.12191932 8.99716653] [ 0.11873397 0.99184903 0.04623565 0.05437864] [ 0.11573008 -0.06007165 0.99146253 0.51872976] [ 0. 0. 0. 1. ]] SLAMing on 9.450371743 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:9.02, Y:0.08, Z:0.54 [[ 9.85920634e-01 -1.19815999e-01 -1.16638888e-01 9.02062745e+00] [ 1.19465870e-01 9.92787807e-01 -1.00137841e-02 7.83026564e-02] [ 1.16997478e-01 -4.06156989e-03 9.93123907e-01 5.42400237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480371743000001 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:9.06, Y:0.09, Z:0.55 [[ 0.98809593 -0.11654932 -0.10041261 9.06189934] [ 0.11168851 0.9923417 -0.05276014 0.08602591] [ 0.10579278 0.04091714 0.99354601 0.54673062] [ 0. 0. 0. 1. ]] SLAMing on 9.510371743 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:9.10, Y:0.06, Z:0.53 [[ 9.88084052e-01 -1.13497847e-01 -1.03962232e-01 9.09659320e+00] [ 1.13438231e-01 9.93523754e-01 -6.50524898e-03 6.45386930e-02] [ 1.04027279e-01 -5.36555898e-03 9.94559971e-01 5.33342715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540371743 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:9.12, Y:0.06, Z:0.54 [[ 9.87547178e-01 -1.16115079e-01 -1.06150173e-01 9.12382209e+00] [ 1.16418600e-01 9.93194574e-01 -3.35380180e-03 6.45034444e-02] [ 1.05817203e-01 -9.04581699e-03 9.94344454e-01 5.36759517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570371743 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:9.14, Y:0.06, Z:0.54 [[ 0.98490737 -0.1230158 -0.12175624 9.13945867] [ 0.12825469 0.99108259 0.03613919 0.05759042] [ 0.11622479 -0.05120956 0.9919019 0.54028454] [ 0. 0. 0. 1. ]] SLAMing on 9.600371743 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:9.16, Y:0.08, Z:0.56 [[ 9.84590930e-01 -1.29300450e-01 -1.17737393e-01 9.16296315e+00] [ 1.28978761e-01 9.91593030e-01 -1.03799368e-02 7.79107173e-02] [ 1.18089709e-01 -4.96563145e-03 9.92990515e-01 5.59865869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.630371743 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:9.20, Y:0.09, Z:0.56 [[ 0.98693667 -0.12586209 -0.10057206 9.20405511] [ 0.12058817 0.9910691 -0.0569257 0.08730149] [ 0.10683865 0.04405426 0.99329992 0.5642741 ] [ 0. 0. 0. 1. ]] SLAMing on 9.660371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:9.23, Y:0.06, Z:0.55 [[ 0.98471411 -0.12415449 -0.12216294 9.22557926] [ 0.13003989 0.99064348 0.04141412 0.05863231] [ 0.11587817 -0.05666713 0.99164565 0.54897092] [ 0. 0. 0. 1. ]] SLAMing on 9.690371743 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:9.25, Y:0.08, Z:0.57 [[ 9.84424681e-01 -1.30377391e-01 -1.17939742e-01 9.24920324e+00] [ 1.30052645e-01 9.91451717e-01 -1.04786888e-02 8.05405466e-02] [ 1.18297744e-01 -5.02289559e-03 9.92965465e-01 5.69847651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720371743 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:9.28, Y:0.08, Z:0.57 [[ 9.84461478e-01 -1.30173343e-01 -1.17857963e-01 9.27584418e+00] [ 1.29843589e-01 9.91478838e-01 -1.05050435e-02 8.21666922e-02] [ 1.18221153e-01 -4.96129030e-03 9.92974896e-01 5.72595806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750371743 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:9.32, Y:0.10, Z:0.58 [[ 0.9870306 -0.12706126 -0.09811236 9.31609336] [ 0.12068311 0.99032919 -0.06843739 0.0967503 ] [ 0.10585928 0.0557093 0.99281936 0.57750884] [ 0. 0. 0. 1. ]] SLAMing on 9.780371743 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:9.34, Y:0.06, Z:0.56 [[ 0.98472266 -0.12266746 -0.12358791 9.33728355] [ 0.12996077 0.99011443 0.05275995 0.05966156] [ 0.11589424 -0.06801549 0.99093008 0.55782904] [ 0. 0. 0. 1. ]] SLAMing on 9.810371743000001 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:9.37, Y:0.10, Z:0.59 [[ 0.98718566 -0.12662548 -0.09711053 9.37367473] [ 0.12017557 0.99030725 -0.06963753 0.1022715 ] [ 0.10498715 0.05707485 0.99283441 0.5856975 ] [ 0. 0. 0. 1. ]] SLAMing on 9.840371743 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:9.40, Y:0.06, Z:0.57 [[ 0.98481809 -0.12213737 -0.1233523 9.3961558 ] [ 0.12957924 0.99008679 0.05419747 0.06305092] [ 0.11550994 -0.06935855 0.99088185 0.5654738 ] [ 0. 0. 0. 1. ]] SLAMing on 9.870371743 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:9.43, Y:0.10, Z:0.59 [[ 0.98649189 -0.12777822 -0.10250115 9.43009445] [ 0.12292519 0.9910333 -0.05236793 0.10036584] [ 0.10827353 0.03906056 0.99335347 0.59102035] [ 0. 0. 0. 1. ]] SLAMing on 9.900371743000001 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:9.46, Y:0.08, Z:0.58 [[ 9.85895637e-01 -1.23906658e-01 -1.12503032e-01 9.46288504e+00] [ 1.25112568e-01 9.92135672e-01 3.69518301e-03 7.99437305e-02] [ 1.11160414e-01 -1.77186080e-02 9.93644511e-01 5.78617670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.930371743 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:9.48, Y:0.08, Z:0.59 [[ 0.98361426 -0.13072066 -0.12415755 9.48005033] [ 0.13436919 0.99069926 0.02144529 0.08127902] [ 0.12019945 -0.03777685 0.99203075 0.58507414] [ 0. 0. 0. 1. ]] SLAMing on 9.960371743 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:9.52, Y:0.12, Z:0.60 [[ 0.98607676 -0.13395476 -0.09853298 9.52005765] [ 0.12626001 0.98871769 -0.08059612 0.11557552] [ 0.10821753 0.06703319 0.99186467 0.60427787] [ 0. 0. 0. 1. ]] SLAMing on 9.990371743 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:9.54, Y:0.07, Z:0.58 [[ 0.98335173 -0.12833324 -0.12864663 9.54160675] [ 0.13748399 0.98837304 0.06493758 0.06735336] [ 0.11881721 -0.08154334 0.9895621 0.57879935] [ 0. 0. 0. 1. ]] SLAMing on 10.020371743 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:9.58, Y:0.12, Z:0.61 [[ 0.98594677 -0.13790774 -0.09428903 9.58121005] [ 0.12920659 0.98725639 -0.09290033 0.12447303] [ 0.10589912 0.07941201 0.99120084 0.61314149] [ 0. 0. 0. 1. ]] SLAMing on 10.050371743 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:9.62, Y:0.08, Z:0.58 [[ 0.98515693 -0.12798854 -0.11438858 9.61570044] [ 0.13245039 0.99066436 0.03226489 0.07715432] [ 0.10919115 -0.0469368 0.99291199 0.58382834] [ 0. 0. 0. 1. ]] SLAMing on 10.080371743 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:9.65, Y:0.11, Z:0.60 [[ 0.98558815 -0.1362389 -0.10027443 9.64664575] [ 0.13204342 0.99011085 -0.04738177 0.11124681] [ 0.10573805 0.03345834 0.99383097 0.60487744] [ 0. 0. 0. 1. ]] SLAMing on 10.110371743 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:9.68, Y:0.09, Z:0.59 [[ 0.98487727 -0.13314315 -0.11085875 9.67617698] [ 0.13587844 0.99057163 0.01746148 0.08707902] [ 0.10748866 -0.03226073 0.99368276 0.59137931] [ 0. 0. 0. 1. ]] SLAMing on 10.140371743 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:9.70, Y:0.10, Z:0.60 [[ 9.83905187e-01 -1.38500707e-01 -1.12907646e-01 9.70045516e+00] [ 1.39750612e-01 9.90181585e-01 3.19289686e-03 9.69096939e-02] [ 1.11356853e-01 -1.89204205e-02 9.93600357e-01 6.02361532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170371743 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:9.73, Y:0.11, Z:0.61 [[ 9.83502720e-01 -1.42504202e-01 -1.11422405e-01 9.72951304e+00] [ 1.42236866e-01 9.89778162e-01 -1.03857224e-02 1.05180367e-01] [ 1.11763473e-01 -5.63398761e-03 9.93718866e-01 6.09843250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200371743 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:9.76, Y:0.10, Z:0.61 [[ 9.83032413e-01 -1.45197803e-01 -1.12093144e-01 9.75637066e+00] [ 1.46071309e-01 9.89273972e-01 -4.24427138e-04 1.04167161e-01] [ 1.10952455e-01 -1.59563666e-02 9.93697613e-01 6.09942439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230371743000001 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:9.78, Y:0.11, Z:0.62 [[ 9.81856791e-01 -1.50137044e-01 -1.15827935e-01 9.78482987e+00] [ 1.50576899e-01 9.88585688e-01 -4.99346165e-03 1.10125156e-01] [ 1.15255542e-01 -1.25381470e-02 9.93256742e-01 6.17622678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260371743 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:9.81, Y:0.11, Z:0.62 [[ 9.80991615e-01 -1.54813131e-01 -1.16997206e-01 9.81343490e+00] [ 1.54899140e-01 9.87894468e-01 -8.41283093e-03 1.14954819e-01] [ 1.16883309e-01 -9.86985003e-03 9.93096611e-01 6.21682573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290371743 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:9.84, Y:0.12, Z:0.62 [[ 9.80617309e-01 -1.55759058e-01 -1.18864664e-01 9.84032334e+00] [ 1.56629255e-01 9.87655355e-01 -2.04357635e-03 1.16234608e-01] [ 1.17715627e-01 -1.66137174e-02 9.92908362e-01 6.24158362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320371743 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:9.87, Y:0.12, Z:0.63 [[ 9.80094463e-01 -1.58534908e-01 -1.19505338e-01 9.86699669e+00] [ 1.58924666e-01 9.87270464e-01 -6.32312329e-03 1.22194606e-01] [ 1.18986526e-01 -1.27950878e-02 9.92813423e-01 6.29749280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350371743 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:9.89, Y:0.13, Z:0.63 [[ 9.79841911e-01 -1.60130896e-01 -1.19448422e-01 9.89467107e+00] [ 1.60137354e-01 9.87047986e-01 -9.60738171e-03 1.27638967e-01] [ 1.19439763e-01 -9.71443905e-03 9.92793923e-01 6.34787671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380371743 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:9.92, Y:0.13, Z:0.64 [[ 9.79355251e-01 -1.61404919e-01 -1.21703509e-01 9.92255807e+00] [ 1.62179532e-01 9.86754774e-01 -3.57999231e-03 1.30881041e-01] [ 1.20669346e-01 -1.62317338e-02 9.92560043e-01 6.38268817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410371743 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:9.95, Y:0.13, Z:0.64 [[ 9.78837103e-01 -1.62509153e-01 -1.24373230e-01 9.94868587e+00] [ 1.63707483e-01 9.86508747e-01 -5.92915634e-04 1.34850612e-01] [ 1.22791633e-01 -1.97804606e-02 9.92235329e-01 6.43625430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440371743 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:9.98, Y:0.15, Z:0.65 [[ 0.97947049 -0.16417152 -0.11698405 9.98020444] [ 0.16149863 0.98635277 -0.03203761 0.15269217] [ 0.12064721 0.01248713 0.99261691 0.65306759] [ 0. 0. 0. 1. ]] SLAMing on 10.470371743 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:10.01, Y:0.14, Z:0.65 [[ 9.78925082e-01 -1.61463343e-01 -1.25041082e-01 1.00089414e+01] [ 1.63649653e-01 9.86491167e-01 7.34629224e-03 1.42348979e-01] [ 1.22165766e-01 -2.76543995e-02 9.92124367e-01 6.47758686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500371743 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:10.02, Y:0.15, Z:0.66 [[ 0.97645389 -0.16710337 -0.1364341 10.02274503] [ 0.17205692 0.98476269 0.02527584 0.14864637] [ 0.13013154 -0.04815513 0.99032665 0.65617332] [ 0. 0. 0. 1. ]] SLAMing on 10.530371743 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:10.06, Y:0.17, Z:0.67 [[ 0.97795672 -0.16910071 -0.12249736 10.05762045] [ 0.16608528 0.98550779 -0.03449746 0.17210541] [ 0.12655565 0.01339201 0.99186911 0.67381745] [ 0. 0. 0. 1. ]] SLAMing on 10.560371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:10.09, Y:0.17, Z:0.67 [[ 9.78022224e-01 -1.66718070e-01 -1.25210283e-01 1.00872917e+01] [ 1.67017766e-01 9.85919994e-01 -8.17498312e-03 1.65754775e-01] [ 1.24810239e-01 -1.29170266e-02 9.92096545e-01 6.68587899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590371743 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:10.12, Y:0.18, Z:0.67 [[ 0.97835361 -0.17021485 -0.11769075 10.11845724] [ 0.16724615 0.98530329 -0.03472981 0.18073923] [ 0.12187261 0.01429471 0.99244281 0.67497825] [ 0. 0. 0. 1. ]] SLAMing on 10.620371743 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:10.14, Y:0.16, Z:0.67 [[ 0.97732091 -0.16703139 -0.13017048 10.14492984] [ 0.17126987 0.98497857 0.02199638 0.16338911] [ 0.12454105 -0.0437918 0.9912476 0.6669314 ] [ 0. 0. 0. 1. ]] SLAMing on 10.650371743000001 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:10.17, Y:0.18, Z:0.68 [[ 9.76632000e-01 -1.73658045e-01 -1.26620774e-01 1.01698822e+01] [ 1.73194764e-01 9.84777223e-01 -1.47443257e-02 1.83359312e-01] [ 1.27253725e-01 -7.53027476e-03 9.91841613e-01 6.82480231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680371743 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:10.20, Y:0.19, Z:0.68 [[ 9.76317962e-01 -1.75501148e-01 -1.26501319e-01 1.01966027e+01] [ 1.75142717e-01 9.84442964e-01 -1.40385089e-02 1.88405220e-01] [ 1.26997108e-01 -8.44973631e-03 9.91867096e-01 6.83976723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710371743 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:10.23, Y:0.19, Z:0.69 [[ 9.75590287e-01 -1.77320582e-01 -1.29541511e-01 1.02264148e+01] [ 1.77679909e-01 9.84048345e-01 -8.87153378e-03 1.90932158e-01] [ 1.29048215e-01 -1.43619416e-02 9.91534313e-01 6.86958373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740371743 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:10.25, Y:0.20, Z:0.69 [[ 9.75271439e-01 -1.79668229e-01 -1.28704886e-01 1.02525939e+01] [ 1.79336700e-01 9.83684452e-01 -1.42565050e-02 1.97410744e-01] [ 1.29166436e-01 -9.17754732e-03 9.91580458e-01 6.91025591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770371743 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:10.28, Y:0.20, Z:0.69 [[ 0.97512688 -0.17986776 -0.12951897 10.2817038 ] [ 0.18001964 0.98360556 -0.01063114 0.19929777] [ 0.12930778 -0.01294925 0.99151995 0.6937677 ] [ 0. 0. 0. 1. ]] SLAMing on 10.800371743 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:10.31, Y:0.21, Z:0.70 [[ 9.74471114e-01 -1.83497407e-01 -1.29362863e-01 1.03105594e+01] [ 1.82604758e-01 9.83006055e-01 -1.88307517e-02 2.08379230e-01] [ 1.30619872e-01 -5.27225077e-03 9.91418505e-01 6.99745141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:10.34, Y:0.21, Z:0.70 [[ 9.74238663e-01 -1.82882525e-01 -1.31958364e-01 1.03379867e+01] [ 1.83714786e-01 9.82961616e-01 -5.94471953e-03 2.08016304e-01] [ 1.30797192e-01 -1.84511271e-02 9.91237434e-01 6.99719435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860371743 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:10.37, Y:0.22, Z:0.71 [[ 9.74012024e-01 -1.85123461e-01 -1.30498590e-01 1.03676977e+01] [ 1.84300626e-01 9.82696527e-01 -1.84611649e-02 2.18236741e-01] [ 1.31658106e-01 -6.06957527e-03 9.91276603e-01 7.07227858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890371743 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:10.40, Y:0.22, Z:0.71 [[ 9.74816187e-01 -1.82107437e-01 -1.28725610e-01 1.03954128e+01] [ 1.82468315e-01 9.83169761e-01 -9.08488670e-03 2.20213736e-01] [ 1.28213553e-01 -1.46322506e-02 9.91638635e-01 7.06208567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920371743 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:10.42, Y:0.23, Z:0.71 [[ 0.97435812 -0.183311 -0.13047349 10.4233269 ] [ 0.18338325 0.98297347 -0.01156474 0.22686326] [ 0.13037192 -0.01265846 0.99138435 0.71237655] [ 0. 0. 0. 1. ]] SLAMing on 10.950371743 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:10.45, Y:0.23, Z:0.72 [[ 9.74699276e-01 -1.82695019e-01 -1.28778303e-01 1.04505269e+01] [ 1.82495817e-01 9.83114677e-01 -1.34464719e-02 2.32316661e-01] [ 1.29060443e-01 -1.03952352e-02 9.91582241e-01 7.15971161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980371743000001 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:10.48, Y:0.24, Z:0.72 [[ 9.74987084e-01 -1.81635873e-01 -1.28096042e-01 1.04799121e+01] [ 1.80976077e-01 9.83342799e-01 -1.68700761e-02 2.41202542e-01] [ 1.29026532e-01 -6.73421293e-03 9.91618276e-01 7.20983592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010371743 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:10.51, Y:0.24, Z:0.72 [[ 9.75228285e-01 -1.79422620e-01 -1.29372778e-01 1.05083187e+01] [ 1.79777317e-01 9.83665904e-01 -9.02809122e-03 2.43606322e-01] [ 1.28879434e-01 -1.44538410e-02 9.91554929e-01 7.22607630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040371743 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:10.54, Y:0.25, Z:0.73 [[ 9.75399211e-01 -1.77247650e-01 -1.31071164e-01 1.05365913e+01] [ 1.78200246e-01 9.83983862e-01 -4.52004666e-03 2.49402851e-01] [ 1.29773078e-01 -1.89480637e-02 9.91362658e-01 7.27644718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070371743 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:10.56, Y:0.25, Z:0.73 [[ 9.75454431e-01 -1.76673540e-01 -1.31434827e-01 1.05627490e+01] [ 1.77800172e-01 9.84061384e-01 -3.20799812e-03 2.54388735e-01] [ 1.29906706e-01 -2.02398788e-02 9.91319623e-01 7.32616736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100371743 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:10.59, Y:0.26, Z:0.74 [[ 9.75008260e-01 -1.79442265e-01 -1.30993766e-01 1.05904649e+01] [ 1.78999742e-01 9.83731037e-01 -1.52427010e-02 2.64408137e-01] [ 1.31597818e-01 -8.58609081e-03 9.91266005e-01 7.41054841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130371743 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:10.62, Y:0.27, Z:0.74 [[ 9.74704769e-01 -1.79612095e-01 -1.33004164e-01 1.06197816e+01] [ 1.79931554e-01 9.83631174e-01 -9.71332047e-03 2.67192686e-01] [ 1.32571672e-01 -1.44640262e-02 9.91067880e-01 7.43667297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160371743 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:10.65, Y:0.27, Z:0.75 [[ 9.74233033e-01 -1.80625984e-01 -1.35071282e-01 1.06473125e+01] [ 1.81172013e-01 9.83416045e-01 -8.34175279e-03 2.71643870e-01] [ 1.34338003e-01 -1.63443249e-02 9.90800769e-01 7.48046806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190371743 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:10.67, Y:0.28, Z:0.75 [[ 9.74095344e-01 -1.82480967e-01 -1.33562563e-01 1.06744173e+01] [ 1.81903524e-01 9.83175953e-01 -1.66178540e-02 2.80866982e-01] [ 1.34347942e-01 -8.10812656e-03 9.90901049e-01 7.52746183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220371743 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:10.70, Y:0.28, Z:0.76 [[ 9.73511393e-01 -1.82892786e-01 -1.37207129e-01 1.07038941e+01] [ 1.83403210e-01 9.82996375e-01 -9.02162730e-03 2.83083912e-01] [ 1.36524101e-01 -1.63815709e-02 9.90501294e-01 7.55118128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250371743 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:10.73, Y:0.29, Z:0.76 [[ 9.73314995e-01 -1.85035685e-01 -1.35719252e-01 1.07324028e+01] [ 1.84129314e-01 9.82712287e-01 -1.93120634e-02 2.92740934e-01] [ 1.36946397e-01 -6.19317176e-03 9.90559099e-01 7.60749887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280371743 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:10.76, Y:0.29, Z:0.76 [[ 0.97295042 -0.18530877 -0.13794254 10.7613365 ] [ 0.18550555 0.98257543 -0.01154209 0.29491573] [ 0.1376778 -0.01435923 0.99037298 0.76228858] [ 0. 0. 0. 1. ]] SLAMing on 11.310371743 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:10.79, Y:0.30, Z:0.77 [[ 0.97276396 -0.18617643 -0.13808916 10.79039699] [ 0.18609798 0.98243714 -0.01359436 0.3005318 ] [ 0.13819486 -0.01247401 0.9903265 0.76710806] [ 0. 0. 0. 1. ]] SLAMing on 11.340371743 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:10.82, Y:0.31, Z:0.77 [[ 9.72760071e-01 -1.87452169e-01 -1.36380086e-01 1.08185674e+01] [ 1.86469183e-01 9.82255929e-01 -2.00632543e-02 3.09344966e-01] [ 1.37721049e-01 -5.91395056e-03 9.90453400e-01 7.72264605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370371743 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:10.85, Y:0.31, Z:0.77 [[ 9.73261941e-01 -1.85469934e-01 -1.35506821e-01 1.08479085e+01] [ 1.85116926e-01 9.82597193e-01 -1.53127190e-02 3.11800819e-01] [ 1.35988671e-01 -1.01813195e-02 9.90658075e-01 7.72521713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400371743000001 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:10.86, Y:0.31, Z:0.77 [[ 0.97051531 -0.1853183 -0.15413358 10.86296382] [ 0.19303641 0.98050942 0.03658163 0.30518279] [ 0.14435019 -0.06525642 0.98737259 0.76991115] [ 0. 0. 0. 1. ]] SLAMing on 11.430371743 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:10.90, Y:0.34, Z:0.80 [[ 0.97270241 -0.19207586 -0.13021859 10.89580968] [ 0.18518909 0.98066895 -0.06319342 0.34372813] [ 0.13983926 0.03735333 0.98946941 0.80243058] [ 0. 0. 0. 1. ]] SLAMing on 11.460371743 meters Centerline goodness : 0.993753 Centerline is valid? [True, True] Translation: X:10.92, Y:0.32, Z:0.78 [[ 0.97054206 -0.18567196 -0.15353837 10.91926932] [ 0.19290706 0.9806444 0.03351768 0.31650558] [ 0.14434325 -0.06214895 0.98757407 0.77983018] [ 0. 0. 0. 1. ]] SLAMing on 11.490371743 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:10.95, Y:0.35, Z:0.81 [[ 0.97284661 -0.1919569 -0.12931363 10.95151038] [ 0.1852618 0.98072719 -0.06206645 0.354501 ] [ 0.13873547 0.03642426 0.98965941 0.81137521] [ 0. 0. 0. 1. ]] SLAMing on 11.520371743 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:10.99, Y:0.34, Z:0.79 [[ 9.73267738e-01 -1.85171643e-01 -1.35872633e-01 1.09850780e+01] [ 1.85469815e-01 9.82593079e-01 -1.05730509e-02 3.37721717e-01] [ 1.35465338e-01 -1.49098628e-02 9.90669894e-01 7.93745678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550371743 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:11.01, Y:0.34, Z:0.80 [[ 9.72561413e-01 -1.86656455e-01 -1.38865640e-01 1.10147381e+01] [ 1.87435822e-01 9.82247747e-01 -7.56151466e-03 3.42143398e-01] [ 1.37811868e-01 -1.86743581e-02 9.90282362e-01 7.99190372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580371743 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:11.04, Y:0.35, Z:0.81 [[ 9.72100585e-01 -1.88942570e-01 -1.39000567e-01 1.10441628e+01] [ 1.88585289e-01 9.81928771e-01 -1.58580398e-02 3.51885541e-01] [ 1.39484915e-01 -1.07978523e-02 9.90165322e-01 8.06470928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610371743 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:11.07, Y:0.35, Z:0.81 [[ 9.71640874e-01 -1.89104134e-01 -1.41963511e-01 1.10746634e+01] [ 1.90015899e-01 9.81754381e-01 -7.23141506e-03 3.53968006e-01] [ 1.40740789e-01 -1.99489857e-02 9.89845477e-01 8.08953785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640371743 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:11.10, Y:0.36, Z:0.81 [[ 9.71443529e-01 -1.89618926e-01 -1.42625850e-01 1.11014976e+01] [ 1.90425313e-01 9.81668259e-01 -8.10122201e-03 3.59186916e-01] [ 1.41547415e-01 -1.92896923e-02 9.89743521e-01 8.14271379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670371743 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:11.13, Y:0.37, Z:0.82 [[ 9.71028053e-01 -1.90670797e-01 -1.44045713e-01 1.11310149e+01] [ 1.90178418e-01 9.81596947e-01 -1.73090470e-02 3.69289024e-01] [ 1.44695162e-01 -1.05868156e-02 9.89419643e-01 8.22086849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700371743 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:11.16, Y:0.37, Z:0.82 [[ 9.70557697e-01 -1.88753987e-01 -1.49631844e-01 1.11601446e+01] [ 1.90287699e-01 9.81719673e-01 -4.13221814e-03 3.69868936e-01] [ 1.47676497e-01 -2.44625431e-02 9.88733147e-01 8.23916219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730371743000001 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:11.19, Y:0.38, Z:0.83 [[ 9.72038529e-01 -1.87207614e-01 -1.41754742e-01 1.11888982e+01] [ 1.87741977e-01 9.82170323e-01 -9.71626738e-03 3.77240747e-01] [ 1.41046260e-01 -1.71687293e-02 9.89854124e-01 8.29343942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760371743 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:11.22, Y:0.38, Z:0.84 [[ 9.72301703e-01 -1.83972655e-01 -1.44164699e-01 1.12169200e+01] [ 1.84885375e-01 9.82734029e-01 -7.15725141e-03 3.84186880e-01] [ 1.42992294e-01 -1.96949368e-02 9.89527823e-01 8.35103806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790371743 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:11.25, Y:0.39, Z:0.84 [[ 9.72624250e-01 -1.83554136e-01 -1.42512971e-01 1.12451835e+01] [ 1.83016019e-01 9.82963131e-01 -1.69888362e-02 3.94087911e-01] [ 1.43203367e-01 -9.55840259e-03 9.89647125e-01 8.43371676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820371743 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:11.27, Y:0.41, Z:0.85 [[ 9.72202050e-01 -1.82430215e-01 -1.46773264e-01 1.12725728e+01] [ 1.80050067e-01 9.83216319e-01 -2.94557802e-02 4.06357407e-01] [ 1.49683493e-01 2.21043386e-03 9.88731493e-01 8.52057098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850371743 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:11.30, Y:0.40, Z:0.85 [[ 9.73620581e-01 -1.76246311e-01 -1.44914466e-01 1.13031187e+01] [ 1.77907755e-01 9.84046000e-01 -1.51692930e-03 4.00358481e-01] [ 1.42869854e-01 -2.43044938e-02 9.89443023e-01 8.45887794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880371743 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:11.33, Y:0.42, Z:0.86 [[ 0.9729985 -0.17973481 -0.14480789 11.33110123] [ 0.17592663 0.98363856 -0.03879446 0.42102082] [ 0.14941133 0.01227139 0.98869898 0.86403737] [ 0. 0. 0. 1. ]] SLAMing on 11.910371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:11.36, Y:0.42, Z:0.86 [[ 9.74659321e-01 -1.72122546e-01 -1.42874203e-01 1.13623225e+01] [ 1.70196674e-01 9.85075283e-01 -2.56861708e-02 4.22018491e-01] [ 1.45163015e-01 7.18551689e-04 9.89407491e-01 8.59907844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940371743 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:11.39, Y:0.42, Z:0.86 [[ 9.74951760e-01 -1.68246995e-01 -1.45471695e-01 1.13892708e+01] [ 1.68710128e-01 9.85622425e-01 -9.23736440e-03 4.20594831e-01] [ 1.44934324e-01 -1.55365636e-02 9.89319290e-01 8.58244057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970371743 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:11.42, Y:0.43, Z:0.87 [[ 9.75190802e-01 -1.68526243e-01 -1.43533287e-01 1.14185086e+01] [ 1.67155866e-01 9.85692937e-01 -2.16414212e-02 4.30916027e-01] [ 1.45126894e-01 -2.88791595e-03 9.89408836e-01 8.66990521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000371743 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:11.45, Y:0.43, Z:0.87 [[ 9.75634175e-01 -1.65151752e-01 -1.44439802e-01 1.14454311e+01] [ 1.64735826e-01 9.86224892e-01 -1.49187929e-02 4.32886905e-01] [ 1.44913993e-01 -9.23912578e-03 9.89401119e-01 8.66858783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030371743 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:11.47, Y:0.44, Z:0.87 [[ 9.75264577e-01 -1.64418812e-01 -1.47734424e-01 1.14731459e+01] [ 1.65049576e-01 9.86252300e-01 -8.06465638e-03 4.35016662e-01] [ 1.47029396e-01 -1.65183302e-02 9.88994187e-01 8.70139308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060371743 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:11.50, Y:0.45, Z:0.88 [[ 9.75249100e-01 -1.65604154e-01 -1.46507535e-01 1.15013500e+01] [ 1.63689620e-01 9.86192174e-01 -2.51138333e-02 4.46068651e-01] [ 1.48643539e-01 5.10480580e-04 9.88890711e-01 8.80261893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090371743 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:11.53, Y:0.45, Z:0.88 [[ 9.75491705e-01 -1.63656054e-01 -1.47080349e-01 1.15313444e+01] [ 1.62553947e-01 9.86505668e-01 -1.95648069e-02 4.47904995e-01] [ 1.48297497e-01 -4.82318443e-03 9.88931034e-01 8.81257033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120371743 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:11.56, Y:0.45, Z:0.88 [[ 9.75720141e-01 -1.61720394e-01 -1.47704844e-01 1.15577433e+01] [ 1.61382377e-01 9.86787611e-01 -1.43505479e-02 4.50560488e-01] [ 1.48074087e-01 -9.83484027e-03 9.88927369e-01 8.83250214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150371743000001 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:11.58, Y:0.46, Z:0.89 [[ 9.75757639e-01 -1.59710576e-01 -1.49631419e-01 1.15842418e+01] [ 1.59430335e-01 9.87110682e-01 -1.39452529e-02 4.56710462e-01] [ 1.49929977e-01 -1.02486003e-02 9.88643499e-01 8.89370038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180371743 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:11.61, Y:0.46, Z:0.90 [[ 9.75999156e-01 -1.59436799e-01 -1.48342690e-01 1.16127789e+01] [ 1.57996677e-01 9.87205135e-01 -2.15191131e-02 4.64089211e-01] [ 1.49875604e-01 -2.43501590e-03 9.88701863e-01 8.96492767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210371743 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:11.64, Y:0.46, Z:0.90 [[ 9.76023547e-01 -1.56577650e-01 -1.51200118e-01 1.16388215e+01] [ 1.57226639e-01 9.87532304e-01 -7.72873371e-03 4.62880968e-01] [ 1.50525148e-01 -1.62292603e-02 9.88472959e-01 8.96505225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240371743 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:11.67, Y:0.47, Z:0.91 [[ 9.76129037e-01 -1.58738642e-01 -1.48236790e-01 1.16663513e+01] [ 1.56659733e-01 9.87318931e-01 -2.56721155e-02 4.74336574e-01] [ 1.50432146e-01 1.83656144e-03 9.88618630e-01 9.07317890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270371743 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:11.69, Y:0.47, Z:0.91 [[ 9.75807261e-01 -1.55733980e-01 -1.53450698e-01 1.16943155e+01] [ 1.56360998e-01 9.87667176e-01 -8.04911640e-03 4.71776813e-01] [ 1.52811738e-01 -1.61393180e-02 9.88123522e-01 9.06133750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300371743 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:11.72, Y:0.48, Z:0.91 [[ 9.75579935e-01 -1.56176975e-01 -1.54442683e-01 1.17192779e+01] [ 1.56478623e-01 9.87627869e-01 -1.02777756e-02 4.77149291e-01] [ 1.54137050e-01 -1.41401868e-02 9.87948291e-01 9.12539402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330371743 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:11.75, Y:0.48, Z:0.92 [[ 9.75311316e-01 -1.57559474e-01 -1.54734772e-01 1.17460713e+01] [ 1.56674644e-01 9.87486689e-01 -1.79748200e-02 4.84593254e-01] [ 1.55630631e-01 -6.71197005e-03 9.87792517e-01 9.20573488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360371743 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:11.77, Y:0.49, Z:0.93 [[ 9.75528260e-01 -1.58612695e-01 -1.52271557e-01 1.17748706e+01] [ 1.56351964e-01 9.87338150e-01 -2.67850774e-02 4.91877736e-01] [ 1.54591971e-01 2.32164293e-03 9.87975674e-01 9.26809738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390371743 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:11.80, Y:0.49, Z:0.92 [[ 9.76399154e-01 -1.54291018e-01 -1.51125692e-01 1.18023472e+01] [ 1.55725845e-01 9.87797479e-01 -2.36687436e-03 4.85723807e-01] [ 1.49646765e-01 -2.12231619e-02 9.88511721e-01 9.21067274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420371743 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:11.83, Y:0.50, Z:0.94 [[ 9.75116399e-01 -1.61654367e-01 -1.51709832e-01 1.18310559e+01] [ 1.57975175e-01 9.86783699e-01 -3.60801283e-02 5.03396573e-01] [ 1.55537299e-01 1.12159375e-02 9.87766345e-01 9.40046037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450371743 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:11.86, Y:0.50, Z:0.93 [[ 9.74857316e-01 -1.59585058e-01 -1.55517919e-01 1.18595933e+01] [ 1.59292494e-01 9.87126063e-01 -1.44235296e-02 4.97976395e-01] [ 1.55817571e-01 -1.07119538e-02 9.87727765e-01 9.34989782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480371743000001 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:11.89, Y:0.50, Z:0.94 [[ 9.74907644e-01 -1.61379804e-01 -1.53335071e-01 1.18875221e+01] [ 1.59935274e-01 9.86886929e-01 -2.17921317e-02 5.03513473e-01] [ 1.54841187e-01 -3.27837070e-03 9.87933935e-01 9.41163753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510371743 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:11.92, Y:0.51, Z:0.95 [[ 9.74596186e-01 -1.65302560e-01 -1.51120278e-01 1.19201263e+01] [ 1.62525087e-01 9.86228676e-01 -3.06364926e-02 5.08232620e-01] [ 1.54103443e-01 5.29737248e-03 9.88040519e-01 9.47410999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540371743 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:11.95, Y:0.50, Z:0.94 [[ 9.73978533e-01 -1.64017050e-01 -1.56410438e-01 1.19463892e+01] [ 1.65426703e-01 9.86213762e-01 -4.05225313e-03 5.00834639e-01] [ 1.54918765e-01 -2.19276555e-02 9.87683833e-01 9.43426603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570371743 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:11.97, Y:0.50, Z:0.95 [[ 9.75236034e-01 -1.62675538e-01 -1.49837735e-01 1.19678720e+01] [ 1.64220717e-01 9.86421412e-01 -2.08674336e-03 5.03236736e-01] [ 1.48142612e-01 -2.25713930e-02 9.88708399e-01 9.47931806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:12.00, Y:0.52, Z:0.97 [[ 9.73506104e-01 -1.72043164e-01 -1.50622094e-01 1.19966940e+01] [ 1.68373725e-01 9.85032974e-01 -3.68826408e-02 5.20564040e-01] [ 1.54713135e-01 1.05446729e-02 9.87903161e-01 9.67962036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630371743 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:12.03, Y:0.52, Z:0.96 [[ 9.73315797e-01 -1.69616264e-01 -1.54553168e-01 1.20277873e+01] [ 1.69292752e-01 9.85446264e-01 -1.53500817e-02 5.15464603e-01] [ 1.54907465e-01 -1.12242541e-02 9.87865220e-01 9.64135058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660371743 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:12.06, Y:0.52, Z:0.97 [[ 9.73359923e-01 -1.71136339e-01 -1.52587067e-01 1.20551846e+01] [ 1.69481066e-01 9.85243901e-01 -2.38877154e-02 5.20873166e-01] [ 1.54423533e-01 -2.60927394e-03 9.88001298e-01 9.70758637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690371743 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:12.08, Y:0.52, Z:0.97 [[ 9.73206840e-01 -1.70790400e-01 -1.53945072e-01 1.20845286e+01] [ 1.70035537e-01 9.85270662e-01 -1.81559764e-02 5.22761921e-01] [ 1.54778429e-01 -8.50661245e-03 9.87912585e-01 9.73083173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720371743 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:12.11, Y:0.52, Z:0.97 [[ 9.74536860e-01 -1.65710146e-01 -1.51056464e-01 1.21080848e+01] [ 1.67505098e-01 9.85870840e-01 -8.53380085e-04 5.18547082e-01] [ 1.49063576e-01 -2.44710774e-02 9.88524768e-01 9.70948165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750371743 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:12.14, Y:0.54, Z:0.99 [[ 9.72887271e-01 -1.73857654e-01 -1.52524998e-01 1.21377284e+01] [ 1.70554158e-01 9.84741220e-01 -3.45833756e-02 5.36555122e-01] [ 1.56210237e-01 7.63195336e-03 9.87694343e-01 9.89918600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780371743 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:12.17, Y:0.53, Z:0.99 [[ 0.97306355 -0.16940446 -0.15636324 12.16717137] [ 0.16938628 0.98545673 -0.01353991 0.53038421] [ 0.15638293 -0.01331059 0.98760681 0.98699066] [ 0. 0. 0. 1. ]] SLAMing on 12.810371743 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:12.20, Y:0.54, Z:0.99 [[ 9.73498873e-01 -1.69437891e-01 -1.53592794e-01 1.21957220e+01] [ 1.67805402e-01 9.85536967e-01 -2.36269889e-02 5.37270550e-01] [ 1.55374683e-01 -2.77285350e-03 9.87851719e-01 9.94008964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840371743 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:12.22, Y:0.54, Z:1.00 [[ 9.73513285e-01 -1.68203114e-01 -1.54853465e-01 1.22235069e+01] [ 1.67553394e-01 9.85710613e-01 -1.73334155e-02 5.38154266e-01] [ 1.55556239e-01 -9.07191345e-03 9.87785380e-01 9.95958748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870371743 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:12.25, Y:0.54, Z:1.00 [[ 9.73402115e-01 -1.68284541e-01 -1.55462648e-01 1.22526038e+01] [ 1.66068117e-01 9.85738220e-01 -2.72312836e-02 5.44631045e-01] [ 1.57828078e-01 6.89599819e-04 9.87466365e-01 1.00376691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900371743000001 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:12.28, Y:0.54, Z:1.00 [[ 9.73360290e-01 -1.66208500e-01 -1.57938218e-01 1.22805148e+01] [ 1.65780149e-01 9.86033312e-01 -1.59765255e-02 5.43335631e-01] [ 1.58387779e-01 -1.06321058e-02 9.87319740e-01 1.00358060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930371743 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:12.31, Y:0.55, Z:1.01 [[ 9.73095657e-01 -1.67271646e-01 -1.58445695e-01 1.23081248e+01] [ 1.65948450e-01 9.85896946e-01 -2.16407828e-02 5.49153440e-01] [ 1.59831016e-01 -5.23526580e-03 9.87130507e-01 1.01052805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960371743 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:12.34, Y:0.55, Z:1.01 [[ 9.73864140e-01 -1.65306487e-01 -1.55763930e-01 1.23378299e+01] [ 1.63042962e-01 9.86241541e-01 -2.72876435e-02 5.52984392e-01] [ 1.58131683e-01 1.17824497e-03 9.87417330e-01 1.01411244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990371743 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:12.36, Y:0.55, Z:1.01 [[ 9.73962751e-01 -1.61160768e-01 -1.59448322e-01 1.23645403e+01] [ 1.61888474e-01 9.86772433e-01 -8.50218402e-03 5.48733497e-01] [ 1.58709427e-01 -1.75320350e-02 9.87169664e-01 1.01246362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020371743 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:12.39, Y:0.56, Z:1.02 [[ 9.74515352e-01 -1.61519637e-01 -1.55663857e-01 1.23899810e+01] [ 1.59873429e-01 9.86866691e-01 -2.31218696e-02 5.57613070e-01] [ 1.57354112e-01 -2.35389776e-03 9.87539439e-01 1.02139715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050371743 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:12.42, Y:0.56, Z:1.03 [[ 9.74709016e-01 -1.58315968e-01 -1.57728846e-01 1.24197219e+01] [ 1.57029800e-01 9.87377662e-01 -2.06638721e-02 5.59572359e-01] [ 1.59009360e-01 -4.62686664e-03 9.87266233e-01 1.02631346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080371743 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:12.45, Y:0.56, Z:1.03 [[ 9.75297208e-01 -1.56052687e-01 -1.56342298e-01 1.24487240e+01] [ 1.54492704e-01 9.87745456e-01 -2.21567011e-02 5.62867359e-01] [ 1.57884007e-01 -2.54437554e-03 9.87454387e-01 1.03117593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110371743 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:12.48, Y:0.56, Z:1.03 [[ 9.74542045e-01 -1.55471168e-01 -1.61544170e-01 1.24756403e+01] [ 1.55885882e-01 9.87722580e-01 -1.01832019e-02 5.62309130e-01] [ 1.61144018e-01 -1.52584970e-02 9.86812943e-01 1.03368969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140371743 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:12.51, Y:0.57, Z:1.04 [[ 9.75248079e-01 -1.56397138e-01 -1.56304574e-01 1.25066197e+01] [ 1.53170531e-01 9.87663391e-01 -3.25547840e-02 5.71818460e-01] [ 1.59467781e-01 7.80773598e-03 9.87172258e-01 1.04475473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170371743 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:12.53, Y:0.56, Z:1.04 [[ 9.74545368e-01 -1.52888441e-01 -1.63970881e-01 1.25344793e+01] [ 1.54892052e-01 9.87931235e-01 -5.72871922e-04 5.61460127e-01] [ 1.62079541e-01 -2.48394966e-02 9.86465013e-01 1.04010030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200371743 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:12.56, Y:0.57, Z:1.05 [[ 9.75567294e-01 -1.57153048e-01 -1.53529717e-01 1.25611358e+01] [ 1.53758292e-01 9.87529683e-01 -3.38158543e-02 5.73439566e-01] [ 1.56929418e-01 9.38317435e-03 9.87565245e-01 1.05168351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230371743 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:12.59, Y:0.57, Z:1.05 [[ 9.75493479e-01 -1.56226264e-01 -1.54938139e-01 1.25923588e+01] [ 1.54823145e-01 9.87715617e-01 -2.11578148e-02 5.69550329e-01] [ 1.56340225e-01 -3.34869945e-03 9.87697585e-01 1.05061524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260371743 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:12.63, Y:0.58, Z:1.06 [[ 9.74610551e-01 -1.60449391e-01 -1.56173834e-01 1.26258924e+01] [ 1.57663446e-01 9.87032593e-01 -3.01479473e-02 5.75853242e-01] [ 1.58985884e-01 4.75960274e-03 9.87269383e-01 1.05976104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290371743 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:12.66, Y:0.57, Z:1.06 [[ 0.97360456 -0.16121148 -0.16157048 12.65555029] [ 0.16119983 0.98683259 -0.01326885 0.57188333] [ 0.1615821 -0.01312652 0.98677197 1.06050709] [ 0. 0. 0. 1. ]] SLAMing on 13.320371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:12.67, Y:0.56, Z:1.06 [[ 0.96880295 -0.16578399 -0.18421864 12.66795081] [ 0.17514119 0.98389861 0.0356243 0.55992541] [ 0.17534652 -0.0667772 0.98223948 1.0630617 ] [ 0. 0. 0. 1. ]] SLAMing on 13.350371743 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:12.70, Y:0.60, Z:1.10 [[ 0.97207301 -0.17871562 -0.15210123 12.70057939] [ 0.16816324 0.98252981 -0.07972634 0.60209443] [ 0.16369234 0.05192199 0.98514411 1.09804901] [ 0. 0. 0. 1. ]] SLAMing on 13.380371743 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:12.72, Y:0.56, Z:1.07 [[ 0.96753837 -0.17236297 -0.18482561 12.72392793] [ 0.18139922 0.98285503 0.03301977 0.56199844] [ 0.17596539 -0.06547512 0.98221647 1.07419929] [ 0. 0. 0. 1. ]] SLAMing on 13.410371743 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:12.76, Y:0.60, Z:1.11 [[ 0.97037926 -0.18590286 -0.15428619 12.7572528 ] [ 0.17571944 0.98139869 -0.07732591 0.60185594] [ 0.16579137 0.04792437 0.98499567 1.10627626] [ 0. 0. 0. 1. ]] SLAMing on 13.440371743 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:12.78, Y:0.57, Z:1.09 [[ 0.96654024 -0.17842399 -0.18429552 12.7805603 ] [ 0.18692323 0.98192611 0.02967869 0.56709526] [ 0.17566919 -0.06313476 0.98242269 1.08555547] [ 0. 0. 0. 1. ]] SLAMing on 13.470371743 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:12.81, Y:0.60, Z:1.12 [[ 0.96902856 -0.19335873 -0.15361005 12.81342212] [ 0.18366641 0.98011572 -0.07509882 0.60304419] [ 0.16507664 0.0445599 0.98527363 1.11755719] [ 0. 0. 0. 1. ]] SLAMing on 13.500371743 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:12.85, Y:0.58, Z:1.10 [[ 9.68666167e-01 -1.85153453e-01 -1.65541706e-01 1.28469558e+01] [ 1.86381829e-01 9.82442989e-01 -8.22113123e-03 5.78060212e-01] [ 1.64157459e-01 -2.28904343e-02 9.86168523e-01 1.09970239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:12.88, Y:0.59, Z:1.11 [[ 9.68205801e-01 -1.93720144e-01 -1.58272022e-01 1.28765062e+01] [ 1.89781176e-01 9.81020193e-01 -3.97804849e-02 5.91274121e-01] [ 1.62974331e-01 8.47864570e-03 9.86593878e-01 1.11321747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560371743 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:12.91, Y:0.59, Z:1.11 [[ 9.67862811e-01 -1.92332406e-01 -1.62017975e-01 1.29069854e+01] [ 1.91708878e-01 9.81255636e-01 -1.96235277e-02 5.85504682e-01] [ 1.62755291e-01 -1.20674013e-02 9.86592668e-01 1.11084615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590371743 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:12.94, Y:0.59, Z:1.12 [[ 0.96717453 -0.19348207 -0.16473649 12.93576871] [ 0.19370609 0.98094705 -0.01486048 0.58695975] [ 0.16447301 -0.01753779 0.98622566 1.11619749] [ 0. 0. 0. 1. ]] SLAMing on 13.620371743 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:12.95, Y:0.58, Z:1.12 [[ 0.9632501 -0.19542016 -0.18428293 12.95084153] [ 0.20338735 0.97877446 0.02518205 0.57908086] [ 0.17545034 -0.06173743 0.98255059 1.11981968] [ 0. 0. 0. 1. ]] SLAMing on 13.650371743000001 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:12.98, Y:0.62, Z:1.15 [[ 0.96592376 -0.20665457 -0.15583702 12.98173902] [ 0.19650946 0.97738775 -0.0780847 0.61896877] [ 0.16844976 0.04480042 0.98469163 1.14901184] [ 0. 0. 0. 1. ]] SLAMing on 13.680371743 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:13.02, Y:0.60, Z:1.13 [[ 0.96609371 -0.19698828 -0.16690881 13.01848362] [ 0.19646528 0.98031072 -0.01980635 0.59846341] [ 0.16752412 -0.01365699 0.98577338 1.13316224] [ 0. 0. 0. 1. ]] SLAMing on 13.710371743 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:13.04, Y:0.60, Z:1.14 [[ 0.96607024 -0.19592671 -0.16828851 13.0445636 ] [ 0.195735 0.98049358 -0.01789267 0.60094746] [ 0.16851146 -0.01565437 0.98557538 1.13805095] [ 0. 0. 0. 1. ]] SLAMing on 13.740371743 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:13.06, Y:0.60, Z:1.14 [[ 0.96290432 -0.19503777 -0.186482 13.058515 ] [ 0.20231774 0.97910221 0.02064929 0.59593016] [ 0.17855755 -0.0576119 0.98224135 1.1423936 ] [ 0. 0. 0. 1. ]] SLAMing on 13.770371743 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:13.09, Y:0.63, Z:1.17 [[ 0.96592893 -0.20297236 -0.1605725 13.09031083] [ 0.19384386 0.97847622 -0.07077321 0.63211031] [ 0.17148138 0.03723589 0.98448343 1.16804484] [ 0. 0. 0. 1. ]] SLAMing on 13.800371743 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:13.13, Y:0.62, Z:1.16 [[ 9.66585851e-01 -1.93290172e-01 -1.68376666e-01 1.31278414e+01] [ 1.90171623e-01 9.81140588e-01 -3.46106936e-02 6.21404379e-01] [ 1.71891088e-01 1.43374290e-03 9.85114916e-01 1.15852157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830371743 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:13.16, Y:0.62, Z:1.16 [[ 9.67381464e-01 -1.89040748e-01 -1.68631845e-01 1.31561767e+01] [ 1.88128181e-01 9.81908681e-01 -2.15204710e-02 6.20400351e-01] [ 1.69649318e-01 -1.09058974e-02 9.85444149e-01 1.15731726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860371743 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:13.19, Y:0.63, Z:1.16 [[ 9.67607506e-01 -1.88220239e-01 -1.68252359e-01 1.31850364e+01] [ 1.86724394e-01 9.82098916e-01 -2.48137209e-02 6.26639946e-01] [ 1.69910903e-01 -7.40687711e-03 9.85431592e-01 1.16352863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:13.22, Y:0.64, Z:1.17 [[ 9.68119920e-01 -1.89324511e-01 -1.64012349e-01 1.32160425e+01] [ 1.85007166e-01 9.81866752e-01 -4.13524971e-02 6.38551029e-01] [ 1.68867314e-01 9.69071632e-03 9.85591153e-01 1.17184793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920371743 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:13.25, Y:0.64, Z:1.17 [[ 9.69374577e-01 -1.85176075e-01 -1.61315689e-01 1.32521853e+01] [ 1.80975971e-01 9.82653980e-01 -4.04827473e-02 6.42130285e-01] [ 1.66013940e-01 1.00486826e-02 9.86072206e-01 1.17404884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:13.28, Y:0.63, Z:1.17 [[ 9.69730883e-01 -1.78473627e-01 -1.66640868e-01 1.32820357e+01] [ 1.79532055e-01 9.83712627e-01 -8.81525771e-03 6.33215185e-01] [ 1.65500017e-01 -2.13689499e-02 9.85978251e-01 1.16967365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980371743 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:13.31, Y:0.64, Z:1.18 [[ 9.69769043e-01 -1.77704191e-01 -1.67240021e-01 1.33052019e+01] [ 1.79086080e-01 9.83809174e-01 -6.90550503e-03 6.36927920e-01] [ 1.65759404e-01 -2.32536147e-02 9.85892027e-01 1.17597537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010371743 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:13.33, Y:0.64, Z:1.19 [[ 9.68397703e-01 -1.80111549e-01 -1.72527442e-01 1.33300711e+01] [ 1.81581462e-01 9.83348383e-01 -7.35726121e-03 6.43350028e-01] [ 1.70979709e-01 -2.42030303e-02 9.84977235e-01 1.18688772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040371743 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:13.36, Y:0.66, Z:1.20 [[ 9.67652561e-01 -1.85165424e-01 -1.71354271e-01 1.33576815e+01] [ 1.83102255e-01 9.82697651e-01 -2.79086251e-02 6.56463651e-01] [ 1.73557152e-01 -4.36950084e-03 9.84814106e-01 1.19986517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070371743 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:13.39, Y:0.66, Z:1.20 [[ 9.67736952e-01 -1.87224310e-01 -1.68618651e-01 1.33881370e+01] [ 1.83702018e-01 9.82308019e-01 -3.63940166e-02 6.62277322e-01] [ 1.72449298e-01 4.24424825e-03 9.85009252e-01 1.20460710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:13.42, Y:0.65, Z:1.20 [[ 9.66611878e-01 -1.83921303e-01 -1.78422060e-01 1.34165213e+01] [ 1.85903069e-01 9.82551586e-01 -5.69465670e-03 6.53653814e-01] [ 1.76356247e-01 -2.76646858e-02 9.83937569e-01 1.20364195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:13.43, Y:0.65, Z:1.21 [[ 0.961694 -0.18698155 -0.20045586 13.4265931 ] [ 0.19710243 0.97987357 0.0315977 0.64977636] [ 0.19051322 -0.06989766 0.97919305 1.2114917 ] [ 0. 0. 0. 1. ]] SLAMing on 14.160371743 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:13.46, Y:0.70, Z:1.25 [[ 0.96562528 -0.20202629 -0.16356404 13.45779867] [ 0.18892666 0.97765392 -0.0921929 0.69737417] [ 0.17853442 0.05812218 0.98221549 1.24618563] [ 0. 0. 0. 1. ]] SLAMing on 14.190371743 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:13.49, Y:0.67, Z:1.22 [[ 0.96631597 -0.18713934 -0.17667008 13.49423277] [ 0.18747537 0.98215568 -0.01494043 0.66862039] [ 0.17631346 -0.01868411 0.98415673 1.22421289] [ 0. 0. 0. 1. ]] SLAMing on 14.220371743 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:13.52, Y:0.68, Z:1.24 [[ 9.65074707e-01 -1.92187708e-01 -1.78030038e-01 1.35217625e+01] [ 1.89812903e-01 9.81348255e-01 -3.04411543e-02 6.80778250e-01] [ 1.80559883e-01 -4.41441037e-03 9.83554087e-01 1.23693315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250371743 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:13.55, Y:0.68, Z:1.24 [[ 9.65566831e-01 -1.91014690e-01 -1.76618465e-01 1.35493287e+01] [ 1.88874785e-01 9.81572607e-01 -2.90091996e-02 6.84022006e-01] [ 1.78905030e-01 -5.34845354e-03 9.83851810e-01 1.24011724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280371743 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:13.58, Y:0.68, Z:1.24 [[ 0.96624734 -0.18633291 -0.17789356 13.5756422 ] [ 0.18676155 0.98229849 -0.01448441 0.68069775] [ 0.17744349 -0.01922815 0.98394313 1.24105301] [ 0. 0. 0. 1. ]] SLAMing on 14.310371743 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:13.60, Y:0.69, Z:1.25 [[ 9.65901568e-01 -1.88748926e-01 -1.77223033e-01 1.36005981e+01] [ 1.87378495e-01 9.81979877e-01 -2.45931054e-02 6.89805439e-01] [ 1.78671374e-01 -9.45326614e-03 9.83863393e-01 1.25054853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340371743 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:13.63, Y:0.70, Z:1.26 [[ 9.64882184e-01 -1.90597221e-01 -1.80762471e-01 1.36283192e+01] [ 1.89135538e-01 9.81621083e-01 -2.54518549e-02 6.95472208e-01] [ 1.82291306e-01 -9.63056588e-03 9.83197402e-01 1.25980184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370371743 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:13.66, Y:0.70, Z:1.27 [[ 9.64582110e-01 -1.91692073e-01 -1.81205689e-01 1.36563146e+01] [ 1.89901766e-01 9.81422227e-01 -2.73447023e-02 7.01682487e-01] [ 1.83081053e-01 -8.03506955e-03 9.83064985e-01 1.26644068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400371743 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:13.67, Y:0.69, Z:1.27 [[ 0.96049214 -0.19123558 -0.20219744 13.67266315] [ 0.19926591 0.97974258 0.01993942 0.69278383] [ 0.19428831 -0.05944271 0.97914178 1.26982098] [ 0. 0. 0. 1. ]] SLAMing on 14.430371743 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:13.70, Y:0.73, Z:1.30 [[ 0.96381277 -0.20427533 -0.17127909 13.70275454] [ 0.19252932 0.97779413 -0.08277134 0.73272962] [ 0.18438383 0.04679983 0.98173947 1.29736695] [ 0. 0. 0. 1. ]] SLAMing on 14.460371743 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:13.74, Y:0.70, Z:1.28 [[ 9.62889907e-01 -1.93523766e-01 -1.88126496e-01 1.37387154e+01] [ 1.95612197e-01 9.80652015e-01 -7.58245921e-03 7.04468749e-01] [ 1.85954013e-01 -2.94987636e-02 9.82115537e-01 1.28111347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490371743 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:13.76, Y:0.72, Z:1.30 [[ 9.62276545e-01 -2.02294474e-01 -1.81936246e-01 1.37637893e+01] [ 1.98061805e-01 9.79317595e-01 -4.13348541e-02 7.22823761e-01] [ 1.86535179e-01 3.74093936e-03 9.82441160e-01 1.29636955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520371743 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:13.79, Y:0.72, Z:1.30 [[ 9.61445661e-01 -2.02318966e-01 -1.86250577e-01 1.37937359e+01] [ 2.01193822e-01 9.79229155e-01 -2.51258490e-02 7.19594227e-01] [ 1.87465431e-01 -1.33153268e-02 9.82180948e-01 1.29703028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550371743 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:13.82, Y:0.72, Z:1.30 [[ 0.9604904 -0.20384064 -0.18949189 13.82042385] [ 0.2031556 0.97887053 -0.02324419 0.72335181] [ 0.19022614 -0.01617052 0.98160712 1.30367903] [ 0. 0. 0. 1. ]] SLAMing on 14.580371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:13.85, Y:0.73, Z:1.31 [[ 9.60291872e-01 -2.06831341e-01 -1.87244004e-01 1.38454235e+01] [ 2.04091509e-01 9.78360843e-01 -3.40105329e-02 7.31061064e-01] [ 1.90226645e-01 -5.55487288e-03 9.81724486e-01 1.31027007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:13.87, Y:0.73, Z:1.31 [[ 9.60100956e-01 -2.06527471e-01 -1.88553862e-01 1.38742746e+01] [ 2.04564907e-01 9.78392308e-01 -3.00281629e-02 7.34887076e-01] [ 1.90681289e-01 -9.74143540e-03 9.81603663e-01 1.31496803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640371743 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:13.90, Y:0.74, Z:1.32 [[ 9.59366859e-01 -2.07627429e-01 -1.91065644e-01 1.39023436e+01] [ 2.05915435e-01 9.78140085e-01 -2.89966702e-02 7.38311481e-01] [ 1.92909470e-01 -1.15249208e-02 9.81148874e-01 1.32055382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:13.93, Y:0.74, Z:1.33 [[ 9.58908994e-01 -2.09405877e-01 -1.91422881e-01 1.39307587e+01] [ 2.06797902e-01 9.77802007e-01 -3.37322172e-02 7.43202018e-01] [ 1.94237401e-01 -7.23972367e-03 9.80927835e-01 1.32726119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:13.96, Y:0.74, Z:1.33 [[ 0.958668 -0.20857269 -0.19352801 13.95951367] [ 0.20735662 0.9778996 -0.02675061 0.74494294] [ 0.19483041 -0.01448436 0.98072999 1.33219109] [ 0. 0. 0. 1. ]] SLAMing on 14.730371743 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:13.99, Y:0.75, Z:1.34 [[ 9.58491789e-01 -2.09191181e-01 -1.93733169e-01 1.39869987e+01] [ 2.07557274e-01 9.77795067e-01 -2.89272169e-02 7.50983004e-01] [ 1.95482656e-01 -1.24842287e-02 9.80627694e-01 1.33948099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760371743 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:14.00, Y:0.75, Z:1.34 [[ 9.55663917e-01 -2.09673376e-01 -2.06745138e-01 1.40025404e+01] [ 2.13582240e-01 9.76918862e-01 -3.48756183e-03 7.50802570e-01] [ 2.02704474e-01 -4.08241526e-02 9.78388616e-01 1.34445730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:14.03, Y:0.77, Z:1.36 [[ 0.95833465 -0.21446925 -0.18867337 14.03369119] [ 0.20625973 0.97650832 -0.06235729 0.77419962] [ 0.19761484 0.02084344 0.98005812 1.36295844] [ 0. 0. 0. 1. ]] SLAMing on 14.820371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:14.07, Y:0.77, Z:1.36 [[ 9.58684672e-01 -2.08085340e-01 -1.93969563e-01 1.40662724e+01] [ 2.05479544e-01 9.78081448e-01 -3.36873510e-02 7.66613589e-01] [ 1.96727875e-01 -7.56123045e-03 9.80428973e-01 1.35827404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850371743 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:14.10, Y:0.77, Z:1.36 [[ 9.58645476e-01 -2.06106031e-01 -1.96262975e-01 1.40950661e+01] [ 2.04559757e-01 9.78443628e-01 -2.83438415e-02 7.69188947e-01] [ 1.97874094e-01 -1.29758111e-02 9.80141557e-01 1.36303503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880371743 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:14.12, Y:0.78, Z:1.37 [[ 9.58844663e-01 -2.06709411e-01 -1.94648738e-01 1.41209068e+01] [ 2.04266472e-01 9.78366810e-01 -3.27657442e-02 7.75772789e-01] [ 1.97210853e-01 -8.34295204e-03 9.80325596e-01 1.36885751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910371743 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:14.15, Y:0.78, Z:1.37 [[ 9.58188266e-01 -2.09370231e-01 -1.95036801e-01 1.41507132e+01] [ 2.06228165e-01 9.77822427e-01 -3.65136199e-02 7.81653045e-01] [ 1.98356223e-01 -5.23515950e-03 9.80116014e-01 1.37493275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940371743 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:14.18, Y:0.79, Z:1.38 [[ 9.57612228e-01 -2.11001746e-01 -1.96104777e-01 1.41778149e+01] [ 2.08451655e-01 9.77448595e-01 -3.37957399e-02 7.85127115e-01] [ 1.98813299e-01 -8.51515144e-03 9.80000390e-01 1.37900579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970371743 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:14.21, Y:0.79, Z:1.38 [[ 9.56625809e-01 -2.13976605e-01 -1.97689337e-01 1.42057419e+01] [ 2.11747453e-01 9.76780486e-01 -3.26021320e-02 7.89773234e-01] [ 2.00075180e-01 -1.06721728e-02 9.79722423e-01 1.38490027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000371743 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:14.23, Y:0.79, Z:1.39 [[ 9.56714046e-01 -2.16281074e-01 -1.94732463e-01 1.42314502e+01] [ 2.13593295e-01 9.76297111e-01 -3.49550467e-02 7.94996589e-01] [ 1.97676856e-01 -8.15156423e-03 9.80233346e-01 1.38910724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030371743 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:14.26, Y:0.80, Z:1.39 [[ 9.54980250e-01 -2.22605218e-01 -1.96111294e-01 1.42613467e+01] [ 2.20611361e-01 9.74828833e-01 -3.22393051e-02 7.97715750e-01] [ 1.98351581e-01 -1.24764798e-02 9.80051523e-01 1.39472442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060371743 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:14.28, Y:0.80, Z:1.40 [[ 9.50612174e-01 -2.27218642e-01 -2.11443099e-01 1.42755120e+01] [ 2.32338449e-01 9.72634785e-01 -6.47916334e-04 7.96037545e-01] [ 2.05804131e-01 -4.85104443e-02 9.77390094e-01 1.39929714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090371743 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:14.31, Y:0.83, Z:1.42 [[ 0.95320781 -0.23772431 -0.18676729 14.30901515] [ 0.22729003 0.970877 -0.07574362 0.82553183] [ 0.19933416 0.02974907 0.9794799 1.41968525] [ 0. 0. 0. 1. ]] SLAMing on 15.120371743 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:14.34, Y:0.81, Z:1.41 [[ 0.95246823 -0.23199753 -0.19743711 14.3447358 ] [ 0.2309901 0.97254019 -0.02844548 0.81114875] [ 0.19861481 -0.01851261 0.97990277 1.41303239] [ 0. 0. 0. 1. ]] SLAMing on 15.150371743 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:14.36, Y:0.81, Z:1.42 [[ 9.49290700e-01 -2.33381337e-01 -2.10666369e-01 1.43577862e+01] [ 2.38421256e-01 9.71160647e-01 -1.51751508e-03 8.13282559e-01] [ 2.04945047e-01 -4.87867773e-02 9.77556841e-01 1.41832495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180371743 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:14.38, Y:0.84, Z:1.44 [[ 9.49229527e-01 -2.40293707e-01 -2.03032608e-01 1.43781349e+01] [ 2.37020627e-01 9.70653457e-01 -4.06581952e-02 8.36119787e-01] [ 2.06844211e-01 -9.52895656e-03 9.78327487e-01 1.43654714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210371743 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:14.40, Y:0.84, Z:1.44 [[ 9.49598914e-01 -2.38784247e-01 -2.03086154e-01 1.44046659e+01] [ 2.35462940e-01 9.71029590e-01 -4.07276287e-02 8.42820979e-01] [ 2.06927781e-01 -9.14435111e-03 9.78313485e-01 1.44228893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240371743 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:14.44, Y:0.86, Z:1.45 [[ 0.95425927 -0.23715548 -0.18206184 14.44472283] [ 0.22502474 0.97064485 -0.08492612 0.86044938] [ 0.19685808 0.04007312 0.9796127 1.45022427] [ 0. 0. 0. 1. ]] SLAMing on 15.270371743 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:14.47, Y:0.83, Z:1.44 [[ 9.51291852e-01 -2.21803740e-01 -2.14118923e-01 1.44667949e+01] [ 2.30022321e-01 9.73085541e-01 1.39378014e-02 8.34147619e-01] [ 2.05264572e-01 -6.25110486e-02 9.76708157e-01 1.43571549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300371743 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:14.50, Y:0.88, Z:1.46 [[ 0.95641418 -0.23235825 -0.17686594 14.49982746] [ 0.2183683 0.97122112 -0.09510424 0.87881538] [ 0.19387419 0.05233713 0.97962933 1.46249888] [ 0. 0. 0. 1. ]] SLAMing on 15.330371743 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:14.54, Y:0.86, Z:1.45 [[ 0.95738179 -0.21746177 -0.19008021 14.53740608] [ 0.2162576 0.97595423 -0.02731293 0.85633029] [ 0.1914491 -0.01495738 0.98138857 1.44612927] [ 0. 0. 0. 1. ]] SLAMing on 15.360371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:14.56, Y:0.87, Z:1.45 [[ 9.57331640e-01 -2.18474364e-01 -1.89169458e-01 1.45641958e+01] [ 2.15859971e-01 9.75812029e-01 -3.45739337e-02 8.66326730e-01] [ 1.92147351e-01 -7.73539319e-03 9.81335600e-01 1.45412462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390371743 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:14.58, Y:0.86, Z:1.46 [[ 0.95239258 -0.21357738 -0.21756165 14.57563993] [ 0.22451104 0.97410998 0.02654322 0.85643797] [ 0.20625994 -0.07412456 0.9756856 1.45511032] [ 0. 0. 0. 1. ]] SLAMing on 15.420371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:14.59, Y:0.89, Z:1.48 [[ 9.52000101e-01 -2.26737731e-01 -2.05635135e-01 1.45906808e+01] [ 2.22876189e-01 9.73938682e-01 -4.20671893e-02 8.92080286e-01] [ 2.09814232e-01 -5.78320687e-03 9.77724165e-01 1.48275963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450371743 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:14.62, Y:0.90, Z:1.49 [[ 9.52130301e-01 -2.25766371e-01 -2.06100547e-01 1.46170274e+01] [ 2.21858482e-01 9.74165645e-01 -4.21913478e-02 8.98587019e-01] [ 2.10301460e-01 -5.55349365e-03 9.77620813e-01 1.48769673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480371743 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:14.64, Y:0.90, Z:1.49 [[ 9.52625977e-01 -2.22357217e-01 -2.07511482e-01 1.46429488e+01] [ 2.18301468e-01 9.74953588e-01 -4.25437526e-02 9.04897744e-01] [ 2.11773974e-01 -4.77177721e-03 9.77307021e-01 1.49262146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510371743 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:14.67, Y:0.91, Z:1.50 [[ 9.53040133e-01 -2.20339925e-01 -2.07761454e-01 1.46695397e+01] [ 2.16220649e-01 9.75413670e-01 -4.26239748e-02 9.10957418e-01] [ 2.12045126e-01 -4.29995786e-03 9.77250416e-01 1.49780976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540371743 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:14.70, Y:0.92, Z:1.50 [[ 9.53522181e-01 -2.18234369e-01 -2.07772015e-01 1.46960185e+01] [ 2.14051499e-01 9.75889112e-01 -4.26895432e-02 9.17188648e-01] [ 2.12078773e-01 -3.76848498e-03 9.77245308e-01 1.50360486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570371743 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:14.72, Y:0.92, Z:1.51 [[ 9.54105116e-01 -2.15929829e-01 -2.07503582e-01 1.47224171e+01] [ 2.11690352e-01 9.76403677e-01 -4.26972442e-02 9.23366856e-01] [ 2.11826869e-01 -3.18884716e-03 9.77302005e-01 1.50921678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600371743 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:14.76, Y:0.94, Z:1.52 [[ 0.95973628 -0.21013928 -0.18640749 14.76172799] [ 0.1980844 0.97680672 -0.08130933 0.93870816] [ 0.19917037 0.0411111 0.97910216 1.51712666] [ 0. 0. 0. 1. ]] SLAMing on 15.630371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:14.80, Y:0.92, Z:1.51 [[ 9.60302745e-01 -1.97740984e-01 -1.96766719e-01 1.47969465e+01] [ 1.95714303e-01 9.80205271e-01 -2.98921077e-02 9.22407588e-01] [ 1.98782670e-01 -9.80458819e-03 9.79994551e-01 1.50642368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660371743 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:14.82, Y:0.93, Z:1.51 [[ 9.61262424e-01 -1.95394319e-01 -1.94410935e-01 1.48236106e+01] [ 1.92621766e-01 9.80709443e-01 -3.32542407e-02 9.29432874e-01] [ 1.97158329e-01 -5.48172544e-03 9.80356335e-01 1.51436350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690371743 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:14.84, Y:0.93, Z:1.52 [[ 9.57142740e-01 -1.96252950e-01 -2.12984872e-01 1.48359246e+01] [ 2.01944916e-01 9.79383677e-01 5.08568711e-03 9.26246188e-01] [ 2.07595826e-01 -4.78789405e-02 9.77042261e-01 1.51848787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720371743 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:14.87, Y:0.96, Z:1.54 [[ 0.96106272 -0.20364543 -0.18678057 14.86930169] [ 0.19306595 0.978438 -0.0733799 0.95675451] [ 0.19769669 0.03446172 0.97965729 1.54195945] [ 0. 0. 0. 1. ]] SLAMing on 15.750371743 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:14.89, Y:0.94, Z:1.53 [[ 9.56930531e-01 -1.98588844e-01 -2.11769757e-01 1.48888115e+01] [ 2.02936778e-01 9.79191073e-01 -1.22786612e-03 9.38247526e-01] [ 2.07606896e-01 -4.18008895e-02 9.77318813e-01 1.53240155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780371743 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:14.91, Y:0.96, Z:1.55 [[ 9.56004571e-01 -2.10878437e-01 -2.03925341e-01 1.49092339e+01] [ 2.06514215e-01 9.77511440e-01 -4.26997009e-02 9.58399665e-01] [ 2.08343800e-01 -1.29237249e-03 9.78054799e-01 1.55129773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810371743 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:14.94, Y:0.96, Z:1.56 [[ 9.55310350e-01 -2.13711685e-01 -2.04228918e-01 1.49358762e+01] [ 2.09384935e-01 9.76895026e-01 -4.28259011e-02 9.62237274e-01] [ 2.08662610e-01 -1.85043213e-03 9.77985936e-01 1.55684274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840371743 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:14.98, Y:0.97, Z:1.56 [[ 0.95705765 -0.21698456 -0.19224555 14.97580233] [ 0.20785092 0.97588256 -0.06671747 0.96677714] [ 0.20208574 0.02389405 0.97907631 1.5640387 ] [ 0. 0. 0. 1. ]] SLAMing on 15.870371743 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:15.01, Y:0.96, Z:1.56 [[ 9.56072993e-01 -2.13763125e-01 -2.00573574e-01 1.50101332e+01] [ 2.11381297e-01 9.76830244e-01 -3.34756784e-02 9.57226491e-01] [ 2.03082199e-01 -1.03923103e-02 9.79106542e-01 1.56018815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900371743 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:15.04, Y:0.96, Z:1.57 [[ 9.55238198e-01 -2.18364521e-01 -1.99591885e-01 1.50367823e+01] [ 2.15171089e-01 9.75843494e-01 -3.78269589e-02 9.63061365e-01] [ 2.03030508e-01 -6.81264701e-03 9.79148712e-01 1.56640103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930371743 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:15.05, Y:0.96, Z:1.57 [[ 9.50910474e-01 -2.24003180e-01 -2.13522471e-01 1.50523594e+01] [ 2.26869232e-01 9.73859537e-01 -1.13117107e-02 9.62934863e-01] [ 2.10474754e-01 -3.76852548e-02 9.76872663e-01 1.57052561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960371743 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:15.07, Y:0.98, Z:1.59 [[ 9.49361157e-01 -2.36846270e-01 -2.06439430e-01 1.50743564e+01] [ 2.32853153e-01 9.71525426e-01 -4.37921905e-02 9.78855202e-01] [ 2.10933172e-01 -6.49546742e-03 9.77478903e-01 1.58628389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990371743 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:15.10, Y:0.98, Z:1.59 [[ 9.48793778e-01 -2.39663661e-01 -2.05795278e-01 1.51015461e+01] [ 2.35747337e-01 9.70830487e-01 -4.37190921e-02 9.82978607e-01] [ 2.10270208e-01 -7.03528622e-03 9.77617995e-01 1.59244979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020371743 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:15.14, Y:0.99, Z:1.60 [[ 0.9518685 -0.24144171 -0.18881806 15.13989527] [ 0.23056359 0.96993118 -0.07793544 0.99486845] [ 0.20195739 0.03064971 0.97891461 1.60109244] [ 0. 0. 0. 1. ]] SLAMing on 16.050371743 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:15.16, Y:0.97, Z:1.59 [[ 9.47543670e-01 -2.36814994e-01 -2.14661717e-01 1.51624808e+01] [ 2.42330579e-01 9.70193527e-01 -6.40860122e-04 9.71682329e-01] [ 2.08415173e-01 -5.14118552e-02 9.76688249e-01 1.59165847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080371742999997 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:15.18, Y:0.99, Z:1.61 [[ 9.46845319e-01 -2.47551940e-01 -2.05431201e-01 1.51821336e+01] [ 2.43785449e-01 9.68836881e-01 -4.38606123e-02 9.94735723e-01] [ 2.09887104e-01 -8.55192225e-03 9.77688226e-01 1.61074662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110371742999998 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:15.22, Y:1.00, Z:1.62 [[ 0.94986285 -0.24749133 -0.19107224 15.21940291] [ 0.23813452 0.96864505 -0.07084294 1.00457859] [ 0.20261419 0.02179018 0.97901618 1.61861196] [ 0. 0. 0. 1. ]] SLAMing on 16.140371743 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:15.25, Y:1.00, Z:1.61 [[ 9.51198048e-01 -2.44278802e-01 -1.88547449e-01 1.52546149e+01] [ 2.37630124e-01 9.69655055e-01 -5.74543193e-02 1.00287749e+00] [ 1.96860860e-01 9.84588254e-03 9.80381997e-01 1.61445375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170371742999997 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:15.27, Y:0.98, Z:1.61 [[ 0.94670241 -0.23783463 -0.21723084 15.27426752] [ 0.24707502 0.96886414 0.01600634 0.98409984] [ 0.20666031 -0.06882556 0.97598902 1.61121578] [ 0. 0. 0. 1. ]] SLAMing on 16.200371742999998 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:15.29, Y:1.02, Z:1.63 [[ 9.45993685e-01 -2.51242520e-01 -2.04873481e-01 1.52921219e+01] [ 2.47511651e-01 9.67882148e-01 -4.40695948e-02 1.01528348e+00] [ 2.09365541e-01 -9.01901514e-03 9.77795852e-01 1.63435147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230371743 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:15.33, Y:1.03, Z:1.64 [[ 0.94988956 -0.25325107 -0.1832313 15.33142397] [ 0.24050713 0.96654994 -0.08909284 1.03345173] [ 0.19966506 0.04055992 0.97902439 1.64188961] [ 0. 0. 0. 1. ]] SLAMing on 16.260371742999997 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:15.37, Y:1.01, Z:1.63 [[ 0.94933302 -0.24327116 -0.19896218 15.36852306] [ 0.24203739 0.96977535 -0.03088168 1.01460407] [ 0.20046124 -0.01883929 0.97952048 1.63062613] [ 0. 0. 0. 1. ]] SLAMing on 16.290371742999998 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:15.38, Y:1.01, Z:1.64 [[ 9.44787356e-01 -2.44189067e-01 -2.18514420e-01 1.53827086e+01] [ 2.51205189e-01 9.67923486e-01 4.48095513e-03 1.01193190e+00] [ 2.10411038e-01 -5.91255057e-02 9.75823432e-01 1.63665649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:15.40, Y:1.04, Z:1.66 [[ 9.44021476e-01 -2.55005087e-01 -2.09274600e-01 1.54006445e+01] [ 2.51125103e-01 9.66890808e-01 -4.53690265e-02 1.03939135e+00] [ 2.13915020e-01 -9.72477016e-03 9.76803866e-01 1.65696261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350371742999997 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:15.43, Y:1.05, Z:1.66 [[ 9.43988537e-01 -2.54716994e-01 -2.09773439e-01 1.54267111e+01] [ 2.50805360e-01 9.66967427e-01 -4.55045749e-02 1.04596388e+00] [ 2.14434871e-01 -9.65650584e-03 9.76690554e-01 1.66306194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380371742999998 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:15.47, Y:1.07, Z:1.67 [[ 0.94902409 -0.25606709 -0.18380133 15.4674725 ] [ 0.24128254 0.96537938 -0.09912306 1.06888157] [ 0.20282017 0.04972212 0.97795281 1.67094057] [ 0. 0. 0. 1. ]] SLAMing on 16.410371743 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:15.49, Y:1.03, Z:1.66 [[ 0.945176 -0.2362895 -0.22540986 15.49190209] [ 0.24674925 0.96889314 0.01899737 1.03419499] [ 0.21390919 -0.07357557 0.97407879 1.65799637] [ 0. 0. 0. 1. ]] SLAMing on 16.440371742999996 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:15.51, Y:1.07, Z:1.68 [[ 9.45749306e-01 -2.45265209e-01 -2.13080330e-01 1.55067922e+01] [ 2.40926088e-01 9.69428192e-01 -4.65145146e-02 1.07088835e+00] [ 2.17974471e-01 -7.34554035e-03 9.75926828e-01 1.68365146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470371742999998 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:15.53, Y:1.08, Z:1.69 [[ 9.46251254e-01 -2.43067773e-01 -2.13369685e-01 1.55335882e+01] [ 2.38654906e-01 9.69985339e-01 -4.66077107e-02 1.07799718e+00] [ 2.18294299e-01 -6.81911751e-03 9.75859159e-01 1.68983465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500371743 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:15.56, Y:1.08, Z:1.70 [[ 9.46186738e-01 -2.43330565e-01 -2.13356256e-01 1.55606848e+01] [ 2.38910459e-01 9.69919475e-01 -4.66691061e-02 1.08403002e+00] [ 2.18294408e-01 -6.81535189e-03 9.75859161e-01 1.69583258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530371743 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:15.59, Y:1.09, Z:1.70 [[ 9.46958361e-01 -2.40947725e-01 -2.12635970e-01 1.55862113e+01] [ 2.36485201e-01 9.70518387e-01 -4.65704823e-02 1.09063994e+00] [ 2.17588171e-01 -6.18495249e-03 9.76021073e-01 1.70121363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560371742999997 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:15.61, Y:1.10, Z:1.71 [[ 9.47592434e-01 -2.38836661e-01 -2.12192430e-01 1.56123323e+01] [ 2.34334198e-01 9.71043267e-01 -4.65022201e-02 1.09712687e+00] [ 2.17154466e-01 -5.65879094e-03 9.76120851e-01 1.70759484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590371743 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:15.64, Y:1.10, Z:1.71 [[ 9.48842337e-01 -2.34644226e-01 -2.11282529e-01 1.56388069e+01] [ 2.30063396e-01 9.72070376e-01 -4.63682939e-02 1.10415247e+00] [ 2.16261540e-01 -4.61217567e-03 9.76324574e-01 1.71467012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:15.68, Y:1.12, Z:1.72 [[ 0.95411561 -0.23446838 -0.18624712 15.67920666] [ 0.22071307 0.97101462 -0.09174068 1.12363623] [ 0.20235896 0.04642404 0.97821044 1.72192197] [ 0. 0. 0. 1. ]] SLAMing on 16.650371742999997 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:15.72, Y:1.11, Z:1.71 [[ 9.55432374e-01 -2.23342275e-01 -1.93047161e-01 1.57176462e+01] [ 2.18369923e-01 9.74736357e-01 -4.69426297e-02 1.10983757e+00] [ 1.98654360e-01 2.69481440e-03 9.80065908e-01 1.71177750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:15.73, Y:1.09, Z:1.71 [[ 0.9499196 -0.21809813 -0.22379893 15.7323554 ] [ 0.22912838 0.97309451 0.02423358 1.09257409] [ 0.21249221 -0.07429864 0.97433401 1.71356111] [ 0. 0. 0. 1. ]] SLAMing on 16.710371743 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:15.75, Y:1.13, Z:1.74 [[ 9.49456061e-01 -2.34594398e-01 -2.08563317e-01 1.57465031e+01] [ 2.30048224e-01 9.72084427e-01 -4.61484810e-02 1.12747008e+00] [ 2.13567327e-01 -4.16366564e-03 9.76919475e-01 1.74051062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740371742999997 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:15.79, Y:1.14, Z:1.75 [[ 0.95365407 -0.23542504 -0.18740058 15.78678888] [ 0.22252552 0.9709984 -0.08743282 1.14361934] [ 0.20254954 0.04167925 0.97838465 1.74759813] [ 0. 0. 0. 1. ]] SLAMing on 16.770371743 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:15.81, Y:1.11, Z:1.74 [[ 9.48403200e-01 -2.26523910e-01 -2.21851950e-01 1.58093556e+01] [ 2.33703770e-01 9.72287395e-01 6.30628096e-03 1.11436093e+00] [ 2.14275331e-01 -5.78285342e-02 9.75059969e-01 1.73516812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800371743 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:15.83, Y:1.14, Z:1.76 [[ 9.46727319e-01 -2.42996105e-01 -2.11329783e-01 1.58282281e+01] [ 2.38482025e-01 9.70009268e-01 -4.69930247e-02 1.14123619e+00] [ 2.16410970e-01 -5.90877437e-03 9.76284476e-01 1.75670372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830371742999997 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:15.87, Y:1.15, Z:1.76 [[ 0.95007382 -0.24475259 -0.1935353 15.86899508] [ 0.2331538 0.96906428 -0.0809551 1.15487325] [ 0.20736212 0.03178983 0.9777476 1.76406054] [ 0. 0. 0. 1. ]] SLAMing on 16.860371742999998 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:15.89, Y:1.13, Z:1.76 [[ 9.45284834e-01 -2.39371188e-01 -2.21670967e-01 1.58894652e+01] [ 2.44916661e-01 9.69540795e-01 -2.54488434e-03 1.13249767e+00] [ 2.15528218e-01 -5.18852725e-02 9.75118201e-01 1.75538399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890371743 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:15.92, Y:1.16, Z:1.78 [[ 9.46479094e-01 -2.51416666e-01 -2.02403027e-01 1.59214843e+01] [ 2.43218234e-01 9.67802966e-01 -6.48252216e-02 1.15760467e+00] [ 2.12184391e-01 1.21276101e-02 9.77154392e-01 1.77512082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920371742999997 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:15.94, Y:1.15, Z:1.77 [[ 0.94285419 -0.2513686 -0.2187231 15.94064266] [ 0.25276105 0.96727708 -0.02206565 1.15072052] [ 0.21711246 -0.03447999 0.97553745 1.77274779] [ 0. 0. 0. 1. ]] SLAMing on 16.950371742999998 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:15.96, Y:1.17, Z:1.79 [[ 9.41580961e-01 -2.60539593e-01 -2.13411376e-01 1.59630817e+01] [ 2.56281037e-01 9.65415395e-01 -4.78868022e-02 1.16715949e+00] [ 2.18507035e-01 -9.60398741e-03 9.75788112e-01 1.78601034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980371743 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:16.00, Y:1.18, Z:1.79 [[ 0.94447644 -0.26142448 -0.19905148 16.00094408] [ 0.25088039 0.96495653 -0.07692804 1.1800739 ] [ 0.2121869 0.02271861 0.97696499 1.79395845] [ 0. 0. 0. 1. ]] SLAMing on 17.010371742999997 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:16.02, Y:1.16, Z:1.79 [[ 9.40659959e-01 -2.55924966e-01 -2.22848051e-01 1.60219845e+01] [ 2.60266830e-01 9.65483061e-01 -1.01801801e-02 1.16359314e+00] [ 2.17761380e-01 -4.84238680e-02 9.74800036e-01 1.78664219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040371742999998 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:16.04, Y:1.19, Z:1.80 [[ 9.39673842e-01 -2.65926265e-01 -2.15165732e-01 1.60427031e+01] [ 2.61681243e-01 9.63933878e-01 -4.85222113e-02 1.18644123e+00] [ 2.20308869e-01 -1.07097834e-02 9.75371367e-01 1.80417064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070371743 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:16.08, Y:1.20, Z:1.81 [[ 0.94251215 -0.26960888 -0.19743833 16.08038281] [ 0.25712938 0.96246867 -0.08682479 1.20334851] [ 0.21343694 0.03106622 0.97646278 1.8124176 ] [ 0. 0. 0. 1. ]] SLAMing on 17.100371742999997 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:16.10, Y:1.18, Z:1.80 [[ 9.38108632e-01 -2.60864611e-01 -2.27819774e-01 1.61038525e+01] [ 2.67706386e-01 9.63500118e-01 -9.01643205e-04 1.17893646e+00] [ 2.19739586e-01 -6.01429692e-02 9.73702900e-01 1.80188411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130371742999998 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:16.13, Y:1.21, Z:1.82 [[ 0.94031312 -0.27278394 -0.20347028 16.13231445] [ 0.26274761 0.96191817 -0.07534666 1.21194425] [ 0.21627512 0.01738812 0.97617761 1.82431711] [ 0. 0. 0. 1. ]] SLAMing on 17.160371743 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:16.15, Y:1.20, Z:1.82 [[ 9.36057404e-01 -2.70714013e-01 -2.24745319e-01 1.61531167e+01] [ 2.74593072e-01 9.61452203e-01 -1.44328108e-02 1.19966834e+00] [ 2.19989047e-01 -4.82035681e-02 9.74310646e-01 1.81868318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190371742999996 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:16.18, Y:1.23, Z:1.84 [[ 0.93837019 -0.28010461 -0.20249146 16.18412517] [ 0.26972445 0.95979445 -0.07773893 1.22841231] [ 0.21612522 0.01833099 0.97619356 1.83776584] [ 0. 0. 0. 1. ]] SLAMing on 17.220371742999998 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:16.22, Y:1.22, Z:1.83 [[ 9.37887512e-01 -2.76024065e-01 -2.10184992e-01 1.62175586e+01] [ 2.72452315e-01 9.61051844e-01 -4.63582690e-02 1.22281668e+00] [ 2.14794672e-01 -1.37865462e-02 9.76561918e-01 1.83384083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250371743 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:16.24, Y:1.23, Z:1.84 [[ 0.93830952 -0.27474995 -0.20997074 16.24390348] [ 0.2726694 0.96130141 -0.03938274 1.22681277] [ 0.21266558 -0.0202994 0.97691417 1.83694045] [ 0. 0. 0. 1. ]] SLAMing on 17.280371743 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:16.27, Y:1.24, Z:1.84 [[ 9.39069791e-01 -2.76242099e-01 -2.04543959e-01 1.62720572e+01] [ 2.71178437e-01 9.61070977e-01 -5.29606711e-02 1.24243120e+00] [ 2.11211230e-01 -5.73414501e-03 9.77423622e-01 1.84458874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310371742999997 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:16.30, Y:1.25, Z:1.85 [[ 9.39059458e-01 -2.75030951e-01 -2.06216660e-01 1.63022170e+01] [ 2.70452485e-01 9.61400293e-01 -5.06451446e-02 1.25075032e+00] [ 2.12185740e-01 -8.21300616e-03 9.77194842e-01 1.84973704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:16.33, Y:1.26, Z:1.85 [[ 9.40910173e-01 -2.66736318e-01 -2.08661887e-01 1.63298436e+01] [ 2.63923299e-01 9.63640082e-01 -4.17406850e-02 1.25945477e+00] [ 2.12208714e-01 -1.57964985e-02 9.77096685e-01 1.85417352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370371743 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:16.36, Y:1.27, Z:1.86 [[ 0.94157928 -0.26256814 -0.21091806 16.3565834 ] [ 0.26059758 0.96471512 -0.03759836 1.26779557] [ 0.21334798 -0.0195629 0.97678039 1.86031361] [ 0. 0. 0. 1. ]] SLAMing on 17.400371742999997 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:16.37, Y:1.26, Z:1.86 [[ 9.37294007e-01 -2.55826612e-01 -2.36712248e-01 1.63693831e+01] [ 2.66424777e-01 9.63763141e-01 1.33583629e-02 1.26193479e+00] [ 2.24717115e-01 -7.55867213e-02 9.71487965e-01 1.86441385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430371743 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:16.40, Y:1.32, Z:1.90 [[ 0.94422247 -0.2720487 -0.18556249 16.39527761] [ 0.25253528 0.95984127 -0.1221911 1.32153438] [ 0.21135246 0.06851451 0.97500559 1.898104 ] [ 0. 0. 0. 1. ]] SLAMing on 17.460371743 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:16.42, Y:1.28, Z:1.87 [[ 0.94118924 -0.24070111 -0.23711977 16.42436176] [ 0.25528819 0.96632242 0.03238708 1.27515012] [ 0.22133854 -0.09101624 0.97094042 1.87183959] [ 0. 0. 0. 1. ]] SLAMing on 17.490371742999997 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:16.44, Y:1.32, Z:1.91 [[ 9.41568014e-01 -2.56798502e-01 -2.17954595e-01 1.64351770e+01] [ 2.51717015e-01 9.66442440e-01 -5.12596707e-02 1.32010405e+00] [ 2.23803977e-01 -6.59841362e-03 9.74611841e-01 1.90544366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520371743 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:16.46, Y:1.33, Z:1.91 [[ 9.42715166e-01 -2.52048838e-01 -2.18539467e-01 1.64593007e+01] [ 2.46798128e-01 9.67699347e-01 -5.14651108e-02 1.33083984e+00] [ 2.24452221e-01 -5.41819085e-03 9.74470032e-01 1.91139818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550371743 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:16.49, Y:1.34, Z:1.92 [[ 9.42989448e-01 -2.50453584e-01 -2.19189194e-01 1.64851345e+01] [ 2.45121635e-01 9.68115575e-01 -5.16489854e-02 1.33867709e+00] [ 2.25136146e-01 -5.02356547e-03 9.74314364e-01 1.91750080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580371742999997 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:16.52, Y:1.36, Z:1.93 [[ 0.94722702 -0.25184934 -0.19832518 16.52044518] [ 0.23770617 0.96691752 -0.09255422 1.35770549] [ 0.21507381 0.04052674 0.97575655 1.9253757 ] [ 0. 0. 0. 1. ]] SLAMing on 17.610371742999998 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:16.55, Y:1.33, Z:1.91 [[ 9.42843803e-01 -2.38393393e-01 -2.32839330e-01 1.65481472e+01] [ 2.44133604e-01 9.69732136e-01 -4.28569681e-03 1.33476230e+00] [ 2.26813463e-01 -5.28031622e-02 9.72505773e-01 1.91275992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640371743 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:16.57, Y:1.36, Z:1.94 [[ 9.42456852e-01 -2.49771820e-01 -2.22236632e-01 1.65663054e+01] [ 2.44181980e-01 9.68293998e-01 -5.27436635e-02 1.36160176e+00] [ 2.28364278e-01 -4.55755372e-03 9.73565090e-01 1.93537683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670371742999997 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:16.59, Y:1.37, Z:1.94 [[ 9.42077651e-01 -2.50762956e-01 -2.22727726e-01 1.65916819e+01] [ 2.45159315e-01 9.68036913e-01 -5.29286847e-02 1.36783226e+00] [ 2.28881214e-01 -4.74084593e-03 9.73442815e-01 1.94067060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700371742999998 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:16.63, Y:1.39, Z:1.95 [[ 0.94563155 -0.25529395 -0.20150924 16.6270422 ] [ 0.24047055 0.96596456 -0.0953225 1.38675721] [ 0.21898605 0.04168293 0.97483724 1.94955697] [ 0. 0. 0. 1. ]] SLAMing on 17.730371743 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:16.66, Y:1.37, Z:1.94 [[ 9.45015684e-01 -2.45334057e-01 -2.16232648e-01 1.66640300e+01] [ 2.42375975e-01 9.69335816e-01 -4.05211277e-02 1.36990691e+00] [ 2.19543263e-01 -1.41164975e-02 9.75500631e-01 1.93716313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760371742999997 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:16.69, Y:1.38, Z:1.95 [[ 9.44950004e-01 -2.50235954e-01 -2.10835143e-01 1.66920214e+01] [ 2.43516855e-01 9.68179700e-01 -5.76854367e-02 1.38394012e+00] [ 2.18561276e-01 3.16794264e-03 9.75818084e-01 1.94726518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790371742999998 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:16.72, Y:1.38, Z:1.95 [[ 0.94369562 -0.24686604 -0.22021749 16.72006523] [ 0.24687043 0.96864533 -0.02795008 1.37782221] [ 0.22021257 -0.02798881 0.97505028 1.94769013] [ 0. 0. 0. 1. ]] SLAMing on 17.820371743 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:16.74, Y:1.39, Z:1.96 [[ 9.43124813e-01 -2.53164274e-01 -2.15460989e-01 1.67435849e+01] [ 2.48833644e-01 9.67382786e-01 -4.74590644e-02 1.39297272e+00] [ 2.20448191e-01 -8.85412169e-03 9.75358498e-01 1.96088634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850371742999997 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:16.77, Y:1.40, Z:1.97 [[ 9.43773969e-01 -2.54152898e-01 -2.11416650e-01 1.67709889e+01] [ 2.49171717e-01 9.67150226e-01 -5.03378164e-02 1.40038416e+00] [ 2.17265163e-01 -5.17152884e-03 9.76098921e-01 1.96618827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880371742999998 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:16.80, Y:1.40, Z:1.97 [[ 0.94174486 -0.25731612 -0.21657569 16.79901219] [ 0.25557125 0.96610006 -0.03652397 1.40088804] [ 0.21863199 -0.02095425 0.97558238 1.97201524] [ 0. 0. 0. 1. ]] SLAMing on 17.910371743 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:16.81, Y:1.40, Z:1.98 [[ 9.37273150e-01 -2.60101110e-01 -2.32091479e-01 1.68144910e+01] [ 2.64913206e-01 9.64212257e-01 -1.07571531e-02 1.40136601e+00] [ 2.26583397e-01 -5.14017071e-02 9.72634479e-01 1.97979107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940371742999996 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:16.84, Y:1.44, Z:2.00 [[ 0.93995341 -0.27438268 -0.20298208 16.84117928] [ 0.26127007 0.96112274 -0.08933666 1.43564984] [ 0.21960312 0.03093915 0.97509858 2.00324828] [ 0. 0. 0. 1. ]] SLAMing on 17.970371742999998 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:16.87, Y:1.41, Z:1.99 [[ 9.35284709e-01 -2.66455550e-01 -2.32903313e-01 1.68675122e+01] [ 2.71707004e-01 9.62329587e-01 -9.85238558e-03 1.41412576e+00] [ 2.26754972e-01 -5.40666758e-02 9.72449987e-01 1.99246715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000371743 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:16.89, Y:1.44, Z:2.01 [[ 9.34369401e-01 -2.77759570e-01 -2.23166852e-01 1.68856948e+01] [ 2.72619234e-01 9.60596153e-01 -5.41644246e-02 1.43943015e+00] [ 2.29417906e-01 -1.02299953e-02 9.73274253e-01 2.01346112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030371742999996 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:16.92, Y:1.46, Z:2.02 [[ 0.93697983 -0.28113374 -0.20744305 16.92018927] [ 0.26861758 0.95932645 -0.08681795 1.45584377] [ 0.22341306 0.02562382 0.974387 2.0214085 ] [ 0. 0. 0. 1. ]] SLAMing on 18.060371742999997 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:16.96, Y:1.45, Z:2.02 [[ 9.36877320e-01 -2.75006943e-01 -2.15944596e-01 1.69566507e+01] [ 2.69515439e-01 9.61419604e-01 -5.50797004e-02 1.44982454e+00] [ 2.22760668e-01 -6.59748039e-03 9.74850839e-01 2.01500911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090371743 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:16.98, Y:1.44, Z:2.02 [[ 9.32017735e-01 -2.71854326e-01 -2.39662610e-01 1.69754552e+01] [ 2.78070066e-01 9.60526088e-01 -8.16539393e-03 1.44185711e+00] [ 2.32421986e-01 -5.90327056e-02 9.70821899e-01 2.01564021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120371743 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:17.00, Y:1.48, Z:2.04 [[ 0.93496351 -0.28624112 -0.20954536 17.00146144] [ 0.27211166 0.95765892 -0.09404591 1.48034141] [ 0.22759279 0.03090975 0.97326569 2.04041977] [ 0. 0. 0. 1. ]] SLAMing on 18.150371742999997 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:17.04, Y:1.47, Z:2.03 [[ 9.34779681e-01 -2.77371891e-01 -2.21927423e-01 1.70380701e+01] [ 2.73039378e-01 9.60670747e-01 -5.06084302e-02 1.47000458e+00] [ 2.27236540e-01 -1.32871934e-02 9.73748944e-01 2.03149777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180371743 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:17.06, Y:1.48, Z:2.04 [[ 9.34474162e-01 -2.76980709e-01 -2.23695612e-01 1.70644058e+01] [ 2.73399679e-01 9.60728588e-01 -4.74678488e-02 1.47701671e+00] [ 2.28058447e-01 -1.68008301e-02 9.73502479e-01 2.03742022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210371743 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:17.08, Y:1.48, Z:2.04 [[ 9.30627428e-01 -2.73218914e-01 -2.43483093e-01 1.70816997e+01] [ 2.78969864e-01 9.60234057e-01 -1.12414332e-02 1.47655937e+00] [ 2.36872130e-01 -5.74628592e-02 9.69839994e-01 2.04223892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240371742999997 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:17.11, Y:1.51, Z:2.07 [[ 0.93462209 -0.28480067 -0.21300266 17.10776766] [ 0.27108937 0.95817989 -0.0916616 1.5137828 ] [ 0.23020016 0.0279262 0.97274252 2.06786511] [ 0. 0. 0. 1. ]] SLAMing on 18.270371743 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:17.14, Y:1.50, Z:2.06 [[ 9.35019957e-01 -2.74536772e-01 -2.24426470e-01 1.71429051e+01] [ 2.70839861e-01 9.61440764e-01 -4.77223923e-02 1.50332514e+00] [ 2.28874308e-01 -1.61622447e-02 9.73321803e-01 2.05892517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300371743 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:17.16, Y:1.50, Z:2.06 [[ 9.31560450e-01 -2.72316003e-01 -2.40913100e-01 1.71596246e+01] [ 2.76605571e-01 9.60841683e-01 -1.65111679e-02 1.50470495e+00] [ 2.35975603e-01 -5.12567545e-02 9.70406234e-01 2.06429985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330371742999997 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:17.19, Y:1.54, Z:2.09 [[ 0.93576111 -0.28340963 -0.20983357 17.1874939 ] [ 0.26885394 0.95843169 -0.09553147 1.54141252] [ 0.22818568 0.03298005 0.97305889 2.08964763] [ 0. 0. 0. 1. ]] SLAMing on 18.360371742999998 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:17.22, Y:1.53, Z:2.08 [[ 9.36242887e-01 -2.72679350e-01 -2.21574433e-01 1.72229949e+01] [ 2.68914632e-01 9.61987582e-01 -4.75900421e-02 1.53194987e+00] [ 2.26128674e-01 -1.50287687e-02 9.73981498e-01 2.07895573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390371743 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:17.25, Y:1.54, Z:2.09 [[ 9.35882563e-01 -2.73507958e-01 -2.22074819e-01 1.72504392e+01] [ 2.69635859e-01 9.61756106e-01 -4.81839870e-02 1.53933922e+00] [ 2.26760517e-01 -1.47847813e-02 9.73838322e-01 2.08621892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420371742999997 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:17.28, Y:1.55, Z:2.09 [[ 0.93584529 -0.27309805 -0.22273536 17.27578125] [ 0.27048335 0.96177382 -0.04277719 1.54571461] [ 0.2259034 -0.02021338 0.97393997 2.09152203] [ 0. 0. 0. 1. ]] SLAMing on 18.450371742999998 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:17.30, Y:1.56, Z:2.10 [[ 9.33878315e-01 -2.78337019e-01 -2.24498992e-01 1.73008801e+01] [ 2.74188278e-01 9.60369979e-01 -5.01028054e-02 1.55809902e+00] [ 2.29547557e-01 -1.47650686e-02 9.73185446e-01 2.10306077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480371743 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:17.33, Y:1.56, Z:2.11 [[ 0.93341522 -0.27837969 -0.22636426 17.32645769] [ 0.27570593 0.96023416 -0.04400681 1.56332872] [ 0.2296133 -0.02133334 0.97304811 2.10798687] [ 0. 0. 0. 1. ]] SLAMing on 18.510371742999997 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:17.35, Y:1.58, Z:2.12 [[ 9.32582331e-01 -2.85905321e-01 -2.20336884e-01 1.73526742e+01] [ 2.79474731e-01 9.58244072e-01 -6.05158909e-02 1.57890759e+00] [ 2.28438329e-01 -5.14254088e-03 9.73544803e-01 2.11888985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540371742999998 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:17.38, Y:1.58, Z:2.12 [[ 0.93249242 -0.28263563 -0.22488886 17.38088852] [ 0.28064 0.95891621 -0.04148365 1.57832573] [ 0.22737433 -0.02442962 0.97350095 2.11878363] [ 0. 0. 0. 1. ]] SLAMing on 18.570371743 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:17.41, Y:1.59, Z:2.13 [[ 9.30391368e-01 -2.89199582e-01 -2.25245430e-01 1.74055809e+01] [ 2.83935805e-01 9.57197259e-01 -5.61592968e-02 1.59417516e+00] [ 2.31845554e-01 -1.17051177e-02 9.72682183e-01 2.13001805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600371742999997 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:17.42, Y:1.59, Z:2.13 [[ 0.92546508 -0.286978 -0.24730144 17.42313792] [ 0.2917537 0.95632524 -0.01793944 1.59154324] [ 0.24164883 -0.05554879 0.96877251 2.13159874] [ 0. 0. 0. 1. ]] SLAMing on 18.630371742999998 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:17.45, Y:1.63, Z:2.16 [[ 0.92881478 -0.29827709 -0.21984967 17.44922591] [ 0.28407761 0.95414694 -0.09435851 1.62769868] [ 0.23791387 0.02518721 0.97095963 2.15676113] [ 0. 0. 0. 1. ]] SLAMing on 18.660371743 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:17.47, Y:1.61, Z:2.14 [[ 0.92536465 -0.28569671 -0.24915388 17.47482647] [ 0.29044128 0.95671725 -0.01832954 1.60889706] [ 0.2436065 -0.05540306 0.96829044 2.14424183] [ 0. 0. 0. 1. ]] SLAMing on 18.690371742999996 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:17.49, Y:1.64, Z:2.17 [[ 9.25564271e-01 -2.94800666e-01 -2.37535992e-01 1.74912944e+01] [ 2.88674807e-01 9.55482015e-01 -6.09997940e-02 1.63523488e+00] [ 2.44944148e-01 -1.21114269e-02 9.69461540e-01 2.16766783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720371742999998 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:17.52, Y:1.64, Z:2.18 [[ 9.28781653e-01 -2.91046854e-01 -2.29469758e-01 1.75243398e+01] [ 2.82490477e-01 9.56708770e-01 -7.00532636e-02 1.64399989e+00] [ 2.39924512e-01 2.41164528e-04 9.70791517e-01 2.17513694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750371743 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:17.56, Y:1.65, Z:2.18 [[ 9.31673047e-01 -2.87838928e-01 -2.21662096e-01 1.75561577e+01] [ 2.78438449e-01 9.57656587e-01 -7.32522469e-02 1.65362332e+00] [ 2.33361015e-01 6.52789371e-03 9.72368255e-01 2.17850762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780371742999996 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:17.58, Y:1.65, Z:2.18 [[ 0.93397957 -0.27554756 -0.2274988 17.58378928] [ 0.27258746 0.96107922 -0.04497569 1.65267786] [ 0.23103731 -0.02000694 0.97273917 2.17641112] [ 0. 0. 0. 1. ]] SLAMing on 18.810371742999997 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:17.61, Y:1.66, Z:2.19 [[ 0.93340527 -0.27160626 -0.23448803 17.60784151] [ 0.27007315 0.9620387 -0.03926867 1.66121763] [ 0.23625218 -0.02667534 0.97132555 2.18512658] [ 0. 0. 0. 1. ]] SLAMing on 18.840371743 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:17.63, Y:1.68, Z:2.20 [[ 9.34486149e-01 -2.75044043e-01 -2.26023033e-01 1.76305554e+01] [ 2.67194692e-01 9.61431455e-01 -6.52422661e-02 1.67978377e+00] [ 2.35250150e-01 5.75839291e-04 9.71934687e-01 2.19912883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870371743 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:17.66, Y:1.69, Z:2.20 [[ 9.35185423e-01 -2.72972803e-01 -2.25641470e-01 1.76596484e+01] [ 2.65663937e-01 9.62020931e-01 -6.27566753e-02 1.68602055e+00] [ 2.34202683e-01 -1.25567331e-03 9.72186981e-01 2.20180073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900371742999997 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:17.69, Y:1.68, Z:2.20 [[ 0.93308768 -0.26643317 -0.24157969 17.68882212] [ 0.26702835 0.96319303 -0.03090369 1.6817441 ] [ 0.24092165 -0.03567278 0.96988876 2.20195387] [ 0. 0. 0. 1. ]] SLAMing on 18.930371743 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:17.71, Y:1.71, Z:2.22 [[ 9.34434000e-01 -2.75503372e-01 -2.25678956e-01 1.77087890e+01] [ 2.65539008e-01 9.61255862e-01 -7.40013770e-02 1.70669051e+00] [ 2.37322848e-01 9.22283652e-03 9.71387052e-01 2.21961772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960371743 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:17.74, Y:1.71, Z:2.22 [[ 9.34138463e-01 -2.73303895e-01 -2.29543706e-01 1.77404988e+01] [ 2.66193197e-01 9.61922521e-01 -6.20181099e-02 1.70860834e+00] [ 2.37753051e-01 -3.16947130e-03 9.71320463e-01 2.22044552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990371742999997 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:17.77, Y:1.71, Z:2.22 [[ 9.33654494e-01 -2.72347262e-01 -2.32629005e-01 1.77676190e+01] [ 2.67573065e-01 9.62107737e-01 -5.24724474e-02 1.71221118e+00] [ 2.38104893e-01 -1.32541195e-02 9.71149004e-01 2.22306288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020371743 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:17.79, Y:1.72, Z:2.23 [[ 9.33217555e-01 -2.74557650e-01 -2.31782423e-01 1.77945381e+01] [ 2.68448364e-01 9.61537690e-01 -5.81441964e-02 1.72223408e+00] [ 2.38831469e-01 -7.96042735e-03 9.71028404e-01 2.23237223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050371743 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:17.82, Y:1.73, Z:2.24 [[ 9.32224260e-01 -2.74395221e-01 -2.35934718e-01 1.78216129e+01] [ 2.70002917e-01 9.61487229e-01 -5.13880738e-02 1.72724686e+00] [ 2.40948860e-01 -1.57978529e-02 9.70409231e-01 2.23837551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080371742999997 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:17.85, Y:1.74, Z:2.25 [[ 9.32515553e-01 -2.76555582e-01 -2.32232112e-01 1.78456584e+01] [ 2.70003964e-01 9.60975488e-01 -6.01994278e-02 1.73785636e+00] [ 2.39817855e-01 -6.56668820e-03 9.70795692e-01 2.24770118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110371742999998 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:17.87, Y:1.74, Z:2.25 [[ 0.93198101 -0.27418947 -0.23713187 17.87226359] [ 0.27119439 0.96143309 -0.04582601 1.73863036] [ 0.24055143 -0.02159987 0.97039603 2.25108845] [ 0. 0. 0. 1. ]] SLAMing on 19.140371743 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:17.89, Y:1.75, Z:2.26 [[ 9.31749819e-01 -2.77482079e-01 -2.34192166e-01 1.78949260e+01] [ 2.72619183e-01 9.60629741e-01 -5.35656827e-02 1.74803628e+00] [ 2.39835476e-01 -1.39354616e-02 9.70713525e-01 2.26253269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170371742999997 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:17.92, Y:1.76, Z:2.27 [[ 9.31433554e-01 -2.81577459e-01 -2.30533446e-01 1.79210291e+01] [ 2.74300134e-01 9.59530643e-01 -6.37211290e-02 1.75895181e+00] [ 2.39146339e-01 -3.88335754e-03 9.70975771e-01 2.27231105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200371742999998 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:17.95, Y:1.76, Z:2.27 [[ 0.92944894 -0.2794316 -0.24092043 17.9478624 ] [ 0.27770842 0.95975563 -0.04179911 1.75676311] [ 0.24290473 -0.02805549 0.96964436 2.2747078 ] [ 0. 0. 0. 1. ]] SLAMing on 19.230371743 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:17.97, Y:1.78, Z:2.29 [[ 9.29512837e-01 -2.88511233e-01 -2.29711024e-01 1.79704191e+01] [ 2.79375580e-01 9.57472338e-01 -7.20833350e-02 1.77556144e+00] [ 2.40738803e-01 2.82673466e-03 9.70585822e-01 2.29022656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260371742999997 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:18.00, Y:1.77, Z:2.29 [[ 0.92681984 -0.28839801 -0.24048196 18.00090929] [ 0.28586407 0.95715828 -0.04614923 1.77069932] [ 0.24348864 -0.02597313 0.96955592 2.289216 ] [ 0. 0. 0. 1. ]] SLAMing on 19.290371742999998 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:18.02, Y:1.79, Z:2.30 [[ 9.27000352e-01 -2.96166871e-01 -2.30120687e-01 1.80241742e+01] [ 2.87188545e-01 9.55135682e-01 -7.23779526e-02 1.78741187e+00] [ 2.41232432e-01 1.00636211e-03 9.70466847e-01 2.30130025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320371743 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:18.05, Y:1.79, Z:2.30 [[ 0.9218255 -0.29940012 -0.24616521 18.04800015] [ 0.29806521 0.95354998 -0.04358399 1.78505361] [ 0.24777988 -0.03319645 0.96824745 2.30078749] [ 0. 0. 0. 1. ]] SLAMing on 19.350371742999997 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:18.08, Y:1.81, Z:2.32 [[ 9.23591699e-01 -3.08859146e-01 -2.27121996e-01 1.80785081e+01] [ 2.95714161e-01 9.50963187e-01 -9.06760841e-02 1.80830857e+00] [ 2.43990795e-01 1.65844883e-02 9.69635729e-01 2.31847106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380371742999998 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:18.11, Y:1.80, Z:2.31 [[ 9.22398890e-01 -3.04768926e-01 -2.37268181e-01 1.81125077e+01] [ 2.99075390e-01 9.52306462e-01 -6.05500921e-02 1.80246122e+00] [ 2.44405809e-01 -1.51097360e-02 9.69555309e-01 2.31240904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410371743 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:18.14, Y:1.81, Z:2.32 [[ 0.92090798 -0.30740761 -0.23964358 18.13979259] [ 0.3027812 0.95136329 -0.05684564 1.80829359] [ 0.24546289 -0.02020997 0.9691953 2.31679051] [ 0. 0. 0. 1. ]] SLAMing on 19.440371742999996 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:18.17, Y:1.82, Z:2.33 [[ 9.20169640e-01 -3.10591879e-01 -2.38370548e-01 1.81669132e+01] [ 3.04517177e-01 9.50429225e-01 -6.28774745e-02 1.81876871e+00] [ 2.46083569e-01 -1.47299834e-02 9.69136680e-01 2.32573210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470371742999998 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:18.19, Y:1.82, Z:2.33 [[ 0.91928115 -0.3099041 -0.24265535 18.19418224] [ 0.30680985 0.95037976 -0.05143953 1.82291142] [ 0.24655606 -0.02716166 0.96874783 2.33012396] [ 0. 0. 0. 1. ]] SLAMing on 19.500371743 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:18.22, Y:1.84, Z:2.34 [[ 9.20424858e-01 -3.11748767e-01 -2.35861798e-01 1.82190873e+01] [ 3.05436965e-01 9.50071440e-01 -6.38162893e-02 1.83869142e+00] [ 2.43980208e-01 -1.33028127e-02 9.69688967e-01 2.34171159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530371742999996 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:18.24, Y:1.84, Z:2.34 [[ 0.91714767 -0.30658041 -0.25465388 18.23747971] [ 0.31040661 0.9502464 -0.02606767 1.83541993] [ 0.24997577 -0.05513835 0.96668086 2.34343234] [ 0. 0. 0. 1. ]] SLAMing on 19.560371742999997 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:18.26, Y:1.87, Z:2.37 [[ 9.20549244e-01 -3.16814213e-01 -2.28512239e-01 1.82616160e+01] [ 3.04294704e-01 9.48405970e-01 -8.90553214e-02 1.86771714e+00] [ 2.44936363e-01 1.24447447e-02 9.69459286e-01 2.36939360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590371743 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:18.29, Y:1.87, Z:2.36 [[ 9.22609422e-01 -3.06232669e-01 -2.34549368e-01 1.82945938e+01] [ 3.01132403e-01 9.51805754e-01 -5.81814578e-02 1.86574799e+00] [ 2.41062502e-01 -1.69516537e-02 9.70361537e-01 2.36419177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620371743 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:18.31, Y:1.87, Z:2.37 [[ 0.91977873 -0.30335748 -0.24896048 18.31224312] [ 0.3049442 0.95179319 -0.0331474 1.86737679] [ 0.2470144 -0.04543078 0.96794624 2.36770713] [ 0. 0. 0. 1. ]] SLAMing on 19.650371742999997 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:18.34, Y:1.90, Z:2.39 [[ 0.92415215 -0.31236914 -0.21992799 18.34123366] [ 0.29602737 0.94943691 -0.10458178 1.90226498] [ 0.24147587 0.03154477 0.96989398 2.39176285] [ 0. 0. 0. 1. ]] SLAMing on 19.680371743 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:18.37, Y:1.88, Z:2.37 [[ 9.20102634e-01 -2.95963609e-01 -2.56547628e-01 1.83689565e+01] [ 3.02115788e-01 9.53136210e-01 -1.60441956e-02 1.87807447e+00] [ 2.49273332e-01 -6.27447823e-02 9.66398416e-01 2.37349348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710371743 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:18.38, Y:1.91, Z:2.40 [[ 9.19321659e-01 -3.08319201e-01 -2.44513717e-01 1.83839195e+01] [ 3.01247815e-01 9.51203971e-01 -6.67889222e-02 1.90805401e+00] [ 2.53174726e-01 -1.22587202e-02 9.67342898e-01 2.40032744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740371742999997 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:18.42, Y:1.92, Z:2.41 [[ 9.22233683e-01 -3.09691282e-01 -2.31465644e-01 1.84178143e+01] [ 2.96318119e-01 9.50707762e-01 -9.13801091e-02 1.92301095e+00] [ 2.48355807e-01 1.56863503e-02 9.68541858e-01 2.40959529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770371743 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:18.45, Y:1.92, Z:2.40 [[ 0.92091531 -0.30066896 -0.24801849 18.45041754] [ 0.29793656 0.95330595 -0.04941231 1.91501942] [ 0.25129425 -0.02838922 0.96749432 2.40046852] [ 0. 0. 0. 1. ]] SLAMing on 19.800371743 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:18.47, Y:1.93, Z:2.41 [[ 9.20579839e-01 -3.04021062e-01 -2.45161077e-01 1.84743095e+01] [ 2.98001880e-01 9.52534747e-01 -6.22288924e-02 1.92877229e+00] [ 2.52443338e-01 -1.57717981e-02 9.67483132e-01 2.41250623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830371742999997 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:18.49, Y:1.94, Z:2.42 [[ 0.91746632 -0.30494034 -0.25547394 18.49272694] [ 0.30275534 0.95181572 -0.04884714 1.93563601] [ 0.25805958 -0.0325305 0.96558118 2.41814693] [ 0. 0. 0. 1. ]] SLAMing on 19.860371742999998 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:18.52, Y:1.96, Z:2.43 [[ 9.22183610e-01 -3.04923118e-01 -2.37906035e-01 1.85187875e+01] [ 2.93302743e-01 9.52348118e-01 -8.37052130e-02 1.95548332e+00] [ 2.52093020e-01 7.41308276e-03 9.67674613e-01 2.43357592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890371743 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:18.55, Y:1.96, Z:2.44 [[ 9.22525297e-01 -3.02330110e-01 -2.39882432e-01 1.85535331e+01] [ 2.93431048e-01 9.53198067e-01 -7.28811670e-02 1.96092798e+00] [ 2.50689642e-01 -3.15423336e-03 9.68062371e-01 2.43574822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920371742999997 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:18.58, Y:1.97, Z:2.44 [[ 9.21678759e-01 -2.99908066e-01 -2.46096358e-01 1.85829746e+01] [ 2.94620883e-01 9.53794839e-01 -5.89401482e-02 1.96592920e+00] [ 2.52402062e-01 -1.81812435e-02 9.67451622e-01 2.44014458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950371742999998 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:18.60, Y:1.97, Z:2.45 [[ 0.91998209 -0.29694222 -0.25584814 18.59752341] [ 0.29678721 0.95409905 -0.04015419 1.97329058] [ 0.25602794 -0.03899132 0.96588269 2.44602901] [ 0. 0. 0. 1. ]] SLAMing on 19.980371743 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:18.62, Y:2.00, Z:2.47 [[ 9.23489900e-01 -3.02623272e-01 -2.35765902e-01 1.86243099e+01] [ 2.90768654e-01 9.53064051e-01 -8.43949253e-02 1.99730177e+00] [ 2.50239874e-01 9.38452707e-03 9.68138387e-01 2.46820509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010371742999997 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:18.65, Y:1.99, Z:2.46 [[ 0.92119549 -0.29657928 -0.25187217 18.64712623] [ 0.29490964 0.95445233 -0.04526644 1.99366968] [ 0.25382507 -0.0325803 0.96670128 2.46288556] [ 0. 0. 0. 1. ]] SLAMing on 20.040371742999998 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:18.68, Y:2.02, Z:2.48 [[ 9.24549136e-01 -3.01987514e-01 -2.32405760e-01 1.86750050e+01] [ 2.89563694e-01 9.53225286e-01 -8.66857658e-02 2.01586974e+00] [ 2.47713065e-01 1.28489796e-02 9.68748234e-01 2.48303576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070371743 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:18.71, Y:2.01, Z:2.48 [[ 0.92418023 -0.2927286 -0.24535866 18.7061124 ] [ 0.29018678 0.95580041 -0.04729906 2.00814119] [ 0.2483597 -0.02748698 0.96827781 2.47586066] [ 0. 0. 0. 1. ]] SLAMing on 20.100371742999997 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:18.73, Y:2.02, Z:2.49 [[ 0.92293349 -0.29647128 -0.24555765 18.72849513] [ 0.292005 0.95481779 -0.05528174 2.01959801] [ 0.25085226 -0.02068269 0.96780441 2.48879461] [ 0. 0. 0. 1. ]] SLAMing on 20.130371742999998 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:18.75, Y:2.03, Z:2.50 [[ 9.22630188e-01 -2.99045361e-01 -2.43568078e-01 1.87518390e+01] [ 2.92289308e-01 9.54165211e-01 -6.43094971e-02 2.03143222e+00] [ 2.51635643e-01 -1.18584614e-02 9.67749389e-01 2.49943379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:18.78, Y:2.04, Z:2.51 [[ 9.21626645e-01 -3.00168188e-01 -2.45974360e-01 1.87781897e+01] [ 2.93451097e-01 9.53800397e-01 -6.44302429e-02 2.03915568e+00] [ 2.53950352e-01 -1.28008172e-02 9.67132544e-01 2.50604152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190371742999996 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:18.80, Y:2.05, Z:2.51 [[ 9.20169555e-01 -3.05446864e-01 -2.44928976e-01 1.87967308e+01] [ 2.96949934e-01 9.52186124e-01 -7.18493074e-02 2.05183983e+00] [ 2.55164118e-01 -6.61809793e-03 9.66875108e-01 2.51350342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220371742999998 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:18.82, Y:2.06, Z:2.52 [[ 9.19330052e-01 -3.06282130e-01 -2.47029375e-01 1.88237565e+01] [ 2.98320252e-01 9.51895014e-01 -7.00064922e-02 2.05821519e+00] [ 2.56587768e-01 -9.33479334e-03 9.66475855e-01 2.51884085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250371743 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:18.86, Y:2.06, Z:2.52 [[ 9.19290407e-01 -3.06338557e-01 -2.47106934e-01 1.88571690e+01] [ 2.97630323e-01 9.51899735e-01 -7.28222810e-02 2.06296196e+00] [ 2.57529297e-01 -6.60169219e-03 9.66247939e-01 2.52496733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280371742999996 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:18.89, Y:2.07, Z:2.53 [[ 9.19668166e-01 -3.06549340e-01 -2.45434240e-01 1.88850624e+01] [ 2.97375495e-01 9.51844544e-01 -7.45639250e-02 2.06978990e+00] [ 2.56472764e-01 -4.41206041e-03 9.66541388e-01 2.52931105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310371742999997 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:18.91, Y:2.07, Z:2.53 [[ 9.19495780e-01 -3.04722245e-01 -2.48338205e-01 1.89136250e+01] [ 2.98055171e-01 9.52334357e-01 -6.49798990e-02 2.07344116e+00] [ 2.56301825e-01 -1.42697432e-02 9.66491463e-01 2.53222887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340371743 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:18.94, Y:2.08, Z:2.54 [[ 9.19533209e-01 -3.06992910e-01 -2.45385475e-01 1.89413945e+01] [ 2.98113410e-01 9.51695580e-01 -7.35113426e-02 2.08413858e+00] [ 2.56099733e-01 -5.55658002e-03 9.66634394e-01 2.54163990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370371743 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:18.97, Y:2.09, Z:2.55 [[ 9.20435446e-01 -3.06322696e-01 -2.42827089e-01 1.89708477e+01] [ 2.97485756e-01 9.51915353e-01 -7.32078242e-02 2.09143116e+00] [ 2.53576053e-01 -4.85452400e-03 9.67303272e-01 2.54624447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400371742999997 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:19.00, Y:2.09, Z:2.55 [[ 0.91986479 -0.30384037 -0.248052 18.99947533] [ 0.29946733 0.95245376 -0.05613521 2.09267985] [ 0.2533142 -0.02264667 0.96711894 2.5487948 ] [ 0. 0. 0. 1. ]] SLAMing on 20.430371743 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:19.02, Y:2.09, Z:2.56 [[ 0.91809379 -0.30114759 -0.25770898 19.02269159] [ 0.30204277 0.95257215 -0.03710082 2.09309199] [ 0.25665922 -0.04377711 0.96551003 2.55621433] [ 0. 0. 0. 1. ]] SLAMing on 20.460371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:19.04, Y:2.12, Z:2.58 [[ 9.20226493e-01 -3.11586482e-01 -2.36848190e-01 1.90417663e+01] [ 2.99734159e-01 9.50186962e-01 -8.54644439e-02 2.11968532e+00] [ 2.51679627e-01 7.65515254e-03 9.67780328e-01 2.57914368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490371742999997 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:19.07, Y:2.12, Z:2.58 [[ 9.19437627e-01 -3.07270369e-01 -2.45396354e-01 1.90734857e+01] [ 3.01920421e-01 9.51436111e-01 -6.01114467e-02 2.11628943e+00] [ 2.51949419e-01 -1.88214444e-02 9.67557359e-01 2.57761422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:19.10, Y:2.12, Z:2.59 [[ 9.18678059e-01 -3.10779851e-01 -2.43816547e-01 1.90982699e+01] [ 3.04143146e-01 9.50377895e-01 -6.54125634e-02 2.12491342e+00] [ 2.52046763e-01 -1.40620448e-02 9.67612881e-01 2.58749277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550371743 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:19.12, Y:2.13, Z:2.59 [[ 0.91678788 -0.3098482 -0.25198031 19.12458949] [ 0.30661239 0.95035502 -0.05304886 2.12720556] [ 0.25590785 -0.02862574 0.96627726 2.5927274 ] [ 0. 0. 0. 1. ]] SLAMing on 20.580371742999997 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:19.15, Y:2.15, Z:2.61 [[ 9.17436234e-01 -3.17697949e-01 -2.39538659e-01 1.91479047e+01] [ 3.06355509e-01 9.48184014e-01 -8.42221947e-02 2.14661161e+00] [ 2.53883945e-01 3.88450527e-03 9.67226888e-01 2.60927298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610371742999998 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:19.18, Y:2.15, Z:2.61 [[ 9.16734673e-01 -3.16644896e-01 -2.43584791e-01 1.91782821e+01] [ 3.08195226e-01 9.48509972e-01 -7.31063348e-02 2.14768112e+00] [ 2.54191351e-01 -8.05255773e-03 9.67120424e-01 2.60920456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640371743 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:19.21, Y:2.15, Z:2.61 [[ 9.15737931e-01 -3.17282138e-01 -2.46487499e-01 1.92059649e+01] [ 3.10544358e-01 9.48206954e-01 -6.68264420e-02 2.15203831e+00] [ 2.54923997e-01 -1.53497943e-02 9.66839252e-01 2.61322073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670371742999997 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:19.23, Y:2.16, Z:2.62 [[ 9.15134968e-01 -3.19384100e-01 -2.46011761e-01 1.92324991e+01] [ 3.11930632e-01 9.47537967e-01 -6.97931364e-02 2.15993872e+00] [ 2.55396302e-01 -1.28684644e-02 9.66750812e-01 2.62098653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700371742999998 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:19.26, Y:2.16, Z:2.63 [[ 0.91424853 -0.31956355 -0.24905574 19.25943992] [ 0.31365686 0.94736528 -0.06417474 2.16430939] [ 0.25645467 -0.01944638 0.96636062 2.62638743] [ 0. 0. 0. 1. ]] SLAMing on 20.730371743 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:19.28, Y:2.17, Z:2.63 [[ 9.13971313e-01 -3.22752402e-01 -2.45941713e-01 1.92837495e+01] [ 3.15437398e-01 9.46381947e-01 -6.97169824e-02 2.17247257e+00] [ 2.55256121e-01 -1.38598920e-02 9.66774129e-01 2.63465975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760371742999997 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:19.31, Y:2.18, Z:2.64 [[ 0.91342782 -0.32193972 -0.24900689 19.31029221] [ 0.31667367 0.94650101 -0.06207754 2.17627635] [ 0.2556705 -0.02215058 0.96651019 2.64026649] [ 0. 0. 0. 1. ]] SLAMing on 20.790371742999998 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:19.33, Y:2.18, Z:2.65 [[ 0.91108459 -0.32309308 -0.25599947 19.32957401] [ 0.32078233 0.9457274 -0.05194595 2.18100502] [ 0.25888909 -0.03479295 0.96528021 2.64723726] [ 0. 0. 0. 1. ]] SLAMing on 20.820371743 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:19.35, Y:2.20, Z:2.66 [[ 9.10830912e-01 -3.28758108e-01 -2.49610010e-01 1.93500607e+01] [ 3.20760983e-01 9.44320361e-01 -7.32901539e-02 2.19710925e+00] [ 2.59806547e-01 -1.33102145e-02 9.65568950e-01 2.66314642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850371742999997 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:19.38, Y:2.19, Z:2.66 [[ 0.91250538 -0.32381988 -0.24994923 19.37681024] [ 0.32267641 0.94535496 -0.04673256 2.19458055] [ 0.25142368 -0.03800901 0.96713052 2.65839648] [ 0. 0. 0. 1. ]] SLAMing on 20.880371742999998 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:19.40, Y:2.22, Z:2.69 [[ 9.10593765e-01 -3.34928129e-01 -2.42161400e-01 1.93987298e+01] [ 3.21327455e-01 9.42204719e-01 -9.48627100e-02 2.22085182e+00] [ 2.59937804e-01 8.56828590e-03 9.65587346e-01 2.68609689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910371743 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:19.43, Y:2.22, Z:2.68 [[ 9.10357376e-01 -3.31880852e-01 -2.47193342e-01 1.94260677e+01] [ 3.22968687e-01 9.43271154e-01 -7.70114121e-02 2.22195624e+00] [ 2.58728962e-01 -9.72780196e-03 9.65900975e-01 2.68322710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940371742999996 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:19.45, Y:2.23, Z:2.69 [[ 9.10009514e-01 -3.32167975e-01 -2.48086921e-01 1.94533201e+01] [ 3.24250402e-01 9.43121197e-01 -7.33763267e-02 2.22779989e+00] [ 2.58349299e-01 -1.36691283e-02 9.65954861e-01 2.68817827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970371742999998 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:19.48, Y:2.23, Z:2.69 [[ 0.90983766 -0.32967702 -0.25200893 19.48407407] [ 0.32385641 0.94383677 -0.06549185 2.23105057] [ 0.25944645 -0.02202775 0.96550625 2.69446174] [ 0. 0. 0. 1. ]] SLAMing on 21.000371743 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:19.51, Y:2.25, Z:2.71 [[ 9.10187738e-01 -3.35287157e-01 -2.43188825e-01 1.95084320e+01] [ 3.24018181e-01 9.42115919e-01 -8.61963670e-02 2.24625242e+00] [ 2.58012598e-01 -3.42724193e-04 9.66141492e-01 2.70570386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030371742999996 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:19.54, Y:2.24, Z:2.70 [[ 0.91112442 -0.32796151 -0.24958673 19.53978985] [ 0.32577728 0.94405662 -0.0512471 2.23937675] [ 0.25243108 -0.0346172 0.96699545 2.69956823] [ 0. 0. 0. 1. ]] SLAMing on 21.060371742999997 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:19.56, Y:2.26, Z:2.72 [[ 9.08457499e-01 -3.39028625e-01 -2.44467920e-01 1.95605866e+01] [ 3.27324759e-01 9.40776035e-01 -8.83116835e-02 2.26195711e+00] [ 2.59929749e-01 2.07008078e-04 9.65627507e-01 2.72011990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090371743 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:19.59, Y:2.26, Z:2.71 [[ 0.90974303 -0.33237881 -0.24878092 19.59052276] [ 0.32828943 0.94273106 -0.0590271 2.25562652] [ 0.25415286 -0.02797265 0.96675946 2.71286851] [ 0. 0. 0. 1. ]] SLAMing on 21.120371742999996 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:19.61, Y:2.28, Z:2.73 [[ 9.07041959e-01 -3.41248341e-01 -2.46626145e-01 1.96140637e+01] [ 3.29935096e-01 9.39970352e-01 -8.71697790e-02 2.27512766e+00] [ 2.61567807e-01 -2.30397386e-03 9.65182353e-01 2.73087406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150371742999997 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:19.64, Y:2.27, Z:2.73 [[ 0.90607435 -0.3376772 -0.25495761 19.64350867] [ 0.33191469 0.94095043 -0.06667036 2.27465884] [ 0.26241553 -0.02421587 0.96465107 2.73083226] [ 0. 0. 0. 1. ]] SLAMing on 21.180371743 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:19.67, Y:2.29, Z:2.74 [[ 9.05977739e-01 -3.40886595e-01 -2.50999335e-01 1.96682049e+01] [ 3.32337044e-01 9.40006207e-01 -7.70741154e-02 2.28701454e+00] [ 2.62214466e-01 -1.35889443e-02 9.64913942e-01 2.74157770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210371743 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:19.70, Y:2.29, Z:2.75 [[ 9.06187867e-01 -3.41103794e-01 -2.49943497e-01 1.96954527e+01] [ 3.32941892e-01 9.39910753e-01 -7.56139706e-02 2.29456166e+00] [ 2.60716793e-01 -1.46961982e-02 9.65303463e-01 2.74738768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240371742999997 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:19.72, Y:2.30, Z:2.75 [[ 9.07333865e-01 -3.39689896e-01 -2.47701499e-01 1.97222744e+01] [ 3.31943674e-01 9.40412744e-01 -7.37378286e-02 2.30140404e+00] [ 2.57989642e-01 -1.53181168e-02 9.66026242e-01 2.75357985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270371743 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:19.75, Y:2.31, Z:2.76 [[ 9.08205433e-01 -3.38645120e-01 -2.45931643e-01 1.97486454e+01] [ 3.31472936e-01 9.40765145e-01 -7.13206469e-02 2.30801866e+00] [ 2.55516307e-01 -1.67458848e-02 9.66659709e-01 2.75899619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300371743 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:19.77, Y:2.31, Z:2.77 [[ 0.90873907 -0.33749787 -0.24553712 19.77493334] [ 0.33122714 0.94111815 -0.06771413 2.31431442] [ 0.25393282 -0.01979409 0.9670193 2.76516642] [ 0. 0. 0. 1. ]] SLAMing on 21.330371742999997 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:19.80, Y:2.32, Z:2.77 [[ 9.09004044e-01 -3.38727958e-01 -2.42847728e-01 1.98010823e+01] [ 3.31127600e-01 9.40776139e-01 -7.27651570e-02 2.32450778e+00] [ 2.53112941e-01 -1.42697633e-02 9.67331491e-01 2.77357183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360371742999998 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:19.83, Y:2.33, Z:2.78 [[ 9.08912501e-01 -3.37647982e-01 -2.44687362e-01 1.98267155e+01] [ 3.31338408e-01 9.41071756e-01 -6.78145270e-02 2.33000011e+00] [ 2.53165804e-01 -1.94368498e-02 9.67227628e-01 2.77826951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390371743 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:19.85, Y:2.34, Z:2.79 [[ 9.07966680e-01 -3.39203102e-01 -2.46044231e-01 1.98526405e+01] [ 3.32329541e-01 9.40541677e-01 -7.02739656e-02 2.33900688e+00] [ 2.55252001e-01 -1.79613474e-02 9.66707715e-01 2.78734364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420371742999997 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:19.88, Y:2.34, Z:2.79 [[ 0.90675357 -0.33978061 -0.24969402 19.87839325] [ 0.33383038 0.94023681 -0.06717161 2.34437904] [ 0.25759512 -0.02244735 0.96599217 2.79267819] [ 0. 0. 0. 1. ]] SLAMing on 21.450371742999998 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:19.90, Y:2.35, Z:2.80 [[ 9.06249818e-01 -3.42662716e-01 -2.47575301e-01 1.99049510e+01] [ 3.34457447e-01 9.39353253e-01 -7.58530289e-02 2.35497270e+00] [ 2.58552669e-01 -1.40616094e-02 9.65894812e-01 2.80209793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480371743 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:19.93, Y:2.36, Z:2.81 [[ 9.05121642e-01 -3.43451745e-01 -2.50590728e-01 1.99329903e+01] [ 3.36196118e-01 9.38987801e-01 -7.26228667e-02 2.36076430e+00] [ 2.60244087e-01 -1.85151014e-02 9.65365323e-01 2.80811673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510371742999997 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:19.96, Y:2.37, Z:2.81 [[ 0.90428432 -0.34392121 -0.25295864 19.95806855] [ 0.33775162 0.93871274 -0.06886394 2.36632369] [ 0.26113926 -0.02316461 0.96502315 2.81406599] [ 0. 0. 0. 1. ]] SLAMing on 21.540371742999998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:19.98, Y:2.38, Z:2.82 [[ 9.04063267e-01 -3.46190620e-01 -2.50642502e-01 1.99847712e+01] [ 3.37889680e-01 9.38041176e-01 -7.68720719e-02 2.37754295e+00] [ 2.61725378e-01 -1.51922985e-02 9.65022808e-01 2.82403564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570371743 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:20.01, Y:2.38, Z:2.83 [[ 9.03710332e-01 -3.46211163e-01 -2.51883834e-01 2.00111818e+01] [ 3.38469435e-01 9.37992052e-01 -7.48956087e-02 2.38455752e+00] [ 2.62194730e-01 -1.75710436e-02 9.64855006e-01 2.82968939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600371742999997 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:20.04, Y:2.39, Z:2.84 [[ 0.90407844 -0.34447091 -0.25294656 20.03872357] [ 0.33763565 0.93856529 -0.07139581 2.39065998] [ 0.26200064 -0.02085636 0.96484231 2.83546846] [ 0. 0. 0. 1. ]] SLAMing on 21.630371742999998 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:20.06, Y:2.40, Z:2.84 [[ 0.90417409 -0.34386476 -0.25342899 20.06317281] [ 0.337413 0.938755 -0.06993939 2.39786638] [ 0.26195742 -0.02227285 0.96482238 2.84248663] [ 0. 0. 0. 1. ]] SLAMing on 21.660371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:20.09, Y:2.41, Z:2.85 [[ 9.05051066e-01 -3.43713262e-01 -2.50487046e-01 2.00886561e+01] [ 3.36208690e-01 9.38909197e-01 -7.35747030e-02 2.40703697e+00] [ 2.60473193e-01 -1.76270582e-02 9.65320156e-01 2.85038822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690371742999996 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:20.12, Y:2.42, Z:2.86 [[ 9.05542989e-01 -3.43680045e-01 -2.48748713e-01 2.01153846e+01] [ 3.35937900e-01 9.38946197e-01 -7.43355058e-02 2.41552171e+00] [ 2.59109288e-01 -1.62501240e-02 9.65711298e-01 2.85821486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720371742999998 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:20.14, Y:2.42, Z:2.86 [[ 9.05842702e-01 -3.43477627e-01 -2.47935713e-01 2.01416838e+01] [ 3.36017070e-01 9.39006957e-01 -7.32015201e-02 2.42268060e+00] [ 2.57956444e-01 -1.70015692e-02 9.66006946e-01 2.86499086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:20.17, Y:2.43, Z:2.87 [[ 0.90558614 -0.34289059 -0.24967935 20.1689972 ] [ 0.3369622 0.93909403 -0.06751944 2.42794296] [ 0.25762417 -0.02298783 0.96597171 2.8709935 ] [ 0. 0. 0. 1. ]] SLAMing on 21.780371742999996 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:20.20, Y:2.43, Z:2.88 [[ 0.90448412 -0.34516584 -0.25053746 20.19618051] [ 0.33911969 0.93825652 -0.06835596 2.4342348 ] [ 0.25866255 -0.02313531 0.96569066 2.87955153] [ 0. 0. 0. 1. ]] SLAMing on 21.810371742999997 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:20.22, Y:2.44, Z:2.89 [[ 0.90303807 -0.34741433 -0.25263713 20.22160907] [ 0.34132827 0.93740691 -0.06901666 2.44141524] [ 0.26080117 -0.02390752 0.96509646 2.8878391 ] [ 0. 0. 0. 1. ]] SLAMing on 21.840371743 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:20.25, Y:2.45, Z:2.90 [[ 9.01928626e-01 -3.50998816e-01 -2.51643765e-01 2.02467310e+01] [ 3.43381870e-01 9.36189442e-01 -7.50880821e-02 2.45118931e+00] [ 2.61942064e-01 -1.86858158e-02 9.64902687e-01 2.89685619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870371742999996 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:20.27, Y:2.45, Z:2.90 [[ 0.90055484 -0.35093598 -0.25660264 20.27370528] [ 0.34543414 0.93599247 -0.06777422 2.45460238] [ 0.26396255 -0.02760491 0.96413782 2.90278563] [ 0. 0. 0. 1. ]] SLAMing on 21.900371742999997 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:20.29, Y:2.46, Z:2.91 [[ 0.89626565 -0.354395 -0.26666844 20.29252158] [ 0.35170398 0.93421944 -0.05948397 2.45881806] [ 0.27020767 -0.04047491 0.96195093 2.9101692 ] [ 0. 0. 0. 1. ]] SLAMing on 21.930371743 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:20.32, Y:2.47, Z:2.93 [[ 8.96851202e-01 -3.59415534e-01 -2.57834045e-01 2.03191514e+01] [ 3.49439650e-01 9.33077242e-01 -8.51985440e-02 2.47384437e+00] [ 2.71200760e-01 -1.36870218e-02 9.62425485e-01 2.92607731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960371743 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:20.35, Y:2.48, Z:2.93 [[ 8.96896102e-01 -3.59700568e-01 -2.57279778e-01 2.03476543e+01] [ 3.49876623e-01 9.32961609e-01 -8.46698552e-02 2.48011296e+00] [ 2.70487951e-01 -1.40761168e-02 9.62620450e-01 2.93037223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990371742999997 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:20.37, Y:2.48, Z:2.93 [[ 0.89393053 -0.35850594 -0.26900129 20.3691026 ] [ 0.35487437 0.93273559 -0.06378487 2.48068818] [ 0.27377433 -0.03844242 0.96102539 2.93273044] [ 0. 0. 0. 1. ]] SLAMing on 22.020371743 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:20.40, Y:2.50, Z:2.95 [[ 8.95090865e-01 -3.63997879e-01 -2.57522598e-01 2.03969362e+01] [ 3.52129288e-01 9.31366600e-01 -9.25268633e-02 2.49554182e+00] [ 2.73527528e-01 -7.86129886e-03 9.61832049e-01 2.94794499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050371743 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:20.43, Y:2.50, Z:2.95 [[ 0.89554009 -0.35988688 -0.26170474 20.42670823] [ 0.35229014 0.93270889 -0.07710883 2.49641206] [ 0.2718448 -0.02314195 0.96206281 2.94904659] [ 0. 0. 0. 1. ]] SLAMing on 22.080371742999997 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:20.45, Y:2.50, Z:2.96 [[ 0.89527062 -0.36083473 -0.26132128 20.45141289] [ 0.35314338 0.93234966 -0.07754915 2.5045022 ] [ 0.27162523 -0.0228564 0.96213165 2.95765466] [ 0. 0. 0. 1. ]] SLAMing on 22.110371742999998 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:20.48, Y:2.51, Z:2.97 [[ 8.96574489e-01 -3.59579277e-01 -2.58567068e-01 2.04776544e+01] [ 3.51307733e-01 9.32903915e-01 -7.92032961e-02 2.51301868e+00] [ 2.69698094e-01 -1.98249556e-02 9.62740832e-01 2.96673340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140371743 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:20.50, Y:2.52, Z:2.97 [[ 8.97378765e-01 -3.58331131e-01 -2.57507578e-01 2.05045365e+01] [ 3.50271252e-01 9.33379517e-01 -7.81839276e-02 2.52041569e+00] [ 2.68368034e-01 -2.00369055e-02 9.63108052e-01 2.97381402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170371742999997 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:20.53, Y:2.53, Z:2.98 [[ 0.89805101 -0.35604023 -0.25834036 20.53006274] [ 0.34928006 0.93415073 -0.07325192 2.52578549] [ 0.26740946 -0.02444918 0.96327276 2.97993598] [ 0. 0. 0. 1. ]] SLAMing on 22.200371742999998 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:20.56, Y:2.54, Z:2.99 [[ 0.89779528 -0.35726722 -0.25753402 20.55537352] [ 0.3496228 0.9337588 -0.07654021 2.53559085] [ 0.26781996 -0.02132232 0.96323301 2.98865117] [ 0. 0. 0. 1. ]] SLAMing on 22.230371743 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:20.58, Y:2.55, Z:3.00 [[ 8.99828686e-01 -3.56825521e-01 -2.50965900e-01 2.05829499e+01] [ 3.46356362e-01 9.34125066e-01 -8.62996671e-02 2.54671327e+00] [ 2.65227462e-01 -9.26872005e-03 9.64141320e-01 2.99783857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260371742999997 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:20.61, Y:2.55, Z:3.00 [[ 0.89963737 -0.35134182 -0.25925186 20.61113765] [ 0.34667875 0.93572311 -0.06508536 2.54570663] [ 0.26545516 -0.03132388 0.96361422 2.99930065] [ 0. 0. 0. 1. ]] SLAMing on 22.290371742999998 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:20.64, Y:2.56, Z:3.01 [[ 9.00131143e-01 -3.54691194e-01 -2.52899353e-01 2.06358204e+01] [ 3.45451158e-01 9.34880285e-01 -8.16232177e-02 2.56062422e+00] [ 2.65381656e-01 -1.38927742e-02 9.64043343e-01 3.01194903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320371743 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:20.66, Y:2.56, Z:3.02 [[ 0.90010895 -0.35107199 -0.25797741 20.66301791] [ 0.34527814 0.93596018 -0.06900394 2.56261728] [ 0.26568193 -0.02696289 0.96368362 3.01619268] [ 0. 0. 0. 1. ]] SLAMing on 22.350371742999997 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:20.69, Y:2.57, Z:3.03 [[ 8.99614900e-01 -3.54481625e-01 -2.55021192e-01 2.06882178e+01] [ 3.45249488e-01 9.34949572e-01 -8.16828582e-02 2.57400758e+00] [ 2.67387027e-01 -1.45628198e-02 9.63479165e-01 3.02726147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380371742999998 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:20.72, Y:2.58, Z:3.03 [[ 9.00308702e-01 -3.53804733e-01 -2.53508289e-01 2.07150036e+01] [ 3.44620914e-01 9.35212362e-01 -8.13281203e-02 2.58024696e+00] [ 2.65858360e-01 -1.41438440e-02 9.63908338e-01 3.03172436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410371743 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:20.74, Y:2.58, Z:3.04 [[ 0.89994705 -0.35167746 -0.25771743 20.74148721] [ 0.34468554 0.93584415 -0.07340038 2.58356515] [ 0.2669966 -0.02277501 0.96342831 3.03580461] [ 0. 0. 0. 1. ]] SLAMing on 22.440371742999996 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:20.77, Y:2.59, Z:3.05 [[ 8.99081382e-01 -3.53177555e-01 -2.58685683e-01 2.07669734e+01] [ 3.45325460e-01 9.35336229e-01 -7.67884395e-02 2.59265772e+00] [ 2.69078045e-01 -2.02916963e-02 9.62904592e-01 3.04504962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470371742999998 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:20.79, Y:2.60, Z:3.05 [[ 8.98504316e-01 -3.53572799e-01 -2.60146633e-01 2.07934355e+01] [ 3.45313449e-01 9.35206203e-01 -7.84090500e-02 2.59965935e+00] [ 2.71014052e-01 -1.93812613e-02 9.62380252e-01 3.05307413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500371743 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:20.82, Y:2.61, Z:3.06 [[ 0.8981687 -0.35311772 -0.26191766 20.81991842] [ 0.34551346 0.93531807 -0.07616138 2.6063265 ] [ 0.27187026 -0.02209031 0.96208034 3.06046589] [ 0. 0. 0. 1. ]] SLAMing on 22.530371742999996 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:20.84, Y:2.62, Z:3.07 [[ 8.98922534e-01 -3.53474617e-01 -2.58831941e-01 2.08444450e+01] [ 3.44201436e-01 9.35316317e-01 -8.19070084e-02 2.61584527e+00] [ 2.71041786e-01 -1.54622702e-02 9.62443384e-01 3.06847104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560371742999997 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:20.87, Y:2.62, Z:3.08 [[ 8.99725892e-01 -3.52895820e-01 -2.56822623e-01 2.08727671e+01] [ 3.42387693e-01 9.35604209e-01 -8.61129028e-02 2.62483147e+00] [ 2.70673210e-01 -1.04548971e-02 9.62614517e-01 3.07682658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590371743 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:20.90, Y:2.63, Z:3.08 [[ 0.90012334 -0.34870583 -0.26111724 20.9013684 ] [ 0.34187543 0.93692916 -0.07269764 2.62703451] [ 0.26999844 -0.02383272 0.96256576 3.08030551] [ 0. 0. 0. 1. ]] SLAMing on 22.620371742999996 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:20.93, Y:2.64, Z:3.09 [[ 9.00563243e-01 -3.49718147e-01 -2.58230640e-01 2.09270554e+01] [ 3.41031007e-01 9.36706091e-01 -7.92436149e-02 2.63810972e+00] [ 2.69599143e-01 -1.67007683e-02 9.62827807e-01 3.08948141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650371742999997 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:20.94, Y:2.63, Z:3.09 [[ 0.89617513 -0.34494891 -0.27907058 20.94474358] [ 0.3469587 0.93685571 -0.04382973 2.63438067] [ 0.27656788 -0.05754686 0.95926981 3.09306897] [ 0. 0. 0. 1. ]] SLAMing on 22.680371743 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:20.97, Y:2.67, Z:3.12 [[ 0.90072248 -0.35818897 -0.24576344 20.96881893] [ 0.33900187 0.93336867 -0.11790103 2.66949841] [ 0.27161874 0.02288184 0.96213288 3.12048192] [ 0. 0. 0. 1. ]] SLAMing on 22.710371743 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:21.01, Y:2.66, Z:3.11 [[ 0.90113977 -0.34623093 -0.26090469 21.00545711] [ 0.33944554 0.93785396 -0.07215729 2.65872936] [ 0.26967358 -0.02353913 0.96266405 3.11117918] [ 0. 0. 0. 1. ]] SLAMing on 22.740371742999997 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:21.03, Y:2.67, Z:3.12 [[ 0.90053528 -0.34684867 -0.2621683 21.03078607] [ 0.34005803 0.93761476 -0.07238165 2.66681517] [ 0.27091835 -0.02397021 0.96230384 3.12088179] [ 0. 0. 0. 1. ]] SLAMing on 22.770371743 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:21.06, Y:2.68, Z:3.13 [[ 9.00174546e-01 -3.50494278e-01 -2.58533456e-01 2.10561881e+01] [ 3.40912031e-01 9.36462923e-01 -8.25601597e-02 2.67926664e+00] [ 2.71043859e-01 -1.38186113e-02 9.62467803e-01 3.13205763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800371743 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:21.08, Y:2.69, Z:3.14 [[ 9.00172660e-01 -3.53265378e-01 -2.54740565e-01 2.10829949e+01] [ 3.42595473e-01 9.35477315e-01 -8.66633424e-02 2.68641302e+00] [ 2.68919178e-01 -9.26099305e-03 9.63118222e-01 3.13943218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830371742999997 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:21.11, Y:2.69, Z:3.15 [[ 8.98961904e-01 -3.53995586e-01 -2.57981824e-01 2.11116098e+01] [ 3.45067891e-01 9.35101969e-01 -8.06997980e-02 2.69169711e+00] [ 2.69806684e-01 -1.64751998e-02 9.62773557e-01 3.14533437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860371742999998 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:21.13, Y:2.68, Z:3.15 [[ 0.89232934 -0.3507858 -0.28407337 21.13247986] [ 0.35522976 0.93402538 -0.03752872 2.68291588] [ 0.27849628 -0.06742333 0.9580678 3.14788323] [ 0. 0. 0. 1. ]] SLAMing on 22.890371743 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:21.15, Y:2.71, Z:3.17 [[ 8.91054000e-01 -3.66201184e-01 -2.68178042e-01 2.11454282e+01] [ 3.55762004e-01 9.30386861e-01 -8.83950560e-02 2.71091061e+00] [ 2.81879700e-01 -1.66427892e-02 9.59305401e-01 3.17317559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920371742999997 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:21.18, Y:2.73, Z:3.19 [[ 0.89557127 -0.37307377 -0.24242127 21.17770763] [ 0.35057111 0.92721205 -0.13182457 2.73258785] [ 0.27395621 0.0330724 0.96117335 3.1858902 ] [ 0. 0. 0. 1. ]] SLAMing on 22.950371742999998 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:21.22, Y:2.72, Z:3.17 [[ 0.895133 -0.36016167 -0.2627175 21.21880572] [ 0.35312134 0.93254433 -0.07527539 2.71627153] [ 0.27210703 -0.02538967 0.96193198 3.1740348 ] [ 0. 0. 0. 1. ]] SLAMing on 22.980371743 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:21.24, Y:2.71, Z:3.18 [[ 0.88923822 -0.35734087 -0.28559219 21.23732667] [ 0.36199069 0.93139578 -0.03827071 2.71003628] [ 0.27967504 -0.06934993 0.95758679 3.17857426] [ 0. 0. 0. 1. ]] SLAMing on 23.010371742999997 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:21.25, Y:2.74, Z:3.20 [[ 8.88465513e-01 -3.71925255e-01 -2.68887776e-01 2.12506762e+01] [ 3.61542548e-01 9.28087334e-01 -8.91116481e-02 2.73892421e+00] [ 2.82694212e-01 -1.80417455e-02 9.59040394e-01 3.20393598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040371742999998 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:21.28, Y:2.76, Z:3.21 [[ 8.92841334e-01 -3.75126465e-01 -2.49227784e-01 2.12835296e+01] [ 3.56042714e-01 9.26800021e-01 -1.19479314e-01 2.75644421e+00] [ 2.75804168e-01 1.79403334e-02 9.61046412e-01 3.21489218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070371743 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:21.32, Y:2.75, Z:3.21 [[ 8.93631685e-01 -3.64563245e-01 -2.61755712e-01 2.13199828e+01] [ 3.55840162e-01 9.30962359e-01 -8.17732473e-02 2.74914905e+00] [ 2.73496235e-01 -2.00680302e-02 9.61663706e-01 3.20912499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100371742999997 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:21.35, Y:2.75, Z:3.22 [[ 0.89415862 -0.36135508 -0.2643915 21.34516216] [ 0.3546853 0.93202775 -0.0743142 2.75407019] [ 0.27327403 -0.0273271 0.96154799 3.21570039] [ 0. 0. 0. 1. ]] SLAMing on 23.130371742999998 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:21.36, Y:2.76, Z:3.22 [[ 0.89042227 -0.35908895 -0.27964856 21.36211346] [ 0.35943984 0.931723 -0.05191585 2.75646465] [ 0.2791974 -0.0542898 0.95869778 3.22383054] [ 0. 0. 0. 1. ]] SLAMing on 23.160371743 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:21.39, Y:2.79, Z:3.25 [[ 8.94314128e-01 -3.72009245e-01 -2.48618907e-01 2.13867085e+01] [ 3.53189868e-01 9.28056711e-01 -1.18184850e-01 2.78949559e+00] [ 2.74698302e-01 1.78847019e-02 9.61364125e-01 3.24693343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190371742999996 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:21.42, Y:2.78, Z:3.24 [[ 0.89441987 -0.36041323 -0.26479311 21.42256532] [ 0.35300279 0.93246382 -0.07681312 2.78102094] [ 0.27459446 -0.02476953 0.96124105 3.24182312] [ 0. 0. 0. 1. ]] SLAMing on 23.220371742999998 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:21.44, Y:2.78, Z:3.25 [[ 0.89045717 -0.35890735 -0.27977052 21.43892718] [ 0.35789175 0.93204692 -0.05658643 2.78419954] [ 0.28106854 -0.04973977 0.95839785 3.2494067 ] [ 0. 0. 0. 1. ]] SLAMing on 23.250371743 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:21.46, Y:2.82, Z:3.27 [[ 8.93925122e-01 -3.71663901e-01 -2.50527087e-01 2.14638843e+01] [ 3.52501591e-01 9.28187983e-01 -1.19204431e-01 2.81578790e+00] [ 2.76840215e-01 1.82486390e-02 9.60742672e-01 3.27065872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280371742999996 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:21.49, Y:2.80, Z:3.26 [[ 0.88945948 -0.35869083 -0.28320086 21.49216715] [ 0.35908179 0.93183175 -0.05243911 2.80032043] [ 0.28270498 -0.05504981 0.95762593 3.26311649] [ 0. 0. 0. 1. ]] SLAMing on 23.310371742999997 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:21.52, Y:2.84, Z:3.29 [[ 8.92427333e-01 -3.74724213e-01 -2.51307022e-01 2.15156916e+01] [ 3.54468307e-01 9.26898815e-01 -1.23332099e-01 2.83559549e+00] [ 2.79151704e-01 2.09845611e-02 9.60017695e-01 3.28655864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340371743 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:21.55, Y:2.83, Z:3.28 [[ 8.91454898e-01 -3.66812799e-01 -2.66001008e-01 2.15526924e+01] [ 3.57176486e-01 9.30106704e-01 -8.55948450e-02 2.82935066e+00] [ 2.78806606e-01 -1.87053616e-02 9.60165083e-01 3.28119714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370371742999996 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:21.58, Y:2.83, Z:3.28 [[ 0.89119693 -0.36569315 -0.26839625 21.57785123] [ 0.35864585 0.93031713 -0.07670199 2.83381138] [ 0.27774302 -0.02790262 0.9602501 3.28463774] [ 0. 0. 0. 1. ]] SLAMing on 23.400371742999997 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:21.59, Y:2.83, Z:3.29 [[ 0.88608741 -0.36442296 -0.286435 21.59455443] [ 0.36565254 0.92934068 -0.05122617 2.83496954] [ 0.28486368 -0.05934482 0.95672926 3.29263894] [ 0. 0. 0. 1. ]] SLAMing on 23.430371743 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:21.61, Y:2.86, Z:3.31 [[ 8.83941344e-01 -3.79269024e-01 -2.73500838e-01 2.16097811e+01] [ 3.68425978e-01 9.25083970e-01 -9.20974874e-02 2.86158333e+00] [ 2.87940965e-01 -1.93560371e-02 9.57452528e-01 3.31454281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460371743 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:21.64, Y:2.88, Z:3.32 [[ 8.86163263e-01 -3.82247583e-01 -2.61918798e-01 2.16391756e+01] [ 3.66407703e-01 9.24059793e-01 -1.08898549e-01 2.87541668e+00] [ 2.83654837e-01 5.32828319e-04 9.58926300e-01 3.32406450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490371742999997 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:21.67, Y:2.88, Z:3.32 [[ 8.86518658e-01 -3.79014316e-01 -2.65391817e-01 2.16695551e+01] [ 3.68898011e-01 9.25196220e-01 -8.90292792e-02 2.87804104e+00] [ 2.79282877e-01 -1.89763964e-02 9.60021339e-01 3.32386919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520371743 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:21.70, Y:2.89, Z:3.33 [[ 0.88557375 -0.37913753 -0.26835401 21.69539546] [ 0.37086265 0.92497375 -0.08297264 2.88563858] [ 0.27967846 -0.02604409 0.95974042 3.33102181] [ 0. 0. 0. 1. ]] SLAMing on 23.550371743 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:21.72, Y:2.90, Z:3.34 [[ 8.85241031e-01 -3.82159670e-01 -2.65145815e-01 2.17195397e+01] [ 3.71875803e-01 9.23903486e-01 -9.00596224e-02 2.89885496e+00] [ 2.79386298e-01 -1.88768397e-02 9.59993209e-01 3.34081726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580371742999997 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:21.75, Y:2.91, Z:3.35 [[ 8.85393527e-01 -3.82193405e-01 -2.64587421e-01 2.17471896e+01] [ 3.72563183e-01 9.23846801e-01 -8.77710815e-02 2.90839697e+00] [ 2.77983771e-01 -2.08635843e-02 9.60359169e-01 3.34784586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610371742999998 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:21.77, Y:2.92, Z:3.36 [[ 0.88504769 -0.38273814 -0.26495681 21.77378686] [ 0.374298 0.92351753 -0.08376383 2.91790139] [ 0.27675187 -0.02503782 0.96061517 3.35569353] [ 0. 0. 0. 1. ]] SLAMing on 23.640371743 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:21.80, Y:2.93, Z:3.36 [[ 0.88479715 -0.38380625 -0.26424756 21.79950007] [ 0.37518216 0.92309181 -0.08449768 2.92832084] [ 0.27635549 -0.02437766 0.96074626 3.36366117] [ 0. 0. 0. 1. ]] SLAMing on 23.670371742999997 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:21.83, Y:2.94, Z:3.37 [[ 0.88517447 -0.38362606 -0.26324361 21.82512696] [ 0.37508191 0.92316889 -0.08409969 2.93762096] [ 0.27528114 -0.02429502 0.96105673 3.37013704] [ 0. 0. 0. 1. ]] SLAMing on 23.700371742999998 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:21.85, Y:2.95, Z:3.38 [[ 0.88432636 -0.38504186 -0.26402586 21.85090525] [ 0.37640006 0.92257505 -0.08472475 2.94838619] [ 0.27620625 -0.02445502 0.96078721 3.3785378 ] [ 0. 0. 0. 1. ]] SLAMing on 23.730371743 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:21.88, Y:2.96, Z:3.39 [[ 0.88325945 -0.38539604 -0.26706298 21.87606063] [ 0.3778017 0.92229689 -0.08145139 2.95801052] [ 0.2777024 -0.02895413 0.96023072 3.38555173] [ 0. 0. 0. 1. ]] SLAMing on 23.760371742999997 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:21.90, Y:2.97, Z:3.39 [[ 0.88247018 -0.38584578 -0.26901562 21.89952408] [ 0.37882225 0.92202496 -0.07977268 2.96710583] [ 0.27881907 -0.03151209 0.9598265 3.39308549] [ 0. 0. 0. 1. ]] SLAMing on 23.790371742999998 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:21.92, Y:2.98, Z:3.40 [[ 8.81721413e-01 -3.89935486e-01 -2.65551627e-01 2.19243769e+01] [ 3.79692630e-01 9.20614283e-01 -9.11199681e-02 2.98232255e+00] [ 2.80001530e-01 -2.04855686e-02 9.59780957e-01 3.40463389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820371743 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:21.95, Y:2.99, Z:3.41 [[ 0.88066484 -0.38952976 -0.26962196 21.95084474] [ 0.38157428 0.92054926 -0.08360698 2.99016278] [ 0.2807677 -0.02925108 0.95932991 3.40944906] [ 0. 0. 0. 1. ]] SLAMing on 23.850371742999997 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:21.97, Y:3.00, Z:3.42 [[ 0.87992133 -0.3896212 -0.27190765 21.97462327] [ 0.38283815 0.92035471 -0.07988836 2.99831517] [ 0.28137769 -0.03380115 0.95900161 3.41656266] [ 0. 0. 0. 1. ]] SLAMing on 23.880371742999998 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:22.00, Y:3.01, Z:3.43 [[ 0.87827869 -0.39452852 -0.27013663 21.99851211] [ 0.3846581 0.91856905 -0.09093428 3.01291836] [ 0.28401531 -0.0240446 0.95851821 3.42882389] [ 0. 0. 0. 1. ]] SLAMing on 23.910371743 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:22.02, Y:3.02, Z:3.44 [[ 0.87783799 -0.39361654 -0.27288549 22.02477906] [ 0.38571637 0.91874689 -0.0844218 3.02002152] [ 0.28394251 -0.03114774 0.95833526 3.43509096] [ 0. 0. 0. 1. ]] SLAMing on 23.940371742999996 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:22.05, Y:3.03, Z:3.44 [[ 0.87706123 -0.39653599 -0.2711509 22.0487293 ] [ 0.38727728 0.91763056 -0.08927743 3.03265172] [ 0.28421806 -0.02670881 0.95838757 3.4448344 ] [ 0. 0. 0. 1. ]] SLAMing on 23.970371742999998 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:22.07, Y:3.04, Z:3.45 [[ 0.87717049 -0.39643626 -0.27094321 22.0734516 ] [ 0.38796059 0.9175991 -0.08659368 3.04107534] [ 0.28294612 -0.02915787 0.9586925 3.45092313] [ 0. 0. 0. 1. ]] SLAMing on 24.000371743 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:22.10, Y:3.05, Z:3.46 [[ 0.8757693 -0.39881283 -0.27198613 22.09844898] [ 0.38971335 0.916608 -0.08918117 3.0525711 ] [ 0.28487126 -0.02789449 0.95815983 3.46058254] [ 0. 0. 0. 1. ]] SLAMing on 24.030371742999996 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:22.12, Y:3.06, Z:3.47 [[ 0.87525907 -0.39838681 -0.27424352 22.12320938] [ 0.39073513 0.91661654 -0.08449961 3.06049497] [ 0.28503968 -0.03319753 0.95794066 3.4678604 ] [ 0. 0. 0. 1. ]] SLAMing on 24.060371742999997 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:22.15, Y:3.07, Z:3.48 [[ 0.87551729 -0.39938751 -0.27195423 22.14652868] [ 0.39060023 0.91632375 -0.08821707 3.07183825] [ 0.28443091 -0.02898981 0.95825813 3.4763201 ] [ 0. 0. 0. 1. ]] SLAMing on 24.090371743 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:22.17, Y:3.08, Z:3.48 [[ 0.87466253 -0.39970662 -0.27422631 22.17115571] [ 0.39165247 0.91607986 -0.08605828 3.08108082] [ 0.28561126 -0.03212946 0.95780682 3.48489531] [ 0. 0. 0. 1. ]] SLAMing on 24.120371742999996 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:22.20, Y:3.09, Z:3.49 [[ 0.87430188 -0.40114415 -0.27327567 22.19587847] [ 0.39200885 0.91556796 -0.08980183 3.09179829] [ 0.28622593 -0.02861257 0.95773485 3.49438918] [ 0. 0. 0. 1. ]] SLAMing on 24.150371742999997 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:22.22, Y:3.10, Z:3.50 [[ 0.87429865 -0.40183232 -0.27227313 22.22132493] [ 0.39188795 0.91534937 -0.09251686 3.10323998] [ 0.2864013 -0.0258132 0.95776196 3.50334174] [ 0. 0. 0. 1. ]] SLAMing on 24.180371743 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:22.25, Y:3.11, Z:3.51 [[ 0.87436271 -0.39948193 -0.27550688 22.24534604] [ 0.391691 0.9161348 -0.08529478 3.11164637] [ 0.28647517 -0.03333499 0.95750758 3.5107409 ] [ 0. 0. 0. 1. ]] SLAMing on 24.210371743 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:22.27, Y:3.12, Z:3.52 [[ 0.87414827 -0.40146539 -0.27329532 22.26916629] [ 0.3915916 0.91549598 -0.09232076 3.12455538] [ 0.28726436 -0.02631812 0.95748971 3.52196801] [ 0. 0. 0. 1. ]] SLAMing on 24.240371742999997 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:22.30, Y:3.13, Z:3.53 [[ 0.87419644 -0.40089457 -0.27397833 22.29551247] [ 0.39150058 0.915697 -0.09069892 3.13392882] [ 0.28724184 -0.027974 0.95744952 3.5292933 ] [ 0. 0. 0. 1. ]] SLAMing on 24.270371743 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:22.32, Y:3.14, Z:3.54 [[ 0.87463115 -0.401084 -0.2723086 22.32038027] [ 0.39116562 0.91567857 -0.09231582 3.14419533] [ 0.28637354 -0.02577547 0.95777128 3.53681476] [ 0. 0. 0. 1. ]] SLAMing on 24.300371743 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:22.35, Y:3.15, Z:3.54 [[ 0.87437427 -0.4011043 -0.27310251 22.34606024] [ 0.39129421 0.91565211 -0.09203289 3.15397133] [ 0.28698168 -0.02639224 0.95757243 3.54380436] [ 0. 0. 0. 1. ]] SLAMing on 24.330371742999997 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:22.37, Y:3.16, Z:3.55 [[ 0.87399812 -0.40136556 -0.27392148 22.37176841] [ 0.3916031 0.91552387 -0.09199488 3.16376069] [ 0.28770523 -0.02686515 0.95734214 3.5519066 ] [ 0. 0. 0. 1. ]] SLAMing on 24.360371742999998 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:22.40, Y:3.17, Z:3.56 [[ 0.8740518 -0.40105915 -0.27419887 22.39735918] [ 0.39132988 0.91565391 -0.09186324 3.17378148] [ 0.28791385 -0.02700898 0.95727537 3.55941792] [ 0. 0. 0. 1. ]] SLAMing on 24.390371743 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:22.42, Y:3.19, Z:3.57 [[ 0.87388344 -0.40163507 -0.27389232 22.42300463] [ 0.39055118 0.91551814 -0.09641738 3.18724256] [ 0.28947799 -0.02271142 0.95691519 3.56988408] [ 0. 0. 0. 1. ]] SLAMing on 24.420371742999997 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:22.45, Y:3.19, Z:3.58 [[ 0.87360908 -0.3993599 -0.27806268 22.44809206] [ 0.39077525 0.91624959 -0.08821226 3.19426191] [ 0.29000326 -0.03159698 0.95650392 3.57580459] [ 0. 0. 0. 1. ]] SLAMing on 24.450371742999998 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:22.47, Y:3.21, Z:3.59 [[ 0.87407247 -0.40012747 -0.27549105 22.47096107] [ 0.38961128 0.91612429 -0.09444228 3.20637517] [ 0.29017299 -0.02478502 0.9566532 3.58582911] [ 0. 0. 0. 1. ]] SLAMing on 24.480371743 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:22.50, Y:3.22, Z:3.59 [[ 0.87542777 -0.39680964 -0.27598609 22.4953281 ] [ 0.38704181 0.91751182 -0.0914915 3.21590585] [ 0.28952521 -0.02672396 0.95679725 3.59270269] [ 0. 0. 0. 1. ]] SLAMing on 24.510371742999997 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:22.52, Y:3.23, Z:3.60 [[ 8.76035882e-01 -3.97886066e-01 -2.72484516e-01 2.25209925e+01] [ 3.85637340e-01 9.17261234e-01 -9.95774599e-02 3.22973766e+00] [ 2.89559967e-01 -1.78467760e-02 9.56993479e-01 3.60314182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540371742999998 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:22.55, Y:3.24, Z:3.61 [[ 0.87619961 -0.39464177 -0.27664437 22.54857421] [ 0.38498011 0.91844148 -0.09086014 3.23639353] [ 0.28993887 -0.02689096 0.9566673 3.608097 ] [ 0. 0. 0. 1. ]] SLAMing on 24.570371743 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:22.57, Y:3.25, Z:3.62 [[ 0.87681558 -0.3933187 -0.27657702 22.57356737] [ 0.38293872 0.91907945 -0.09301024 3.24861217] [ 0.29077892 -0.02435923 0.95648014 3.61730383] [ 0. 0. 0. 1. ]] SLAMing on 24.600371742999997 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:22.60, Y:3.26, Z:3.63 [[ 0.87681989 -0.39311305 -0.27685559 22.59955975] [ 0.3825983 0.91917713 -0.09344484 3.25919392] [ 0.29121372 -0.02399018 0.95635717 3.62558639] [ 0. 0. 0. 1. ]] SLAMing on 24.630371742999998 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:22.63, Y:3.27, Z:3.63 [[ 8.77533033e-01 -3.92751672e-01 -2.75103436e-01 2.26273880e+01] [ 3.81310286e-01 9.19418298e-01 -9.62936074e-02 3.27025087e+00] [ 2.90754608e-01 -2.03989487e-02 9.56580180e-01 3.63397159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660371743 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:22.65, Y:3.27, Z:3.64 [[ 0.87763135 -0.38920662 -0.27978816 22.65310407] [ 0.3815338 0.920551 -0.08377238 3.27492053] [ 0.29016404 -0.03322738 0.9563999 3.63785361] [ 0. 0. 0. 1. ]] SLAMing on 24.690371742999996 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:22.68, Y:3.29, Z:3.65 [[ 0.87755651 -0.3908984 -0.27765628 22.67531349] [ 0.38157098 0.92001953 -0.08926167 3.28669527] [ 0.29034144 -0.02761342 0.95652462 3.64861919] [ 0. 0. 0. 1. ]] SLAMing on 24.720371742999998 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:22.70, Y:3.30, Z:3.66 [[ 8.76814888e-01 -3.94852012e-01 -2.74385752e-01 2.27003928e+01] [ 3.82578208e-01 9.18570384e-01 -9.93094400e-02 3.30122162e+00] [ 2.91255158e-01 -1.78980140e-02 9.56477963e-01 3.66084412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750371743 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:22.73, Y:3.31, Z:3.67 [[ 0.87622069 -0.39450183 -0.27677717 22.72789356] [ 0.38365175 0.91860334 -0.09475888 3.30929917] [ 0.29163098 -0.02315636 0.95625057 3.66787463] [ 0. 0. 0. 1. ]] SLAMing on 24.780371742999996 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:22.75, Y:3.32, Z:3.67 [[ 0.87531492 -0.3938826 -0.28050008 22.75446887] [ 0.38485354 0.9186711 -0.08905708 3.31686826] [ 0.29276535 -0.02999846 0.95571363 3.67456838] [ 0. 0. 0. 1. ]] SLAMing on 24.810371742999997 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:22.78, Y:3.33, Z:3.68 [[ 0.8744206 -0.39472557 -0.28209987 22.77728818] [ 0.38563831 0.9182934 -0.08955626 3.32648001] [ 0.2944006 -0.03047868 0.95519597 3.68352722] [ 0. 0. 0. 1. ]] SLAMing on 24.840371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:22.80, Y:3.34, Z:3.69 [[ 0.87349569 -0.39574119 -0.28353869 22.80021671] [ 0.38649572 0.91785111 -0.09039031 3.33590358] [ 0.29601747 -0.03063095 0.95469126 3.69279727] [ 0. 0. 0. 1. ]] SLAMing on 24.870371742999996 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:22.82, Y:3.34, Z:3.70 [[ 0.86904186 -0.39702498 -0.29519048 22.81792309] [ 0.39186542 0.91661002 -0.07916796 3.34366054] [ 0.30200621 -0.04687467 0.95215283 3.70090305] [ 0. 0. 0. 1. ]] SLAMing on 24.900371742999997 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:22.84, Y:3.37, Z:3.72 [[ 8.71389507e-01 -4.06240067e-01 -2.75044241e-01 2.28427900e+01] [ 3.87795354e-01 9.13765597e-01 -1.21025601e-01 3.36702833e+00] [ 3.00491414e-01 -1.20043973e-03 9.53783764e-01 3.72105151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930371743 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:22.87, Y:3.37, Z:3.72 [[ 0.8708778 -0.39999864 -0.28560979 22.87478763] [ 0.38949397 0.91608133 -0.09533858 3.36631203] [ 0.2997771 -0.02821504 0.95359195 3.71908877] [ 0. 0. 0. 1. ]] SLAMing on 24.960371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:22.90, Y:3.38, Z:3.73 [[ 0.87087752 -0.40091675 -0.28432043 22.89913373] [ 0.38962747 0.91575811 -0.09786479 3.37647788] [ 0.29960437 -0.02555081 0.95372133 3.72787125] [ 0. 0. 0. 1. ]] SLAMing on 24.990371742999997 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:22.92, Y:3.39, Z:3.74 [[ 0.86988941 -0.40282188 -0.28465233 22.92412008] [ 0.39164691 0.91489846 -0.09784431 3.38633834] [ 0.29984181 -0.02636948 0.95362442 3.73691979] [ 0. 0. 0. 1. ]] SLAMing on 25.020371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:22.95, Y:3.40, Z:3.75 [[ 8.71191178e-01 -4.03819775e-01 -2.79205159e-01 2.29483750e+01] [ 3.91171300e-01 9.14617364e-01 -1.02274588e-01 3.39724625e+00] [ 2.96666388e-01 -2.01163264e-02 9.54769285e-01 3.74504447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050371743 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:22.98, Y:3.40, Z:3.75 [[ 0.87107873 -0.40095222 -0.28365325 22.97589199] [ 0.39219438 0.91549992 -0.08968537 3.40211899] [ 0.29564408 -0.03312419 0.95472371 3.75136084] [ 0. 0. 0. 1. ]] SLAMing on 25.080371742999997 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:23.00, Y:3.42, Z:3.76 [[ 8.71012484e-01 -4.04872147e-01 -2.78236944e-01 2.29993597e+01] [ 3.92435526e-01 9.14140850e-01 -1.01690041e-01 3.41686657e+00] [ 2.95519221e-01 -2.06167662e-02 9.55114307e-01 3.76433225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110371742999998 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:23.03, Y:3.42, Z:3.77 [[ 0.87009983 -0.40009886 -0.28783187 23.02575212] [ 0.39353148 0.91555344 -0.08303531 3.41875652] [ 0.29674779 -0.04102189 0.9540744 3.76871891] [ 0. 0. 0. 1. ]] SLAMing on 25.140371743 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:23.05, Y:3.44, Z:3.78 [[ 8.70137560e-01 -4.07027102e-01 -2.77830102e-01 2.30471863e+01] [ 3.93865231e-01 9.13226051e-01 -1.04347303e-01 3.43689039e+00] [ 2.96193868e-01 -1.86311094e-02 9.54946111e-01 3.78482403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170371742999997 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:23.07, Y:3.44, Z:3.79 [[ 0.86965638 -0.40421887 -0.28338117 23.07413064] [ 0.39481834 0.9141147 -0.09226485 3.44050842] [ 0.29633809 -0.03164537 0.9545587 3.78916799] [ 0. 0. 0. 1. ]] SLAMing on 25.200371742999998 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:23.10, Y:3.45, Z:3.80 [[ 0.86831646 -0.40607853 -0.28482757 23.09777024] [ 0.3960733 0.91332544 -0.09467092 3.45062341] [ 0.29858409 -0.03060828 0.95389238 3.79949175] [ 0. 0. 0. 1. ]] SLAMing on 25.230371743 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:23.12, Y:3.46, Z:3.81 [[ 0.86731052 -0.4071714 -0.28632832 23.12193238] [ 0.39638581 0.91289311 -0.09749082 3.4595357 ] [ 0.30108263 -0.02894167 0.95315877 3.8083319 ] [ 0. 0. 0. 1. ]] SLAMing on 25.260371742999997 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:23.15, Y:3.47, Z:3.82 [[ 8.67557328e-01 -4.10518855e-01 -2.80746420e-01 2.31468639e+01] [ 3.96497908e-01 9.11679248e-01 -1.07844139e-01 3.47247158e+00] [ 3.00222738e-01 -1.77543951e-02 9.53703879e-01 3.81764178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290371742999998 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:23.17, Y:3.48, Z:3.82 [[ 0.86683773 -0.40840216 -0.28600705 23.17492011] [ 0.39785838 0.91231564 -0.0968963 3.47731086] [ 0.30050136 -0.02979693 0.95331583 3.82212069] [ 0. 0. 0. 1. ]] SLAMing on 25.320371743 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:23.20, Y:3.49, Z:3.83 [[ 0.86670634 -0.41053577 -0.28333814 23.19973169] [ 0.39812198 0.91153927 -0.10293223 3.48899606] [ 0.30053121 -0.02359112 0.95348018 3.83249567] [ 0. 0. 0. 1. ]] SLAMing on 25.350371742999997 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:23.23, Y:3.50, Z:3.84 [[ 8.67241617e-01 -4.11015410e-01 -2.80995215e-01 2.32257427e+01] [ 3.97736151e-01 9.11404639e-01 -1.05581900e-01 3.49961479e+00] [ 2.99496131e-01 -2.01969373e-02 9.53883720e-01 3.84043712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380371742999998 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:23.25, Y:3.51, Z:3.85 [[ 0.86810124 -0.40907325 -0.28117487 23.25268137] [ 0.39732408 0.91217073 -0.10038987 3.50681413] [ 0.2975463 -0.02456897 0.9543912 3.84590508] [ 0. 0. 0. 1. ]] SLAMing on 25.410371743 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:23.28, Y:3.52, Z:3.85 [[ 0.86802916 -0.4083246 -0.28248256 23.27918554] [ 0.3971627 0.9124466 -0.09850375 3.51538939] [ 0.29797175 -0.0266874 0.95420156 3.85395526] [ 0. 0. 0. 1. ]] SLAMing on 25.440371742999996 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:23.30, Y:3.52, Z:3.86 [[ 0.86830678 -0.40833167 -0.2816178 23.30472634] [ 0.39710367 0.91245799 -0.09863613 3.52492739] [ 0.29724067 -0.02618505 0.95444346 3.86214823] [ 0. 0. 0. 1. ]] SLAMing on 25.470371742999998 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:23.33, Y:3.54, Z:3.87 [[ 8.68235116e-01 -4.10132180e-01 -2.79212066e-01 2.33317197e+01] [ 3.97263272e-01 9.11792841e-01 -1.03998594e-01 3.53704302e+00] [ 2.97236733e-01 -2.06254675e-02 9.54581015e-01 3.87195606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:23.36, Y:3.54, Z:3.88 [[ 0.86762403 -0.40676118 -0.28596133 23.35869608] [ 0.39796626 0.91287108 -0.09104527 3.54154583] [ 0.29807951 -0.03480989 0.95390612 3.87728112] [ 0. 0. 0. 1. ]] SLAMing on 25.530371742999996 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:23.38, Y:3.56, Z:3.89 [[ 0.86740093 -0.40916915 -0.2831894 23.38223405] [ 0.39760673 0.91209178 -0.09998739 3.55504501] [ 0.29920648 -0.02586885 0.95383766 3.88903963] [ 0. 0. 0. 1. ]] SLAMing on 25.560371742999997 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:23.41, Y:3.56, Z:3.90 [[ 0.86722491 -0.40881802 -0.28423368 23.40623117] [ 0.39782184 0.91218959 -0.09822387 3.56412987] [ 0.2994307 -0.02789218 0.95371027 3.89606527] [ 0. 0. 0. 1. ]] SLAMing on 25.590371743 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:23.43, Y:3.58, Z:3.91 [[ 0.86720123 -0.40980792 -0.28287718 23.43151857] [ 0.39784084 0.91183883 -0.1013539 3.57553543] [ 0.29947403 -0.02464587 0.95378608 3.90567094] [ 0. 0. 0. 1. ]] SLAMing on 25.620371742999996 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:23.46, Y:3.58, Z:3.91 [[ 0.86654776 -0.40804123 -0.28739752 23.45605585] [ 0.39862569 0.91234428 -0.09341027 3.58180701] [ 0.30032073 -0.03361957 0.95324561 3.91215864] [ 0. 0. 0. 1. ]] SLAMing on 25.650371742999997 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:23.48, Y:3.60, Z:3.93 [[ 8.65063690e-01 -4.14375386e-01 -2.82768196e-01 2.34797972e+01] [ 4.01047558e-01 9.09855606e-01 -1.06412558e-01 3.59658898e+00] [ 3.01372973e-01 -2.13498550e-02 9.53267284e-01 3.92548868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680371743 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:23.51, Y:3.60, Z:3.93 [[ 0.86379083 -0.41219235 -0.28976348 23.50582656] [ 0.40349949 0.91033099 -0.09211758 3.59980653] [ 0.30175084 -0.03734909 0.95265496 3.92979434] [ 0. 0. 0. 1. ]] SLAMing on 25.710371742999996 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:23.53, Y:3.61, Z:3.94 [[ 0.86105349 -0.41342567 -0.29608461 23.52771317] [ 0.40652749 0.90942858 -0.08760742 3.60716675] [ 0.30548696 -0.04493186 0.95113555 3.94041961] [ 0. 0. 0. 1. ]] SLAMing on 25.740371742999997 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:23.55, Y:3.63, Z:3.96 [[ 8.61146785e-01 -4.24214871e-01 -2.80121328e-01 2.35479586e+01] [ 4.06997583e-01 9.05499668e-01 -1.20097121e-01 3.62904922e+00] [ 3.04596754e-01 -1.05874536e-02 9.52422555e-01 3.95857279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770371743 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:23.57, Y:3.63, Z:3.96 [[ 0.8566939 -0.42134079 -0.29756931 23.57111051] [ 0.41435378 0.90570352 -0.08951018 3.62896252] [ 0.30722386 -0.04661614 0.95049484 3.95667581] [ 0. 0. 0. 1. ]] SLAMing on 25.800371743 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:23.59, Y:3.65, Z:3.97 [[ 0.85544905 -0.42903587 -0.2900606 23.59013584] [ 0.41510766 0.90293641 -0.11131695 3.64662758] [ 0.30966524 -0.0251804 0.95051217 3.97399324] [ 0. 0. 0. 1. ]] SLAMing on 25.830371742999997 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:23.62, Y:3.66, Z:3.98 [[ 8.57684770e-01 -4.30170108e-01 -2.81656728e-01 2.36216957e+01] [ 4.12484906e-01 9.02680235e-01 -1.22574856e-01 3.65820674e+00] [ 3.06974001e-01 -1.10485617e-02 9.51653767e-01 3.98453043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860371742999998 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:23.65, Y:3.66, Z:3.99 [[ 0.85738357 -0.42524019 -0.28993826 23.65099994] [ 0.4139732 0.90450747 -0.10243253 3.65965408] [ 0.30580975 -0.0322027 0.95154789 3.98560778] [ 0. 0. 0. 1. ]] SLAMing on 25.890371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:23.67, Y:3.67, Z:4.00 [[ 0.85706262 -0.42595683 -0.28983519 23.67492328] [ 0.41436594 0.90420024 -0.10355092 3.67014912] [ 0.30617727 -0.03134821 0.95145823 3.99532229] [ 0. 0. 0. 1. ]] SLAMing on 25.920371742999997 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:23.70, Y:3.68, Z:4.00 [[ 0.85718283 -0.42698828 -0.2879559 23.69778111] [ 0.41413653 0.90384967 -0.10745566 3.68117998] [ 0.30615115 -0.02714391 0.95159586 4.00482812] [ 0. 0. 0. 1. ]] SLAMing on 25.950371742999998 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:23.72, Y:3.69, Z:4.02 [[ 0.85768403 -0.42637055 -0.28737823 23.7223994 ] [ 0.41283666 0.90420873 -0.10941875 3.69279306] [ 0.30650284 -0.02479355 0.95154679 4.01506193] [ 0. 0. 0. 1. ]] SLAMing on 25.980371743 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:23.75, Y:3.70, Z:4.02 [[ 0.85770501 -0.42383479 -0.29104328 23.74601634] [ 0.41263607 0.9051555 -0.10210289 3.6998768 ] [ 0.30671418 -0.03252079 0.95124592 4.02135894] [ 0. 0. 0. 1. ]] SLAMing on 26.010371742999997 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:23.77, Y:3.71, Z:4.03 [[ 0.85737565 -0.42596904 -0.28888989 23.76954667] [ 0.41288744 0.90434628 -0.10808225 3.71207864] [ 0.30729619 -0.02661192 0.95124175 4.0321815 ] [ 0. 0. 0. 1. ]] SLAMing on 26.040371742999998 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:23.79, Y:3.72, Z:4.04 [[ 8.58107262e-01 -4.25486366e-01 -2.87425259e-01 2.37948977e+01] [ 4.11635698e-01 9.04654377e-01 -1.10256563e-01 3.72311235e+00] [ 3.06933183e-01 -2.37025395e-02 9.51435868e-01 4.04099266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:23.82, Y:3.73, Z:4.05 [[ 0.858817 -0.4199301 -0.29341451 23.82047005] [ 0.40925306 0.90691472 -0.10008812 3.7290249 ] [ 0.30813195 -0.03412341 0.95073145 4.04644054] [ 0. 0. 0. 1. ]] SLAMing on 26.100371742999997 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:23.84, Y:3.74, Z:4.06 [[ 8.59225339e-01 -4.21806629e-01 -2.89501269e-01 2.38424224e+01] [ 4.07712403e-01 9.06392985e-01 -1.10554756e-01 3.74300555e+00] [ 3.09034648e-01 -2.30418101e-02 9.50771614e-01 4.05910503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130371742999998 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:23.87, Y:3.76, Z:4.07 [[ 8.61398690e-01 -4.21859594e-01 -2.82890049e-01 2.38666163e+01] [ 4.04816932e-01 9.06584742e-01 -1.19278482e-01 3.75627753e+00] [ 3.06782574e-01 -1.17723535e-02 9.51706816e-01 4.06811801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160371743 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:23.89, Y:3.76, Z:4.07 [[ 0.86262912 -0.41418343 -0.29038438 23.89435806] [ 0.40115118 0.90985027 -0.10606704 3.76136037] [ 0.30813752 -0.02499152 0.95101351 4.07138663] [ 0. 0. 0. 1. ]] SLAMing on 26.190371742999996 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:23.92, Y:3.77, Z:4.08 [[ 8.63962385e-01 -4.13981801e-01 -2.86684611e-01 2.39192726e+01] [ 3.98509244e-01 9.10138266e-01 -1.13308075e-01 3.77401310e+00] [ 3.07830115e-01 -1.63525532e-02 9.51300801e-01 4.08180121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220371742999998 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:23.94, Y:3.78, Z:4.09 [[ 0.86467163 -0.40914362 -0.29145236 23.94484104] [ 0.39665291 0.91209969 -0.10363699 3.78002342] [ 0.30823602 -0.02599347 0.95095473 4.08699908] [ 0. 0. 0. 1. ]] SLAMing on 26.250371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:23.97, Y:3.80, Z:4.10 [[ 8.67454111e-01 -4.08473886e-01 -2.84028961e-01 2.39685469e+01] [ 3.90813737e-01 9.12737328e-01 -1.19059620e-01 3.79690199e+00] [ 3.07876580e-01 -7.72366269e-03 9.51394953e-01 4.10062469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280371742999996 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:24.00, Y:3.80, Z:4.10 [[ 8.68607257e-01 -4.02114906e-01 -2.89525534e-01 2.39960406e+01] [ 3.88601228e-01 9.15350548e-01 -1.05463074e-01 3.80187159e+00] [ 3.07425630e-01 -2.09039862e-02 9.51342475e-01 4.10354781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310371742999997 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:24.02, Y:3.81, Z:4.11 [[ 8.69110568e-01 -4.01473950e-01 -2.88903942e-01 2.40202466e+01] [ 3.86933141e-01 9.15703308e-01 -1.08490532e-01 3.81335159e+00] [ 3.08106418e-01 -1.74962421e-02 9.51190999e-01 4.11396050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340371743 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:24.05, Y:3.82, Z:4.12 [[ 8.70952245e-01 -3.98177520e-01 -2.87918129e-01 2.40460246e+01] [ 3.83961314e-01 9.17142202e-01 -1.06882603e-01 3.82295465e+00] [ 3.06620117e-01 -1.74597801e-02 9.51671824e-01 4.12145310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370371742999996 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:24.07, Y:3.83, Z:4.13 [[ 8.71488198e-01 -3.96459299e-01 -2.88666495e-01 2.40708071e+01] [ 3.82121467e-01 9.17894178e-01 -1.07020849e-01 3.83302600e+00] [ 3.07394706e-01 -1.70382582e-02 9.51429552e-01 4.13110559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400371742999997 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:24.10, Y:3.84, Z:4.14 [[ 8.72168797e-01 -3.95346167e-01 -2.88137117e-01 2.40959378e+01] [ 3.81130887e-01 9.18374953e-01 -1.06426938e-01 3.84256558e+00] [ 3.06693393e-01 -1.69957006e-02 9.51656613e-01 4.13923006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430371743 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:24.12, Y:3.85, Z:4.15 [[ 8.73159982e-01 -3.93340281e-01 -2.87880303e-01 2.41203638e+01] [ 3.79929873e-01 9.19197975e-01 -1.03577870e-01 3.85074448e+00] [ 3.05360339e-01 -1.89342757e-02 9.52048610e-01 4.14621302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460371742999996 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:24.15, Y:3.86, Z:4.16 [[ 8.74151121e-01 -3.93816155e-01 -2.84198265e-01 2.41460414e+01] [ 3.77934083e-01 9.19132427e-01 -1.11181877e-01 3.86439344e+00] [ 3.05001061e-01 -1.02184489e-02 9.52297189e-01 4.15837202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490371742999997 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:24.16, Y:3.86, Z:4.16 [[ 0.86940744 -0.38783431 -0.30612945 24.16491931] [ 0.38319191 0.92038873 -0.07777243 3.86359397] [ 0.31192092 -0.0496904 0.94880778 4.16141968] [ 0. 0. 0. 1. ]] SLAMing on 26.520371743 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:24.18, Y:3.89, Z:4.19 [[ 8.69555176e-01 -3.98432574e-01 -2.91762367e-01 2.41785249e+01] [ 3.81600231e-01 9.17128975e-01 -1.15133431e-01 3.88731548e+00] [ 3.13456630e-01 -1.12217162e-02 9.49536210e-01 4.18504612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550371743 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:24.21, Y:3.91, Z:4.20 [[ 8.74598599e-01 -4.00706949e-01 -2.72967455e-01 2.42100719e+01] [ 3.75172764e-01 9.15936877e-01 -1.42495731e-01 3.90518658e+00] [ 3.07119988e-01 2.22166122e-02 9.51411444e-01 4.19719085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580371742999997 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:24.25, Y:3.90, Z:4.19 [[ 8.74450248e-01 -3.89040604e-01 -2.89800227e-01 2.42454317e+01] [ 3.75400789e-01 9.21042649e-01 -1.03704803e-01 3.89970762e+00] [ 3.07263748e-01 -1.81065432e-02 9.51452123e-01 4.19035353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610371742999998 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:24.27, Y:3.91, Z:4.20 [[ 8.74149697e-01 -3.89599102e-01 -2.89956630e-01 2.42697956e+01] [ 3.74838687e-01 9.20863684e-01 -1.07266181e-01 3.91044790e+00] [ 3.08801339e-01 -1.49202625e-02 9.51009526e-01 4.20092010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640371743 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:24.29, Y:3.92, Z:4.21 [[ 8.75103047e-01 -3.86468737e-01 -2.91267183e-01 2.42936718e+01] [ 3.72692855e-01 9.22132145e-01 -1.03789901e-01 3.91771434e+00] [ 3.08698385e-01 -1.77263391e-02 9.50994787e-01 4.20882010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670371742999997 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:24.32, Y:3.93, Z:4.22 [[ 8.75365975e-01 -3.87904750e-01 -2.88555568e-01 2.43187047e+01] [ 3.71969885e-01 9.21638892e-01 -1.10544817e-01 3.93059818e+00] [ 3.08824893e-01 -1.05668099e-02 9.51060212e-01 4.22088681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700371742999998 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:24.34, Y:3.94, Z:4.23 [[ 8.76168883e-01 -3.86957967e-01 -2.87387578e-01 2.43446024e+01] [ 3.70926283e-01 9.22046839e-01 -1.10649537e-01 3.94003164e+00] [ 3.07801527e-01 -9.65192494e-03 9.51401629e-01 4.22911061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730371743 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:24.36, Y:3.94, Z:4.23 [[ 0.87205693 -0.38062647 -0.30763649 24.36389063] [ 0.37490699 0.92360497 -0.07999134 3.9388047 ] [ 0.31458141 -0.04557806 0.94813563 4.2329787 ] [ 0. 0. 0. 1. ]] SLAMing on 26.760371742999997 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:24.39, Y:3.97, Z:4.26 [[ 8.77463213e-01 -3.93546931e-01 -2.74188114e-01 2.43861138e+01] [ 3.67642358e-01 9.18985075e-01 -1.42497467e-01 3.96913267e+00] [ 3.08054226e-01 2.42331205e-02 9.51060119e-01 4.26019428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790371742999998 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:24.42, Y:3.96, Z:4.25 [[ 8.78060234e-01 -3.81740090e-01 -2.88590938e-01 2.44224137e+01] [ 3.66930912e-01 9.24181624e-01 -1.06066164e-01 3.96405691e+00] [ 3.07200148e-01 -1.27604553e-02 9.51559373e-01 4.25270321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820371743 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:24.45, Y:3.97, Z:4.26 [[ 8.77839912e-01 -3.82161036e-01 -2.88704055e-01 2.44470139e+01] [ 3.66199038e-01 9.24047689e-01 -1.09700195e-01 3.97348765e+00] [ 3.08699455e-01 -9.42393829e-03 9.51112946e-01 4.26240715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850371742999997 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:24.47, Y:3.98, Z:4.27 [[ 8.77759507e-01 -3.81322769e-01 -2.90053778e-01 2.44737139e+01] [ 3.65988372e-01 9.24368693e-01 -1.07680228e-01 3.98137212e+00] [ 3.09177554e-01 -1.16389658e-02 9.50933107e-01 4.27008645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880371742999998 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:24.50, Y:3.99, Z:4.28 [[ 8.77255139e-01 -3.81669063e-01 -2.91122222e-01 2.44995044e+01] [ 3.66427586e-01 9.24216208e-01 -1.07495233e-01 3.98881248e+00] [ 3.10087481e-01 -1.23744679e-02 9.50627491e-01 4.27821441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910371743 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:24.52, Y:3.99, Z:4.28 [[ 0.87115902 -0.37848141 -0.31278394 24.5175707 ] [ 0.37353243 0.92432234 -0.0781136 3.9885461 ] [ 0.31867773 -0.04878558 0.94660682 4.28374471] [ 0. 0. 0. 1. ]] SLAMing on 26.940371742999996 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:24.54, Y:4.02, Z:4.31 [[ 0.87600913 -0.39678756 -0.27416717 24.53753059] [ 0.36847666 0.91739728 -0.15035685 4.0221558 ] [ 0.31117994 0.03068977 0.94985535 4.31295399] [ 0. 0. 0. 1. ]] SLAMing on 26.970371742999998 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:24.58, Y:4.01, Z:4.31 [[ 8.75190411e-01 -3.87564057e-01 -2.89544203e-01 2.45780905e+01] [ 3.71903961e-01 9.21768644e-01 -1.09681405e-01 4.01364760e+00] [ 3.09401338e-01 -1.16905224e-02 9.50859687e-01 4.30608355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000371743 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:24.60, Y:4.02, Z:4.31 [[ 8.74014574e-01 -3.89077313e-01 -2.91062482e-01 2.46036490e+01] [ 3.74466603e-01 9.21071850e-01 -1.06777387e-01 4.02108848e+00] [ 3.09634118e-01 -1.56681865e-02 9.50726680e-01 4.31405235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030371742999996 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:24.63, Y:4.03, Z:4.32 [[ 8.72313757e-01 -3.91831876e-01 -2.92466222e-01 2.46283816e+01] [ 3.77462064e-01 9.19871762e-01 -1.06575478e-01 4.02994451e+00] [ 3.10791088e-01 -1.74276477e-02 9.50318461e-01 4.32380854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060371742999997 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:24.65, Y:4.03, Z:4.33 [[ 0.8653548 -0.39205852 -0.31217173 24.64605772] [ 0.38737203 0.91847189 -0.07970126 4.02860131] [ 0.31796852 -0.05195673 0.94667656 4.33036878] [ 0. 0. 0. 1. ]] SLAMing on 27.090371743 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:24.66, Y:4.05, Z:4.35 [[ 8.64586861e-01 -4.06368711e-01 -2.95557153e-01 2.46589811e+01] [ 3.88347179e-01 9.13644370e-01 -1.20168355e-01 4.05205008e+00] [ 3.18866789e-01 -1.08828056e-02 9.47737060e-01 4.35426276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120371742999996 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:24.69, Y:4.07, Z:4.37 [[ 0.86948139 -0.41363745 -0.27001143 24.6895705 ] [ 0.38456669 0.90990025 -0.15553132 4.07229998] [ 0.31001705 0.03139419 0.95021252 4.36806099] [ 0. 0. 0. 1. ]] SLAMing on 27.150371742999997 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:24.73, Y:4.06, Z:4.36 [[ 8.68120942e-01 -4.02120710e-01 -2.90972447e-01 2.47289633e+01] [ 3.88342661e-01 9.15353895e-01 -1.06382449e-01 4.06086134e+00] [ 3.09121348e-01 -2.06441827e-02 9.50798512e-01 4.35899596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180371743 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:24.75, Y:4.06, Z:4.36 [[ 0.86168931 -0.39888625 -0.31365794 24.74655183] [ 0.39619893 0.91507396 -0.07527319 4.05914677] [ 0.31704565 -0.05940884 0.94654775 4.36463367] [ 0. 0. 0. 1. ]] SLAMing on 27.210371742999996 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:24.76, Y:4.10, Z:4.39 [[ 0.86584755 -0.42030201 -0.27139315 24.76474121] [ 0.39177042 0.90696366 -0.15470248 4.09622029] [ 0.31116549 0.02762495 0.94995416 4.39389863] [ 0. 0. 0. 1. ]] SLAMing on 27.240371742999997 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:24.80, Y:4.08, Z:4.38 [[ 0.86031746 -0.40200447 -0.31344261 24.7973357 ] [ 0.39965197 0.91360949 -0.07480645 4.07668045] [ 0.31643668 -0.06091066 0.94665607 4.38226202] [ 0. 0. 0. 1. ]] SLAMing on 27.270371743 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:24.82, Y:4.11, Z:4.41 [[ 8.62709903e-01 -4.22196861e-01 -2.78354870e-01 2.48154467e+01] [ 3.97587768e-01 9.06420371e-01 -1.42569557e-01 4.10811866e+00] [ 3.12498943e-01 1.23256773e-02 9.49838138e-01 4.41064456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300371743 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:24.85, Y:4.11, Z:4.41 [[ 8.63621440e-01 -4.13553872e-01 -2.88324822e-01 2.48496167e+01] [ 3.98134029e-01 9.10319856e-01 -1.13168260e-01 4.10631166e+00] [ 3.09268982e-01 -1.70573876e-02 9.50821614e-01 4.40666507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330371742999997 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:24.87, Y:4.11, Z:4.41 [[ 0.85825896 -0.41045399 -0.30808942 24.86884784] [ 0.40486882 0.91041171 -0.08503969 4.10703421] [ 0.31539309 -0.05174972 0.94754903 4.41257754] [ 0. 0. 0. 1. ]] SLAMing on 27.360371742999998 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:24.88, Y:4.13, Z:4.43 [[ 8.57383626e-01 -4.22254294e-01 -2.94269654e-01 2.48829304e+01] [ 4.05094180e-01 9.06334130e-01 -1.20237886e-01 4.12977667e+00] [ 3.17477595e-01 -1.61169291e-02 9.48128800e-01 4.43392059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390371743 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:24.91, Y:4.15, Z:4.45 [[ 8.61409298e-01 -4.28147270e-01 -2.73247024e-01 2.49141027e+01] [ 4.01624617e-01 9.03507061e-01 -1.49574923e-01 4.14952198e+00] [ 3.10920711e-01 1.91024987e-02 9.50243867e-01 4.44672141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420371742999997 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:24.94, Y:4.13, Z:4.44 [[ 0.85671164 -0.41183483 -0.31054346 24.94414983] [ 0.40808734 0.909411 -0.08022694 4.13490689] [ 0.31545189 -0.0579975 0.94716757 4.43755092] [ 0. 0. 0. 1. ]] SLAMing on 27.450371742999998 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:24.96, Y:4.16, Z:4.46 [[ 8.55840429e-01 -4.25554114e-01 -2.94008258e-01 2.49562619e+01] [ 4.08539373e-01 9.04771182e-01 -1.20352356e-01 4.15989164e+00] [ 3.17226640e-01 -1.71115372e-02 9.48195367e-01 4.46031082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:24.99, Y:4.18, Z:4.47 [[ 8.60165853e-01 -4.30404601e-01 -2.73617588e-01 2.49869931e+01] [ 4.04481958e-01 9.02481950e-01 -1.48056326e-01 4.17913847e+00] [ 3.10659058e-01 1.66796181e-02 9.50375052e-01 4.47283490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510371742999997 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:25.02, Y:4.17, Z:4.47 [[ 0.85931396 -0.41879614 -0.29358016 25.02165062] [ 0.40664837 0.90759629 -0.10443213 4.1725793 ] [ 0.31018804 -0.0296439 0.95021293 4.4668729 ] [ 0. 0. 0. 1. ]] SLAMing on 27.540371742999998 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:25.04, Y:4.19, Z:4.48 [[ 8.58006752e-01 -4.23783757e-01 -2.90227052e-01 2.50439070e+01] [ 4.09188219e-01 9.05490171e-01 -1.12483559e-01 4.18690999e+00] [ 3.10466448e-01 -2.22458372e-02 9.50324001e-01 4.47855522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570371743 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:25.07, Y:4.20, Z:4.49 [[ 8.57653308e-01 -4.26236169e-01 -2.87669134e-01 2.50677895e+01] [ 4.10525719e-01 9.04422930e-01 -1.16136979e-01 4.19949082e+00] [ 3.09676342e-01 -1.84903139e-02 9.50662228e-01 4.48710155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600371742999997 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:25.09, Y:4.20, Z:4.49 [[ 0.85289736 -0.42105607 -0.30867115 25.08862902] [ 0.41663574 0.90522228 -0.08358998 4.199329 ] [ 0.31461207 -0.05730976 0.9474887 4.49104706] [ 0. 0. 0. 1. ]] SLAMing on 27.630371742999998 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:25.11, Y:4.23, Z:4.52 [[ 8.55538742e-01 -4.38989279e-01 -2.74484742e-01 2.51065515e+01] [ 4.13622983e-01 8.98401722e-01 -1.47615629e-01 4.23233353e+00] [ 3.11399244e-01 1.27576918e-02 9.50193534e-01 4.51621671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660371743 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:25.14, Y:4.23, Z:4.51 [[ 0.85526088 -0.42787925 -0.2923152 25.14011551] [ 0.41522322 0.90335441 -0.10742663 4.22805125] [ 0.31002985 -0.02949827 0.95026909 4.51091409] [ 0. 0. 0. 1. ]] SLAMing on 27.690371742999996 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:25.16, Y:4.24, Z:4.52 [[ 0.85421343 -0.43039473 -0.2916844 25.16301732] [ 0.4162764 0.90228 -0.11227088 4.2411016 ] [ 0.3115018 -0.02551804 0.94990287 4.52224334] [ 0. 0. 0. 1. ]] SLAMing on 27.720371742999998 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:25.19, Y:4.26, Z:4.53 [[ 8.53974955e-01 -4.33745646e-01 -2.87387352e-01 2.51866109e+01] [ 4.16652944e-01 9.00895202e-01 -1.21606579e-01 4.25659605e+00] [ 3.11652211e-01 -1.58918135e-02 9.50063340e-01 4.53374721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:25.21, Y:4.27, Z:4.54 [[ 8.54047657e-01 -4.30964602e-01 -2.91328184e-01 2.52124042e+01] [ 4.16328268e-01 9.02049686e-01 -1.13917238e-01 4.26667926e+00] [ 3.11886794e-01 -2.39974084e-02 9.49816167e-01 4.54054434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780371742999996 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:25.24, Y:4.28, Z:4.55 [[ 0.85395208 -0.42990733 -0.29316467 25.23587731] [ 0.41626255 0.90245869 -0.1108774 4.27720892] [ 0.31223601 -0.02734949 0.9496108 4.54909555] [ 0. 0. 0. 1. ]] SLAMing on 27.810371742999997 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:25.26, Y:4.29, Z:4.56 [[ 8.55186527e-01 -4.31762875e-01 -2.86769636e-01 2.52587170e+01] [ 4.14951497e-01 9.01844411e-01 -1.20382364e-01 4.29243563e+00] [ 3.10598229e-01 -1.60461140e-02 9.50405841e-01 4.55994442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:25.28, Y:4.30, Z:4.57 [[ 8.55927259e-01 -4.27913249e-01 -2.90308076e-01 2.52848340e+01] [ 4.13074808e-01 9.03542177e-01 -1.13933035e-01 4.30361444e+00] [ 3.11059046e-01 -2.24005620e-02 9.50126562e-01 4.56741976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870371742999996 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:25.31, Y:4.32, Z:4.58 [[ 8.57338350e-01 -4.27044811e-01 -2.87408564e-01 2.53096788e+01] [ 4.11106938e-01 9.04053543e-01 -1.16954171e-01 4.31706477e+00] [ 3.09777402e-01 -1.78863581e-02 9.50640857e-01 4.57619384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900371742999997 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:25.33, Y:4.32, Z:4.58 [[ 0.85381284 -0.41613483 -0.31278656 25.32905995] [ 0.41312785 0.90721745 -0.07925826 4.31699621] [ 0.31674754 -0.06154912 0.9465108 4.57903853] [ 0. 0. 0. 1. ]] SLAMing on 27.930371743 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:25.34, Y:4.34, Z:4.60 [[ 8.53182490e-01 -4.30111378e-01 -2.95099716e-01 2.53414113e+01] [ 4.12596845e-01 9.02614155e-01 -1.22684681e-01 4.34363842e+00] [ 3.19129258e-01 -1.70847902e-02 9.47557189e-01 4.60437171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960371742999996 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:25.36, Y:4.36, Z:4.61 [[ 8.53943604e-01 -4.28666343e-01 -2.95000827e-01 2.53644130e+01] [ 4.11047729e-01 9.03313168e-01 -1.22739906e-01 4.35544291e+00] [ 3.19092598e-01 -1.64464628e-02 9.47580829e-01 4.61276461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990371742999997 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:25.39, Y:4.38, Z:4.63 [[ 0.86023507 -0.43330526 -0.26877904 25.393459 ] [ 0.40422821 0.90082166 -0.15849257 4.38022746] [ 0.31079764 0.0276928 0.95007259 4.6268855 ] [ 0. 0. 0. 1. ]] SLAMing on 28.020371743 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:25.43, Y:4.36, Z:4.61 [[ 0.85609125 -0.41002991 -0.31461604 25.42685082] [ 0.40830265 0.90978672 -0.07467973 4.36123916] [ 0.31685442 -0.0645259 0.94627675 4.61229832] [ 0. 0. 0. 1. ]] SLAMing on 28.050371743 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:25.44, Y:4.40, Z:4.64 [[ 8.62525948e-01 -4.25759938e-01 -2.73454684e-01 2.54427203e+01] [ 3.98781740e-01 9.04596041e-01 -1.50595906e-01 4.40099503e+00] [ 3.11483728e-01 2.08441420e-02 9.50022846e-01 4.64222481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080371742999997 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:25.48, Y:4.40, Z:4.64 [[ 8.65071469e-01 -4.11106782e-01 -2.87476202e-01 2.54799183e+01] [ 3.95480829e-01 9.11453093e-01 -1.13349784e-01 4.39861465e+00] [ 3.08619939e-01 -1.56356625e-02 9.51056917e-01 4.63589108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110371742999998 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:25.50, Y:4.40, Z:4.64 [[ 0.8600049 -0.40370362 -0.3121137 25.4962944 ] [ 0.39993514 0.91312455 -0.0790914 4.39867399] [ 0.31692816 -0.05680625 0.94674685 4.64075051] [ 0. 0. 0. 1. ]] SLAMing on 28.140371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:25.51, Y:4.43, Z:4.67 [[ 8.61159873e-01 -4.14730791e-01 -2.93942247e-01 2.55071490e+01] [ 3.96419909e-01 9.09876017e-01 -1.22380099e-01 4.42706265e+00] [ 3.18205797e-01 -1.11357286e-02 9.47956258e-01 4.66671786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170371742999997 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:25.53, Y:4.44, Z:4.68 [[ 8.62054244e-01 -4.13279699e-01 -2.93363889e-01 2.55315875e+01] [ 3.94925992e-01 9.10543862e-01 -1.22242942e-01 4.43764070e+00] [ 3.17641214e-01 -1.04769780e-02 9.48153095e-01 4.67515484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200371742999998 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:25.56, Y:4.46, Z:4.69 [[ 0.86829347 -0.41621469 -0.26987363 25.56414003] [ 0.38792694 0.90881645 -0.15351011 4.45886978] [ 0.30915875 0.02860057 0.95058028 4.68865633] [ 0. 0. 0. 1. ]] SLAMing on 28.230371743 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:25.59, Y:4.44, Z:4.68 [[ 0.86449738 -0.39474849 -0.31115575 25.59348698] [ 0.39075657 0.91718864 -0.07793782 4.44271081] [ 0.31615436 -0.05420911 0.94715774 4.67571515] [ 0. 0. 0. 1. ]] SLAMing on 28.260371742999997 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:25.60, Y:4.47, Z:4.70 [[ 8.65405389e-01 -4.06614224e-01 -2.92811176e-01 2.56039184e+01] [ 3.87841777e-01 9.13567749e-01 -1.22363082e-01 4.46889355e+00] [ 3.17257417e-01 -7.67073646e-03 9.48308437e-01 4.70148133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290371742999998 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:25.63, Y:4.49, Z:4.71 [[ 0.87224025 -0.40882425 -0.26843934 25.63488325] [ 0.37996583 0.91202901 -0.15436664 4.48943655] [ 0.30793329 0.03264702 0.95084765 4.7144758 ] [ 0. 0. 0. 1. ]] SLAMing on 28.320371743 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:25.67, Y:4.47, Z:4.70 [[ 0.86876607 -0.38569964 -0.3106144 25.66606467] [ 0.3810657 0.92124156 -0.07812123 4.47300512] [ 0.31628222 -0.05049542 0.94732031 4.70227644] [ 0. 0. 0. 1. ]] SLAMing on 28.350371742999997 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:25.68, Y:4.50, Z:4.73 [[ 8.69720954e-01 -3.97840010e-01 -2.92076681e-01 2.56774460e+01] [ 3.78587791e-01 9.17445283e-01 -1.22333305e-01 4.49930200e+00] [ 3.16633457e-01 -4.18082704e-03 9.48538758e-01 4.72845622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380371742999998 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:25.71, Y:4.52, Z:4.74 [[ 0.87621851 -0.39974095 -0.26916222 25.70871945] [ 0.37156242 0.91606191 -0.15090374 4.5175668 ] [ 0.30689166 0.03221408 0.95119912 4.74065592] [ 0. 0. 0. 1. ]] SLAMing on 28.410371743 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:25.75, Y:4.51, Z:4.73 [[ 8.77530622e-01 -3.86493278e-01 -2.83836139e-01 2.57461297e+01] [ 3.69895085e-01 9.22269325e-01 -1.12235994e-01 4.51088985e+00] [ 3.05151821e-01 -6.49907104e-03 9.52281538e-01 4.73272400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440371742999996 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:25.77, Y:4.51, Z:4.74 [[ 0.87189112 -0.38151759 -0.30700198 25.76595147] [ 0.37560869 0.92326476 -0.08062443 4.50943822] [ 0.31420374 -0.04501689 0.94828766 4.73758034] [ 0. 0. 0. 1. ]] SLAMing on 28.470371742999998 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:25.79, Y:4.54, Z:4.77 [[ 0.87802346 -0.39953921 -0.26352083 25.78744001] [ 0.36977846 0.91584439 -0.15650218 4.54484086] [ 0.30387283 0.03996826 0.95187386 4.76683535] [ 0. 0. 0. 1. ]] SLAMing on 28.500371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:25.82, Y:4.52, Z:4.75 [[ 0.87043314 -0.38183966 -0.31071632 25.82070402] [ 0.37836634 0.92269675 -0.07395689 4.52212733] [ 0.31493661 -0.05319007 0.9476211 4.75349038] [ 0. 0. 0. 1. ]] SLAMing on 28.530371742999996 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:25.83, Y:4.55, Z:4.78 [[ 8.69576886e-01 -3.98821312e-01 -2.91165933e-01 2.58317539e+01] [ 3.79531683e-01 9.17020359e-01 -1.22594300e-01 4.54808565e+00] [ 3.15898308e-01 -3.90152704e-03 9.48785032e-01 4.78030006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560371742999997 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:25.86, Y:4.56, Z:4.79 [[ 8.68627131e-01 -4.00540625e-01 -2.91640387e-01 2.58568887e+01] [ 3.81246497e-01 9.16268265e-01 -1.22896603e-01 4.55578415e+00] [ 3.16445914e-01 -4.43555182e-03 9.48600184e-01 4.78839230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590371743 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:25.88, Y:4.56, Z:4.80 [[ 8.66676185e-01 -4.04093380e-01 -2.92542185e-01 2.58838624e+01] [ 3.84857551e-01 9.14699944e-01 -1.23323471e-01 4.56105338e+00] [ 3.17422519e-01 -5.70555377e-03 9.48267046e-01 4.79657809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620371742999996 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:25.91, Y:4.57, Z:4.81 [[ 8.65740362e-01 -4.05963956e-01 -2.92723234e-01 2.59099518e+01] [ 3.86773541e-01 9.13867392e-01 -1.23501493e-01 4.56874351e+00] [ 3.17647373e-01 -6.29737434e-03 9.48188003e-01 4.80503407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650371742999997 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:25.94, Y:4.59, Z:4.82 [[ 0.87203367 -0.41414546 -0.26084636 25.94248214] [ 0.38223582 0.9091144 -0.16554994 4.5909889 ] [ 0.30570094 0.0446603 0.95107959 4.81914194] [ 0. 0. 0. 1. ]] SLAMing on 28.680371743 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:25.98, Y:4.56, Z:4.80 [[ 0.86403857 -0.39245784 -0.31530015 25.97944121] [ 0.39240459 0.91738246 -0.06654367 4.56098302] [ 0.31536642 -0.06622893 0.94665609 4.80270864] [ 0. 0. 0. 1. ]] SLAMing on 28.710371742999996 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:26.00, Y:4.61, Z:4.84 [[ 0.8708733 -0.4190626 -0.25683894 25.99607296] [ 0.38647598 0.90669491 -0.16893979 4.60724316] [ 0.3036709 0.04786307 0.95157402 4.83735138] [ 0. 0. 0. 1. ]] SLAMing on 28.740371742999997 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:26.04, Y:4.59, Z:4.82 [[ 0.87081682 -0.39651935 -0.29060364 26.03952234] [ 0.38741292 0.91741673 -0.09087226 4.5850597 ] [ 0.30263725 -0.03345051 0.95251864 4.82019023] [ 0. 0. 0. 1. ]] SLAMing on 28.770371743 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:26.06, Y:4.60, Z:4.84 [[ 8.69276385e-01 -4.05500120e-01 -2.82715794e-01 2.60607954e+01] [ 3.90290263e-01 9.13988679e-01 -1.10897272e-01 4.59946763e+00] [ 3.03367892e-01 -1.39408420e-02 9.52771523e-01 4.83614956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800371742999996 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:26.08, Y:4.60, Z:4.84 [[ 0.86245023 -0.40091643 -0.30894274 26.07679044] [ 0.39835753 0.91421447 -0.07431817 4.59570902] [ 0.3122353 -0.05897394 0.94817255 4.84206823] [ 0. 0. 0. 1. ]] SLAMing on 28.830371742999997 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:26.09, Y:4.62, Z:4.87 [[ 8.61262511e-01 -4.17996392e-01 -2.88973879e-01 2.60889355e+01] [ 3.99942118e-01 9.08387771e-01 -1.21975241e-01 4.62179026e+00] [ 3.13485549e-01 -1.05201230e-02 9.49534695e-01 4.86666192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860371742999998 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:26.11, Y:4.63, Z:4.87 [[ 8.59108721e-01 -4.22366200e-01 -2.89031137e-01 2.61140738e+01] [ 4.04511923e-01 9.06345563e-01 -1.22097605e-01 4.62756436e+00] [ 3.13531990e-01 -1.20214240e-02 9.49501541e-01 4.87484990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890371743 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:26.14, Y:4.64, Z:4.88 [[ 8.57782192e-01 -4.24748636e-01 -2.89479372e-01 2.61390556e+01] [ 4.06954605e-01 9.05219825e-01 -1.22331591e-01 4.63608856e+00] [ 3.14002643e-01 -1.28711030e-02 9.49334859e-01 4.88340890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920371742999997 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:26.17, Y:4.65, Z:4.89 [[ 8.61734503e-01 -4.31330090e-01 -2.67147900e-01 2.61730808e+01] [ 4.03976235e-01 9.01875876e-01 -1.53046093e-01 4.65498688e+00] [ 3.06947631e-01 2.39636961e-02 9.51424665e-01 4.89449579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950371742999998 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:26.20, Y:4.64, Z:4.89 [[ 0.85396492 -0.418139 -0.30968321 26.20245348] [ 0.41475799 0.9063977 -0.08011884 4.63637264] [ 0.31419696 -0.06002491 0.94745833 4.88639047] [ 0. 0. 0. 1. ]] SLAMing on 28.980371743 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:26.22, Y:4.67, Z:4.91 [[ 0.85827826 -0.43949196 -0.26496273 26.2225982 ] [ 0.41083042 0.89783627 -0.15845628 4.67360635] [ 0.30753341 0.02714483 0.95115002 4.91181272] [ 0. 0. 0. 1. ]] SLAMing on 29.010371742999997 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:26.26, Y:4.66, Z:4.90 [[ 8.57879667e-01 -4.26476430e-01 -2.86636235e-01 2.62613211e+01] [ 4.13321235e-01 9.04134751e-01 -1.08193849e-01 4.66382586e+00] [ 3.05299907e-01 -2.56555389e-02 9.51910584e-01 4.90423933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040371742999998 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:26.28, Y:4.66, Z:4.91 [[ 0.85109867 -0.42365319 -0.31007908 26.27713853] [ 0.4215635 0.90349603 -0.07732494 4.66404347] [ 0.31291417 -0.06490686 0.94756098 4.91254105] [ 0. 0. 0. 1. ]] SLAMing on 29.070371743 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:26.29, Y:4.70, Z:4.94 [[ 8.54387907e-01 -4.46076531e-01 -2.66527733e-01 2.62948874e+01] [ 4.19059967e-01 8.94770253e-01 -1.54191242e-01 4.70168416e+00] [ 3.07262181e-01 2.00480296e-02 9.51413700e-01 4.93948013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100371742999997 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:26.33, Y:4.69, Z:4.93 [[ 0.84959729 -0.42889465 -0.30697529 26.32510246] [ 0.42576814 0.90121943 -0.08077764 4.68636366] [ 0.31129719 -0.06207184 0.94828326 4.9329356 ] [ 0. 0. 0. 1. ]] SLAMing on 29.130371742999998 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:26.34, Y:4.71, Z:4.96 [[ 8.49045246e-01 -4.42418473e-01 -2.88769916e-01 2.63366980e+01] [ 4.25466743e-01 8.96614454e-01 -1.22721518e-01 4.71261451e+00] [ 3.13209547e-01 -1.86658747e-02 9.49500587e-01 4.95538381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160371743 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:26.37, Y:4.73, Z:4.97 [[ 8.55474456e-01 -4.46349396e-01 -2.62556036e-01 2.63685486e+01] [ 4.19436365e-01 8.94593620e-01 -1.54192708e-01 4.73435163e+00] [ 3.03704777e-01 2.17823737e-02 9.52517158e-01 4.96650867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190371742999996 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:26.40, Y:4.72, Z:4.96 [[ 0.85093966 -0.42671542 -0.30629339 26.39800989] [ 0.42454585 0.90210041 -0.07730254 4.71808666] [ 0.30929358 -0.06425579 0.94879327 4.95885731] [ 0. 0. 0. 1. ]] SLAMing on 29.220371742999998 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:26.41, Y:4.75, Z:4.98 [[ 8.50622162e-01 -4.40232165e-01 -2.87467524e-01 2.64096816e+01] [ 4.23224884e-01 8.97713178e-01 -1.22440788e-01 4.74601141e+00] [ 3.11965758e-01 -1.75125617e-02 9.49931932e-01 4.98200622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:26.44, Y:4.77, Z:4.99 [[ 8.56257472e-01 -4.43617690e-01 -2.64625179e-01 2.64398949e+01] [ 4.16965424e-01 8.95981081e-01 -1.52832387e-01 4.76714668e+00] [ 3.04898305e-01 2.05243238e-02 9.52163734e-01 4.99277699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280371742999996 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:26.48, Y:4.76, Z:4.99 [[ 8.57634604e-01 -4.31333298e-01 -2.80025843e-01 2.64777540e+01] [ 4.16030016e-01 9.02019642e-01 -1.15237110e-01 4.76377301e+00] [ 3.02294413e-01 -1.76678234e-02 9.53050857e-01 4.98784816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310371742999997 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:26.50, Y:4.77, Z:4.99 [[ 0.85701215 -0.42908121 -0.285341 26.50185699] [ 0.41637645 0.90286171 -0.10710452 4.77125277] [ 0.30358 -0.0270194 0.95242277 4.99414882] [ 0. 0. 0. 1. ]] SLAMing on 29.340371743 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:26.52, Y:4.77, Z:5.00 [[ 0.85113315 -0.42551512 -0.30742355 26.51811659] [ 0.42154544 0.90301854 -0.08280676 4.77464849] [ 0.3128447 -0.05911342 0.94796297 5.0028528 ] [ 0. 0. 0. 1. ]] SLAMing on 29.370371742999996 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:26.54, Y:4.81, Z:5.03 [[ 8.55424617e-01 -4.42381962e-01 -2.69345364e-01 2.65375817e+01] [ 4.15684459e-01 8.96636519e-01 -1.52477483e-01 4.80968505e+00] [ 3.08958178e-01 1.84703108e-02 9.50896257e-01 5.02707463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400371742999997 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:26.57, Y:4.80, Z:5.02 [[ 0.85067195 -0.42588574 -0.30818594 26.56658039] [ 0.42093112 0.90300681 -0.08599818 4.79755938] [ 0.31491941 -0.05656881 0.94743113 5.02082261] [ 0. 0. 0. 1. ]] SLAMing on 29.430371743 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:26.58, Y:4.82, Z:5.04 [[ 8.50471715e-01 -4.36434549e-01 -2.93637099e-01 2.65787436e+01] [ 4.18190614e-01 8.99598000e-01 -1.25857253e-01 4.82331373e+00] [ 3.19083801e-01 -1.57582447e-02 9.47595486e-01 5.04177951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460371742999996 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:26.60, Y:4.83, Z:5.05 [[ 8.50888739e-01 -4.35250587e-01 -2.94185791e-01 2.66031579e+01] [ 4.16843469e-01 9.00179745e-01 -1.26166354e-01 4.83469779e+00] [ 3.19734070e-01 -1.52758960e-02 9.47384173e-01 5.05014246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490371742999997 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:26.63, Y:4.85, Z:5.06 [[ 8.51448316e-01 -4.33754244e-01 -2.94776224e-01 2.66267242e+01] [ 4.15150366e-01 9.00912106e-01 -1.26520953e-01 4.84580692e+00] [ 3.20446469e-01 -1.46504046e-02 9.47153328e-01 5.05853987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520371743 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:26.65, Y:4.86, Z:5.07 [[ 8.53685969e-01 -4.29642730e-01 -2.94325313e-01 2.66502930e+01] [ 4.10843460e-01 9.02904838e-01 -1.26374459e-01 4.85738864e+00] [ 3.20043617e-01 -1.30375271e-02 9.47313098e-01 5.06737410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550371742999996 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:26.68, Y:4.88, Z:5.08 [[ 8.60293944e-01 -4.31628060e-01 -2.71277622e-01 2.66810194e+01] [ 4.03735438e-01 9.01750222e-01 -1.54415783e-01 4.87765329e+00] [ 3.11274840e-01 2.33185734e-02 9.50033798e-01 5.07791657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580371742999997 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:26.72, Y:4.88, Z:5.07 [[ 8.62563826e-01 -4.18780543e-01 -2.83912842e-01 2.67178031e+01] [ 4.01427791e-01 9.08024953e-01 -1.19776516e-01 4.87590716e+00] [ 3.07960020e-01 -1.06556155e-02 9.51339626e-01 5.07439329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610371742999998 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:26.74, Y:4.87, Z:5.08 [[ 0.85748224 -0.40984852 -0.31104405 26.73592365] [ 0.40651091 0.91024768 -0.07872767 4.87299545] [ 0.31539354 -0.05893522 0.94712911 5.07921265] [ 0. 0. 0. 1. ]] SLAMing on 29.640371743 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:26.76, Y:4.92, Z:5.11 [[ 0.86587671 -0.43137572 -0.25332295 26.755435 ] [ 0.39819247 0.90084613 -0.17297112 4.91983073] [ 0.30282054 0.04890037 0.95179224 5.10949886] [ 0. 0. 0. 1. ]] SLAMing on 29.670371742999997 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:26.79, Y:4.89, Z:5.09 [[ 0.85842189 -0.4031733 -0.31711694 26.78957493] [ 0.40622388 0.91182536 -0.05963783 4.88851382] [ 0.31319964 -0.07762606 0.94650947 5.09374995] [ 0. 0. 0. 1. ]] SLAMing on 29.700371742999998 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:26.80, Y:4.94, Z:5.13 [[ 0.86441897 -0.43308709 -0.25537309 26.80410944] [ 0.40086118 0.90025499 -0.16985658 4.93942216] [ 0.30346359 0.04445809 0.9518053 5.12829925] [ 0. 0. 0. 1. ]] SLAMing on 29.730371743 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:26.84, Y:4.91, Z:5.11 [[ 0.8557661 -0.41060138 -0.31475528 26.83864399] [ 0.41241613 0.90873327 -0.06416218 4.90981181] [ 0.31237367 -0.07490233 0.94700176 5.11347531] [ 0. 0. 0. 1. ]] SLAMing on 29.760371742999997 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:26.85, Y:4.96, Z:5.15 [[ 0.86015989 -0.44087607 -0.25642398 26.85234082] [ 0.40903205 0.89663395 -0.16952975 4.9584907 ] [ 0.30466006 0.04093706 0.951581 5.14618177] [ 0. 0. 0. 1. ]] SLAMing on 29.790371742999998 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:26.89, Y:4.93, Z:5.13 [[ 0.85254124 -0.4174355 -0.31451716 26.88898992] [ 0.41865904 0.90565541 -0.06717795 4.93080949] [ 0.31288663 -0.07440348 0.94687173 5.13176907] [ 0. 0. 0. 1. ]] SLAMing on 29.820371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:26.90, Y:4.96, Z:5.16 [[ 8.51734429e-01 -4.36528678e-01 -2.89812311e-01 2.68972171e+01] [ 4.18276202e-01 8.99579039e-01 -1.25708278e-01 4.96386298e+00] [ 3.15584349e-01 -1.41515243e-02 9.48791997e-01 5.15987349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850371742999997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:26.93, Y:4.99, Z:5.17 [[ 0.85442656 -0.44930304 -0.26092533 26.92770385] [ 0.41904591 0.89281344 -0.16518075 4.98645414] [ 0.30717386 0.03179513 0.95112212 5.17152431] [ 0. 0. 0. 1. ]] SLAMing on 29.880371742999998 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:26.96, Y:4.96, Z:5.16 [[ 0.84924682 -0.4259994 -0.31193645 26.96387796] [ 0.42518066 0.90205037 -0.07434074 4.96293112] [ 0.3130515 -0.0694957 0.94719011 5.15994004] [ 0. 0. 0. 1. ]] SLAMing on 29.910371743 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:26.97, Y:4.99, Z:5.19 [[ 8.46312952e-01 -4.46732455e-01 -2.90145654e-01 2.69737850e+01] [ 4.28932786e-01 8.94491831e-01 -1.26099285e-01 4.99318912e+00] [ 3.15865560e-01 -1.77335257e-02 9.48638219e-01 5.18565539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940371742999996 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:27.00, Y:5.00, Z:5.19 [[ 8.45625079e-01 -4.48656130e-01 -2.89181435e-01 2.69976777e+01] [ 4.31050674e-01 8.93517404e-01 -1.25785393e-01 5.00275326e+00] [ 3.14823032e-01 -1.82845699e-02 9.48974253e-01 5.19407310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970371742999998 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:27.03, Y:5.03, Z:5.21 [[ 0.85066816 -0.45631639 -0.26103454 27.02732513] [ 0.42695656 0.88939178 -0.16337184 5.02654943] [ 0.30671122 0.02752482 0.95140455 5.20598655] [ 0. 0. 0. 1. ]] SLAMing on 30.000371743 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:27.07, Y:5.01, Z:5.20 [[ 0.8497619 -0.43927853 -0.29144311 27.06800395] [ 0.42873343 0.89756373 -0.10279585 5.01444718] [ 0.30674478 -0.03759941 0.95104886 5.19851256] [ 0. 0. 0. 1. ]] SLAMing on 30.030371742999996 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:27.09, Y:5.03, Z:5.21 [[ 8.48884169e-01 -4.45265989e-01 -2.84840073e-01 2.70875738e+01] [ 4.29397341e-01 8.95157656e-01 -1.19627318e-01 5.03188731e+00] [ 3.08242748e-01 -2.07598331e-02 9.51081194e-01 5.21295721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060371742999997 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:27.11, Y:5.04, Z:5.22 [[ 8.49087826e-01 -4.44908073e-01 -2.84792330e-01 2.71120334e+01] [ 4.29531765e-01 8.95303548e-01 -1.18042448e-01 5.04180660e+00] [ 3.07493622e-01 -2.20989463e-02 9.51293493e-01 5.22070294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:27.13, Y:5.04, Z:5.23 [[ 0.84430171 -0.43962758 -0.30640205 27.130871 ] [ 0.43425205 0.89633686 -0.08947283 5.04272964] [ 0.31397417 -0.05751366 0.94768792 5.22784089] [ 0. 0. 0. 1. ]] SLAMing on 30.120371742999996 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:27.15, Y:5.08, Z:5.25 [[ 8.48682894e-01 -4.56512126e-01 -2.67084301e-01 2.71503348e+01] [ 4.28646268e-01 8.89495381e-01 -1.58304595e-01 5.07836347e+00] [ 3.09838220e-01 1.98657132e-02 9.50581733e-01 5.25196490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150371742999997 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:27.19, Y:5.07, Z:5.25 [[ 8.49623321e-01 -4.44019106e-01 -2.84582581e-01 2.71880257e+01] [ 4.28367204e-01 8.95770486e-01 -1.18729839e-01 5.07479930e+00] [ 3.07638994e-01 -2.10302043e-02 9.51270719e-01 5.24703526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180371743 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:27.21, Y:5.09, Z:5.26 [[ 8.50121463e-01 -4.46927667e-01 -2.78476498e-01 2.72146732e+01] [ 4.27515639e-01 8.94533603e-01 -1.30537392e-01 5.09157886e+00] [ 3.07447357e-01 -8.08041934e-03 9.51530782e-01 5.25754033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210371742999996 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:27.24, Y:5.08, Z:5.26 [[ 0.8434479 -0.43000547 -0.32201077 27.23775797] [ 0.43272925 0.89902473 -0.06708152 5.07809168] [ 0.31834107 -0.08276372 0.94435646 5.25657822] [ 0. 0. 0. 1. ]] SLAMing on 30.240371742999997 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:27.25, Y:5.13, Z:5.29 [[ 8.48288263e-01 -4.56056334e-01 -2.69108982e-01 2.72510398e+01] [ 4.25830313e-01 8.89582817e-01 -1.65260265e-01 5.12567466e+00] [ 3.14762717e-01 2.55935812e-02 9.48825274e-01 5.28821458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270371743 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:27.28, Y:5.11, Z:5.28 [[ 0.84445353 -0.43198195 -0.31668571 27.28227011] [ 0.42893968 0.89949424 -0.08319178 5.10802343] [ 0.32079432 -0.06558747 0.94487528 5.28001921] [ 0. 0. 0. 1. ]] SLAMing on 30.300371742999996 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:27.30, Y:5.15, Z:5.31 [[ 0.85137898 -0.45306814 -0.26435409 27.29851726] [ 0.42040478 0.89075358 -0.17267853 5.15240326] [ 0.31370949 0.03587915 0.94884089 5.30957748] [ 0. 0. 0. 1. ]] SLAMing on 30.330371742999997 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:27.34, Y:5.14, Z:5.30 [[ 8.54360818e-01 -4.32559484e-01 -2.88027578e-01 2.73397326e+01] [ 4.17852760e-01 9.01316172e-01 -1.14141266e-01 5.14112392e+00] [ 3.08976802e-01 -2.28352932e-02 9.50795396e-01 5.29815488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360371742999998 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:27.36, Y:5.15, Z:5.31 [[ 0.85439273 -0.4288592 -0.29341585 27.3647063 ] [ 0.41650768 0.90283997 -0.1067771 5.14968522] [ 0.3106999 -0.03098038 0.95000305 5.30798219] [ 0. 0. 0. 1. ]] SLAMing on 30.390371743 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:27.38, Y:5.15, Z:5.32 [[ 0.85096701 -0.4214979 -0.3133603 27.37662423] [ 0.41727849 0.90488926 -0.08398861 5.15446145] [ 0.31895739 -0.05928697 0.94591291 5.31886171] [ 0. 0. 0. 1. ]] SLAMing on 30.420371742999997 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:27.39, Y:5.18, Z:5.34 [[ 8.51780792e-01 -4.33977197e-01 -2.93484710e-01 2.73870310e+01] [ 4.14231138e-01 9.00857403e-01 -1.29878808e-01 5.18300851e+00] [ 3.20752315e-01 -1.09422317e-02 9.47099900e-01 5.34346487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450371742999998 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:27.42, Y:5.21, Z:5.36 [[ 0.86096791 -0.43492567 -0.26376868 27.41944631] [ 0.40285905 0.89963244 -0.16842228 5.2081703 ] [ 0.31054604 0.03874458 0.9497684 5.35742989] [ 0. 0. 0. 1. ]] SLAMing on 30.480371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:27.45, Y:5.19, Z:5.34 [[ 0.85545338 -0.40926575 -0.31733431 27.45073781] [ 0.40709208 0.9101826 -0.0764439 5.18543941] [ 0.32011804 -0.0637901 0.94522763 5.34497313] [ 0. 0. 0. 1. ]] SLAMing on 30.510371742999997 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:27.46, Y:5.22, Z:5.37 [[ 8.56234466e-01 -4.24696595e-01 -2.94100904e-01 2.74586551e+01] [ 4.04194645e-01 9.05307979e-01 -1.30553254e-01 5.21591380e+00] [ 3.21697418e-01 -7.08981517e-03 9.46815983e-01 5.37131015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540371742999998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:27.48, Y:5.23, Z:5.38 [[ 8.58325880e-01 -4.20456790e-01 -2.94096534e-01 2.74832556e+01] [ 3.99696477e-01 9.07296183e-01 -1.30600009e-01 5.22579106e+00] [ 3.21744323e-01 -5.45198042e-03 9.46810893e-01 5.37937680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:27.51, Y:5.24, Z:5.39 [[ 8.59067185e-01 -4.18780505e-01 -2.94323735e-01 2.75071410e+01] [ 3.97854346e-01 9.08075207e-01 -1.30810315e-01 5.23587089e+00] [ 3.22048896e-01 -4.72312859e-03 9.46711255e-01 5.38832225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600371742999997 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:27.53, Y:5.25, Z:5.40 [[ 8.60257173e-01 -4.16240356e-01 -2.94451292e-01 2.75308359e+01] [ 3.95113951e-01 9.09247216e-01 -1.30975057e-01 5.24507032e+00] [ 3.22246122e-01 -3.66958140e-03 9.46648811e-01 5.39668373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630371742999998 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:27.56, Y:5.26, Z:5.41 [[ 8.60593537e-01 -4.15559943e-01 -2.94429446e-01 2.75554163e+01] [ 3.94372614e-01 9.09559652e-01 -1.31039999e-01 5.25509456e+00] [ 3.22256119e-01 -3.34273378e-03 9.46646618e-01 5.40526007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660371743 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:27.58, Y:5.27, Z:5.41 [[ 8.60824016e-01 -4.15210829e-01 -2.94248162e-01 2.75802955e+01] [ 3.93994220e-01 9.09719908e-01 -1.31065799e-01 5.26501758e+00] [ 3.22103350e-01 -3.10748799e-03 9.46699411e-01 5.41383949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690371742999996 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:27.61, Y:5.27, Z:5.42 [[ 8.60819797e-01 -4.15345680e-01 -2.94070132e-01 2.76062591e+01] [ 3.94126888e-01 9.09658530e-01 -1.31092923e-01 5.27329284e+00] [ 3.21952283e-01 -3.05356272e-03 9.46750972e-01 5.42226501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720371742999998 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:27.63, Y:5.28, Z:5.43 [[ 8.60582362e-01 -4.16060323e-01 -2.93754668e-01 2.76299313e+01] [ 3.94892233e-01 9.09331336e-01 -1.31059701e-01 5.28184502e+00] [ 3.21649066e-01 -3.21376953e-03 9.46853500e-01 5.43052038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750371743 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:27.66, Y:5.29, Z:5.44 [[ 8.60017035e-01 -4.17891859e-01 -2.92808971e-01 2.76559870e+01] [ 3.96941684e-01 9.08488771e-01 -1.30711334e-01 5.28885789e+00] [ 3.20636864e-01 -3.81411177e-03 9.47194517e-01 5.43908403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780371742999996 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:27.68, Y:5.30, Z:5.45 [[ 8.59493252e-01 -4.18921129e-01 -2.92876147e-01 2.76805894e+01] [ 3.97983477e-01 9.08013377e-01 -1.30846699e-01 5.29786027e+00] [ 3.20749906e-01 -4.09801182e-03 9.47155058e-01 5.44824705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810371742999997 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:27.70, Y:5.31, Z:5.46 [[ 8.59204872e-01 -4.19717435e-01 -2.92582062e-01 2.77048900e+01] [ 3.98831399e-01 9.07644696e-01 -1.30822859e-01 5.30656607e+00] [ 3.20469191e-01 -4.28727511e-03 9.47249237e-01 5.45679836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840371743 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:27.73, Y:5.32, Z:5.47 [[ 8.58797014e-01 -4.20442254e-01 -2.92738791e-01 2.77295177e+01] [ 3.99558215e-01 9.07308064e-01 -1.30940097e-01 5.31536109e+00] [ 3.20657015e-01 -4.51522438e-03 9.47184613e-01 5.46535201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870371742999996 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:27.76, Y:5.32, Z:5.47 [[ 8.58474707e-01 -4.20480492e-01 -2.93627883e-01 2.77559885e+01] [ 3.99452369e-01 9.07290420e-01 -1.31384546e-01 5.32143413e+00] [ 3.21650404e-01 -4.50004375e-03 9.46847806e-01 5.47399195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900371742999997 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:27.78, Y:5.33, Z:5.48 [[ 8.58268482e-01 -4.20541502e-01 -2.94142920e-01 2.77812023e+01] [ 3.99405109e-01 9.07262484e-01 -1.31720702e-01 5.32961755e+00] [ 3.22258858e-01 -4.43045784e-03 9.46641220e-01 5.48219959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930371743 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:27.81, Y:5.34, Z:5.49 [[ 8.58924489e-01 -4.19540116e-01 -2.93657647e-01 2.78081175e+01] [ 3.98381939e-01 9.07728226e-01 -1.31610406e-01 5.33537329e+00] [ 3.21777180e-01 -3.94450201e-03 9.46807207e-01 5.49035857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960371742999996 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:27.83, Y:5.34, Z:5.50 [[ 8.59442889e-01 -4.18543496e-01 -2.93563047e-01 2.78333815e+01] [ 3.97305993e-01 9.08190138e-01 -1.31676195e-01 5.34376508e+00] [ 3.21723280e-01 -3.46618816e-03 9.46827396e-01 5.49929764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990371742999997 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:27.86, Y:5.35, Z:5.51 [[ 8.60249746e-01 -4.16924165e-01 -2.93504028e-01 2.78587276e+01] [ 3.95567108e-01 9.08937095e-01 -1.31757427e-01 5.35242816e+00] [ 3.21709554e-01 -2.75624682e-03 9.46834392e-01 5.50813894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020371743 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:27.90, Y:5.38, Z:5.52 [[ 0.8708336 -0.419834 -0.25571125 27.89633858] [ 0.38349484 0.90564953 -0.18091609 5.37666469] [ 0.3075395 0.05948386 0.94967422 5.51836781] [ 0. 0. 0. 1. ]] SLAMing on 31.050371742999996 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:27.93, Y:5.34, Z:5.51 [[ 0.86200469 -0.38879856 -0.32524391 27.93024764] [ 0.38978971 0.91860474 -0.06503318 5.34324711] [ 0.3240554 -0.07071782 0.94339127 5.50798207] [ 0. 0. 0. 1. ]] SLAMing on 31.080371742999997 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:27.94, Y:5.37, Z:5.54 [[ 8.64895973e-01 -4.05571941e-01 -2.95747117e-01 2.79368069e+01] [ 3.83053664e-01 9.14060977e-01 -1.33275733e-01 5.37462777e+00] [ 3.24383797e-01 1.98262783e-03 9.45923476e-01 5.53526575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110371742999998 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:27.96, Y:5.38, Z:5.54 [[ 8.66043571e-01 -4.03348125e-01 -2.95429895e-01 2.79621631e+01] [ 3.80736854e-01 9.15042136e-01 -1.33181597e-01 5.38280119e+00] [ 3.24049349e-01 2.86001748e-03 9.46035855e-01 5.54421578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140371743 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:27.99, Y:5.39, Z:5.55 [[ 8.67323879e-01 -4.01088706e-01 -2.94749281e-01 2.79877174e+01] [ 3.78420864e-01 9.16031340e-01 -1.32982080e-01 5.39034725e+00] [ 3.23337189e-01 3.79925568e-03 9.46276190e-01 5.55349065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170371742999997 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:28.02, Y:5.39, Z:5.56 [[ 8.69504429e-01 -3.97683150e-01 -2.92933712e-01 2.80150947e+01] [ 3.75077722e-01 9.17508443e-01 -1.32268515e-01 5.39408331e+00] [ 3.21370113e-01 5.13515038e-03 9.46939745e-01 5.56286559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200371742999998 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:28.04, Y:5.40, Z:5.57 [[ 8.70345466e-01 -3.96401115e-01 -2.92172768e-01 2.80399891e+01] [ 3.73810553e-01 9.18059763e-01 -1.32030078e-01 5.40108781e+00] [ 3.20568932e-01 5.69451602e-03 9.47208072e-01 5.57166252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230371743 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:28.07, Y:5.41, Z:5.58 [[ 8.70872112e-01 -3.95688250e-01 -2.91569156e-01 2.80657298e+01] [ 3.73139104e-01 9.18365367e-01 -1.31803879e-01 5.40808574e+00] [ 3.19920261e-01 5.98846898e-03 9.47425546e-01 5.58052468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260371742999997 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:28.09, Y:5.41, Z:5.59 [[ 8.71106813e-01 -3.95266328e-01 -2.91440304e-01 2.80944502e+01] [ 3.72678750e-01 9.18545342e-01 -1.31852204e-01 5.41033002e+00] [ 3.19817871e-01 6.24374521e-03 9.47458466e-01 5.58902239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290371742999998 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:28.12, Y:5.42, Z:5.60 [[ 8.70848220e-01 -3.95778676e-01 -2.91517781e-01 2.81205571e+01] [ 3.73170514e-01 9.18325258e-01 -1.31994269e-01 5.41571736e+00] [ 3.19948658e-01 6.16113365e-03 9.47414849e-01 5.59735102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320371743 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:28.15, Y:5.42, Z:5.61 [[ 8.70660896e-01 -3.96264941e-01 -2.91416713e-01 2.81471048e+01] [ 3.73683696e-01 9.18116437e-01 -1.31995086e-01 5.42054159e+00] [ 3.19859500e-01 6.02528596e-03 9.47445828e-01 5.60504465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350371742999997 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:28.18, Y:5.42, Z:5.61 [[ 8.69395403e-01 -3.98781059e-01 -2.91762404e-01 2.81767703e+01] [ 3.76266549e-01 9.17031692e-01 -1.32198187e-01 5.41926238e+00] [ 3.20273504e-01 5.15206290e-03 9.47311110e-01 5.61322984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380371742999998 meters Centerline goodness : 0.988686 Centerline is valid? [True, True] Translation: X:28.20, Y:5.42, Z:5.62 [[ 8.68611099e-01 -4.00715422e-01 -2.91447955e-01 2.82033497e+01] [ 3.78321180e-01 9.16191345e-01 -1.32160903e-01 5.42418533e+00] [ 3.19981005e-01 4.53549276e-03 9.47413102e-01 5.62156396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410371743 meters Centerline goodness : 0.986994 Centerline is valid? [True, True] Translation: X:28.23, Y:5.42, Z:5.63 [[ 8.66633339e-01 -4.04494769e-01 -2.92114084e-01 2.82322396e+01] [ 3.82167730e-01 9.14534531e-01 -1.32568541e-01 5.42349604e+00] [ 3.20771698e-01 3.25174074e-03 9.47150962e-01 5.63058176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440371742999996 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:28.26, Y:5.43, Z:5.64 [[ 8.65749979e-01 -4.06311243e-01 -2.92212504e-01 2.82592528e+01] [ 3.84033764e-01 9.13730806e-01 -1.32718058e-01 5.42875543e+00] [ 3.20928406e-01 2.68118847e-03 9.47099662e-01 5.63952766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470371742999998 meters Centerline goodness : 0.986299 Centerline is valid? [True, True] Translation: X:28.29, Y:5.43, Z:5.65 [[ 8.64746521e-01 -4.08120511e-01 -2.92662097e-01 2.82852634e+01] [ 3.85837183e-01 9.12925611e-01 -1.33028179e-01 5.43335725e+00] [ 3.21470252e-01 2.11573567e-03 9.46917315e-01 5.64857232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500371743 meters Centerline goodness : 0.986450 Centerline is valid? [True, True] Translation: X:28.31, Y:5.44, Z:5.66 [[ 8.63827508e-01 -4.10138174e-01 -2.92555489e-01 2.83123768e+01] [ 3.87967942e-01 9.12022307e-01 -1.33027016e-01 5.43854151e+00] [ 3.21376590e-01 1.41024458e-03 9.46950420e-01 5.65743086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530371742999996 meters Centerline goodness : 0.985976 Centerline is valid? [True, True] Translation: X:28.35, Y:5.45, Z:5.66 [[ 0.86930057 -0.41631364 -0.26645726 28.35450058] [ 0.38466967 0.90832952 -0.16421549 5.44827018] [ 0.31039614 0.0402546 0.9497546 5.66302268] [ 0. 0. 0. 1. ]] SLAMing on 31.560371742999997 meters Centerline goodness : 0.987268 Centerline is valid? [True, True] Translation: X:28.38, Y:5.43, Z:5.67 [[ 0.86084015 -0.40108863 -0.3131807 28.37946049] [ 0.39470518 0.91472208 -0.08655247 5.42512214] [ 0.32118851 -0.0491062 0.94574125 5.66959239] [ 0. 0. 0. 1. ]] SLAMing on 31.590371743 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:28.40, Y:5.44, Z:5.69 [[ 8.58807154e-01 -4.20760253e-01 -2.92251744e-01 2.83964430e+01] [ 3.99089150e-01 9.07169334e-01 -1.33310349e-01 5.44452430e+00] [ 3.21213516e-01 -2.14661851e-03 9.47004366e-01 5.68637535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620371742999996 meters Centerline goodness : 0.987505 Centerline is valid? [True, True] Translation: X:28.42, Y:5.45, Z:5.70 [[ 8.57694039e-01 -4.23010084e-01 -2.92272827e-01 2.84225678e+01] [ 4.01427330e-01 9.06120368e-01 -1.33424051e-01 5.45074335e+00] [ 3.21274080e-01 -2.88928705e-03 9.46981846e-01 5.69571969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650371742999997 meters Centerline goodness : 0.988297 Centerline is valid? [True, True] Translation: X:28.45, Y:5.46, Z:5.70 [[ 8.56421182e-01 -4.25595060e-01 -2.92252637e-01 2.84482433e+01] [ 4.04125612e-01 9.04905924e-01 -1.33520629e-01 5.45728797e+00] [ 3.21286862e-01 -3.75688065e-03 9.46974465e-01 5.70457351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680371743 meters Centerline goodness : 0.989210 Centerline is valid? [True, True] Translation: X:28.48, Y:5.46, Z:5.71 [[ 8.53801698e-01 -4.30531904e-01 -2.92685735e-01 2.84763894e+01] [ 4.09241414e-01 9.02558495e-01 -1.33826858e-01 5.45976385e+00] [ 3.21782729e-01 -5.51752582e-03 9.46797461e-01 5.71424798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710371742999996 meters Centerline goodness : 0.989707 Centerline is valid? [True, True] Translation: X:28.50, Y:5.47, Z:5.72 [[ 8.52342677e-01 -4.33404337e-01 -2.92698892e-01 2.85008701e+01] [ 4.12239717e-01 9.01176144e-01 -1.33940189e-01 5.46637866e+00] [ 3.21823518e-01 -6.49916872e-03 9.46777368e-01 5.72294000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740371742999997 meters Centerline goodness : 0.989707 Centerline is valid? [True, True] Translation: X:28.53, Y:5.48, Z:5.73 [[ 8.52225909e-01 -4.33652772e-01 -2.92670930e-01 2.85253672e+01] [ 4.12481422e-01 9.01056456e-01 -1.34001264e-01 5.47770255e+00] [ 3.21823050e-01 -6.52197255e-03 9.46777370e-01 5.73194529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770371743 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:28.55, Y:5.48, Z:5.74 [[ 8.50463413e-01 -4.36812646e-01 -2.93098440e-01 2.85510418e+01] [ 4.15725463e-01 8.99520120e-01 -1.34297775e-01 5.48465806e+00] [ 3.22310911e-01 -7.63314080e-03 9.46603091e-01 5.74188697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800371742999996 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:28.58, Y:5.49, Z:5.75 [[ 8.47082407e-01 -4.43563458e-01 -2.92750499e-01 2.85773900e+01] [ 4.22881105e-01 8.96186260e-01 -1.34245142e-01 5.48849125e+00] [ 3.21905214e-01 -1.00819570e-02 9.46718220e-01 5.75179675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830371742999997 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:28.60, Y:5.50, Z:5.76 [[ 8.45095447e-01 -4.47261752e-01 -2.92866199e-01 2.86025289e+01] [ 4.26752570e-01 8.94330147e-01 -1.34371993e-01 5.49644989e+00] [ 3.22018524e-01 -1.14242435e-02 9.46664437e-01 5.76169972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860371742999998 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:28.63, Y:5.50, Z:5.77 [[ 8.41541417e-01 -4.54546481e-01 -2.91882751e-01 2.86285462e+01] [ 4.34565063e-01 8.90612156e-01 -1.34026840e-01 5.50312973e+00] [ 3.20875755e-01 -1.40529095e-02 9.47017036e-01 5.77144277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890371743 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:28.65, Y:5.51, Z:5.78 [[ 8.39705002e-01 -4.57915682e-01 -2.91905357e-01 2.86523617e+01] [ 4.38091636e-01 8.88864998e-01 -1.34144450e-01 5.51194276e+00] [ 3.20891302e-01 -1.52395301e-02 9.46993415e-01 5.78032785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920371742999997 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:28.68, Y:5.52, Z:5.79 [[ 8.38001775e-01 -4.61097713e-01 -2.91790891e-01 2.86773088e+01] [ 4.41459796e-01 8.87197716e-01 -1.34139708e-01 5.52162349e+00] [ 3.20727724e-01 -1.64046339e-02 9.47029363e-01 5.78933580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950371742999998 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:28.70, Y:5.53, Z:5.80 [[ 8.35538641e-01 -4.65597220e-01 -2.91709460e-01 2.87026532e+01] [ 4.46198833e-01 8.84813198e-01 -1.34209560e-01 5.53126150e+00] [ 3.20595978e-01 -1.80231473e-02 9.47044553e-01 5.79810952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980371743 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:28.74, Y:5.56, Z:5.80 [[ 0.84059624 -0.47574255 -0.25897293 28.73528295] [ 0.44278497 0.87891084 -0.17736179 5.56056299] [ 0.31199267 0.03442033 0.9494608 5.7987224 ] [ 0. 0. 0. 1. ]] SLAMing on 32.010371743 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:28.76, Y:5.53, Z:5.81 [[ 0.83461301 -0.44985333 -0.31788851 28.76411533] [ 0.44957131 0.8897632 -0.07878509 5.53251922] [ 0.31828723 -0.07715849 0.94484909 5.81178364] [ 0. 0. 0. 1. ]] SLAMing on 32.040371743 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:28.78, Y:5.57, Z:5.83 [[ 8.33146412e-01 -4.69320383e-01 -2.92584063e-01 2.87753655e+01] [ 4.49916073e-01 8.82818755e-01 -1.34931732e-01 5.56808765e+00] [ 3.21624911e-01 -1.92203842e-02 9.46672062e-01 5.82542663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070371743 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:28.80, Y:5.58, Z:5.83 [[ 8.32974650e-01 -4.69659927e-01 -2.92528266e-01 2.87982267e+01] [ 4.50247176e-01 8.82637565e-01 -1.35012628e-01 5.58078787e+00] [ 3.21606457e-01 -1.92479295e-02 9.46677772e-01 5.83365966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100371743000004 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:28.82, Y:5.60, Z:5.84 [[ 8.32537685e-01 -4.70593002e-01 -2.92272527e-01 2.88195314e+01] [ 4.51254566e-01 8.82133886e-01 -1.34941186e-01 5.59549198e+00] [ 3.21325878e-01 -1.95456901e-02 9.46766944e-01 5.84199477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.130371743 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:28.84, Y:5.61, Z:5.85 [[ 8.32078649e-01 -4.71407256e-01 -2.92267550e-01 2.88425096e+01] [ 4.52102038e-01 8.81692993e-01 -1.34985977e-01 5.60829449e+00] [ 3.21323620e-01 -1.98158060e-02 9.46762095e-01 5.85102062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160371743 meters Centerline goodness : 0.991715 Centerline is valid? [True, True] Translation: X:28.87, Y:5.62, Z:5.86 [[ 8.31671865e-01 -4.72459503e-01 -2.91725775e-01 2.88660630e+01] [ 4.53254108e-01 8.81123546e-01 -1.34840685e-01 5.62104801e+00] [ 3.20753212e-01 -2.00827023e-02 9.46949873e-01 5.86033632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190371743 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:28.89, Y:5.64, Z:5.87 [[ 8.30644417e-01 -4.74615109e-01 -2.91153483e-01 2.88878042e+01] [ 4.55578274e-01 8.79948352e-01 -1.34682343e-01 5.63636890e+00] [ 3.20122302e-01 -2.07700649e-02 9.47148519e-01 5.86989233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220371743 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:28.91, Y:5.65, Z:5.88 [[ 8.30136302e-01 -4.75491211e-01 -2.91173192e-01 2.89103558e+01] [ 4.56467941e-01 8.79469527e-01 -1.34797514e-01 5.65009928e+00] [ 3.20172982e-01 -2.10109177e-02 9.47126075e-01 5.87859890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250371743 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:28.93, Y:5.67, Z:5.89 [[ 8.29295303e-01 -4.76379051e-01 -2.92116927e-01 2.89308566e+01] [ 4.57246047e-01 8.78981265e-01 -1.35343962e-01 5.66688798e+00] [ 3.21240334e-01 -2.13291981e-02 9.46757473e-01 5.88602515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280371743 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:28.95, Y:5.68, Z:5.89 [[ 8.29048830e-01 -4.76431094e-01 -2.92731020e-01 2.89536004e+01] [ 4.57202571e-01 8.78952454e-01 -1.35677533e-01 5.68081151e+00] [ 3.21937644e-01 -2.13540748e-02 9.46520025e-01 5.89421073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310371743000005 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:28.99, Y:5.71, Z:5.90 [[ 8.33878358e-01 -4.80026021e-01 -2.72436970e-01 2.89862154e+01] [ 4.51831884e-01 8.77165670e-01 -1.62567940e-01 5.70523807e+00] [ 3.17009199e-01 1.24661776e-02 9.48340531e-01 5.90065802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340371743 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:29.02, Y:5.71, Z:5.90 [[ 8.36037296e-01 -4.69258086e-01 -2.84321099e-01 2.90195163e+01] [ 4.49295730e-01 8.82951087e-01 -1.36127605e-01 5.71361192e+00] [ 3.14920603e-01 -1.39365013e-02 9.49015694e-01 5.90312246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370371743 meters Centerline goodness : 0.988679 Centerline is valid? [True, True] Translation: X:29.04, Y:5.72, Z:5.91 [[ 0.83630141 -0.46031204 -0.29784691 29.04491772] [ 0.44788958 0.88690781 -0.11309052 5.71882827] [ 0.31621968 -0.03882477 0.94789121 5.91154374] [ 0. 0. 0. 1. ]] SLAMing on 32.400371743 meters Centerline goodness : 0.987899 Centerline is valid? [True, True] Translation: X:29.06, Y:5.75, Z:5.92 [[ 8.40229551e-01 -4.61269194e-01 -2.85035142e-01 2.90644512e+01] [ 4.41372028e-01 8.87169358e-01 -1.34615241e-01 5.74789919e+00] [ 3.14968308e-01 -1.26988352e-02 9.49017231e-01 5.92080147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430371743 meters Centerline goodness : 0.987911 Centerline is valid? [True, True] Translation: X:29.09, Y:5.75, Z:5.93 [[ 0.84010368 -0.45199251 -0.29988092 29.08930944] [ 0.43997795 0.89116858 -0.11062535 5.75364203] [ 0.31724629 -0.03900423 0.94754075 5.93127122] [ 0. 0. 0. 1. ]] SLAMing on 32.460371743 meters Centerline goodness : 0.986680 Centerline is valid? [True, True] Translation: X:29.11, Y:5.77, Z:5.95 [[ 0.83816671 -0.4485654 -0.31026706 29.10584495] [ 0.4392397 0.89237974 -0.10357069 5.76554398] [ 0.32333427 -0.04947211 0.94499072 5.9470999 ] [ 0. 0. 0. 1. ]] SLAMing on 32.490371743000004 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:29.11, Y:5.80, Z:5.96 [[ 8.39165782e-01 -4.56647567e-01 -2.95421376e-01 2.91099981e+01] [ 4.37119414e-01 8.89479040e-01 -1.33242846e-01 5.79811107e+00] [ 3.23616143e-01 -1.73215818e-02 9.46029891e-01 5.95903647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520371743 meters Centerline goodness : 0.987027 Centerline is valid? [True, True] Translation: X:29.13, Y:5.81, Z:5.97 [[ 8.40336961e-01 -4.56480524e-01 -2.92334268e-01 2.91310243e+01] [ 4.35549013e-01 8.89651759e-01 -1.37174363e-01 5.81415611e+00] [ 3.22693120e-01 -1.20532143e-02 9.46426896e-01 5.96917664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550371743 meters Centerline goodness : 0.985980 Centerline is valid? [True, True] Translation: X:29.15, Y:5.83, Z:5.98 [[ 8.41870651e-01 -4.54207220e-01 -2.91461161e-01 2.91514462e+01] [ 4.33234858e-01 8.90827619e-01 -1.36871149e-01 5.83158778e+00] [ 3.21809516e-01 -1.10433314e-02 9.46740028e-01 5.97826629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580371743 meters Centerline goodness : 0.985647 Centerline is valid? [True, True] Translation: X:29.18, Y:5.85, Z:5.99 [[ 8.46081509e-01 -4.53470296e-01 -2.80197736e-01 2.91839905e+01] [ 4.27651397e-01 8.91235798e-01 -1.51039845e-01 5.84915340e+00] [ 3.18214336e-01 7.96506672e-03 9.47985334e-01 5.98747834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610371743 meters Centerline goodness : 0.985411 Centerline is valid? [True, True] Translation: X:29.21, Y:5.86, Z:5.99 [[ 8.47184053e-01 -4.47723324e-01 -2.86047209e-01 2.92147012e+01] [ 4.27045623e-01 8.94136238e-01 -1.34730931e-01 5.85772126e+00] [ 3.16087355e-01 -8.01331232e-03 9.48696248e-01 5.99063426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640371743 meters Centerline goodness : 0.985935 Centerline is valid? [True, True] Translation: X:29.24, Y:5.87, Z:6.00 [[ 8.45796071e-01 -4.44989024e-01 -2.94302184e-01 2.92394458e+01] [ 4.27658175e-01 8.95303148e-01 -1.24662581e-01 5.86900763e+00] [ 3.18963152e-01 -2.04216140e-02 9.47547078e-01 5.99854071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670371743000004 meters Centerline goodness : 0.987226 Centerline is valid? [True, True] Translation: X:29.25, Y:5.88, Z:6.01 [[ 0.83996634 -0.44581492 -0.30936322 29.25031857] [ 0.43450579 0.89408603 -0.10869634 5.87831555] [ 0.32505578 -0.04311884 0.94471133 6.00748473] [ 0. 0. 0. 1. ]] SLAMing on 32.700371743 meters Centerline goodness : 0.985160 Centerline is valid? [True, True] Translation: X:29.28, Y:5.91, Z:6.02 [[ 8.44973271e-01 -4.56367833e-01 -2.78834310e-01 2.92775155e+01] [ 4.28097355e-01 8.89667592e-01 -1.58821376e-01 5.90802623e+00] [ 3.20550816e-01 1.48315874e-02 9.47115198e-01 6.02175876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730371743 meters Centerline goodness : 0.987529 Centerline is valid? [True, True] Translation: X:29.30, Y:5.91, Z:6.03 [[ 0.84021477 -0.44530475 -0.30942337 29.29661258] [ 0.4343726 0.89429381 -0.10751293 5.90568531] [ 0.32459143 -0.04407108 0.94482705 6.02544963] [ 0. 0. 0. 1. ]] SLAMing on 32.760371743 meters Centerline goodness : 0.987634 Centerline is valid? [True, True] Translation: X:29.31, Y:5.93, Z:6.04 [[ 8.40402070e-01 -4.55308295e-01 -2.93970606e-01 2.93112846e+01] [ 4.33559008e-01 8.90274443e-01 -1.39420237e-01 5.93039678e+00] [ 3.25193708e-01 -1.02845487e-02 9.45591498e-01 6.04150377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790371743 meters Centerline goodness : 0.987671 Centerline is valid? [True, True] Translation: X:29.33, Y:5.94, Z:6.05 [[ 8.41180124e-01 -4.54309050e-01 -2.93290446e-01 2.93332621e+01] [ 4.32566221e-01 8.90790575e-01 -1.39207099e-01 5.94379669e+00] [ 3.24503410e-01 -9.76929510e-03 9.45834075e-01 6.05090969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820371743 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:29.36, Y:5.96, Z:6.06 [[ 8.41165863e-01 -4.54384282e-01 -2.93214794e-01 2.93563362e+01] [ 4.32640772e-01 8.90752414e-01 -1.39219605e-01 5.95632043e+00] [ 3.24440986e-01 -9.74989572e-03 9.45855690e-01 6.05992348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850371743000004 meters Centerline goodness : 0.986693 Centerline is valid? [True, True] Translation: X:29.39, Y:5.98, Z:6.07 [[ 8.47497109e-01 -4.57479943e-01 -2.69185349e-01 2.93910813e+01] [ 4.26291572e-01 8.88781230e-01 -1.68355045e-01 5.97841172e+00] [ 3.16265942e-01 2.79289686e-02 9.48259367e-01 6.06786141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880371743 meters Centerline goodness : 0.987457 Centerline is valid? [True, True] Translation: X:29.41, Y:5.97, Z:6.07 [[ 0.84164295 -0.43872684 -0.3148903 29.41431243] [ 0.43141515 0.89696456 -0.09662066 5.96537394] [ 0.32483552 -0.05452834 0.9441973 6.06975754] [ 0. 0. 0. 1. ]] SLAMing on 32.910371743 meters Centerline goodness : 0.988115 Centerline is valid? [True, True] Translation: X:29.43, Y:5.99, Z:6.09 [[ 8.41630539e-01 -4.52400475e-01 -2.94943801e-01 2.94254280e+01] [ 4.30126306e-01 8.91773060e-01 -1.40471240e-01 5.99352523e+00] [ 3.26572192e-01 -8.63820210e-03 9.45132787e-01 6.08707787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940371743 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:29.45, Y:6.01, Z:6.10 [[ 8.42683328e-01 -4.49578803e-01 -2.96249403e-01 2.94487629e+01] [ 4.26915695e-01 8.93208883e-01 -1.41141354e-01 6.00599470e+00] [ 3.28066760e-01 -7.53605347e-03 9.44624480e-01 6.09567495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970371743 meters Centerline goodness : 0.987901 Centerline is valid? [True, True] Translation: X:29.47, Y:6.02, Z:6.10 [[ 8.43358572e-01 -4.48252169e-01 -2.96338173e-01 2.94720809e+01] [ 4.25458171e-01 8.93880363e-01 -1.41291336e-01 6.01775855e+00] [ 3.28225021e-01 -6.92023762e-03 9.44574214e-01 6.10395790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000371743 meters Centerline goodness : 0.987834 Centerline is valid? [True, True] Translation: X:29.51, Y:6.03, Z:6.11 [[ 8.47623482e-01 -4.42773851e-01 -2.92379463e-01 2.95069994e+01] [ 4.19211256e-01 8.96631596e-01 -1.42526154e-01 6.02726488e+00] [ 3.25263518e-01 -1.76024727e-03 9.45621777e-01 6.11277745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030371743 meters Centerline goodness : 0.986971 Centerline is valid? [True, True] Translation: X:29.53, Y:6.03, Z:6.12 [[ 8.51226678e-01 -4.35493276e-01 -2.92845947e-01 2.95315386e+01] [ 4.16706529e-01 9.00087799e-01 -1.27269884e-01 6.03205310e+00] [ 3.19012243e-01 -1.36952978e-02 9.47651638e-01 6.11780341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060371743000005 meters Centerline goodness : 0.986867 Centerline is valid? [True, True] Translation: X:29.56, Y:6.05, Z:6.13 [[ 8.51700776e-01 -4.45111589e-01 -2.76552819e-01 2.95567710e+01] [ 4.17037382e-01 8.95292933e-01 -1.56621793e-01 6.05496631e+00] [ 3.17309959e-01 1.80620387e-02 9.48149858e-01 6.12706089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090371743 meters Centerline goodness : 0.988198 Centerline is valid? [True, True] Translation: X:29.58, Y:6.05, Z:6.13 [[ 0.84533603 -0.43558322 -0.30931255 29.5771557 ] [ 0.42549913 0.89905438 -0.10320711 6.04696018] [ 0.32304409 -0.04436753 0.94534334 6.13259762] [ 0. 0. 0. 1. ]] SLAMing on 33.120371743 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:29.59, Y:6.07, Z:6.15 [[ 8.44608917e-01 -4.48692273e-01 -2.92080504e-01 2.95914232e+01] [ 4.26491644e-01 8.93661181e-01 -1.39551323e-01 6.07167492e+00] [ 3.23636608e-01 -6.70360212e-03 9.46157708e-01 6.14944023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150371743 meters Centerline goodness : 0.986395 Centerline is valid? [True, True] Translation: X:29.63, Y:6.08, Z:6.16 [[ 8.47501408e-01 -4.44812777e-01 -2.89625544e-01 2.96267177e+01] [ 4.22540865e-01 8.95612153e-01 -1.39061461e-01 6.07913608e+00] [ 3.21248472e-01 -4.52384387e-03 9.46984136e-01 6.15889989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180371743 meters Centerline goodness : 0.987516 Centerline is valid? [True, True] Translation: X:29.64, Y:6.09, Z:6.17 [[ 8.43159854e-01 -4.49457503e-01 -2.95075268e-01 2.96422854e+01] [ 4.30086731e-01 8.93157949e-01 -1.31507724e-01 6.08853180e+00] [ 3.22655955e-01 -1.60259242e-02 9.46380634e-01 6.16501946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210371743 meters Centerline goodness : 0.986433 Centerline is valid? [True, True] Translation: X:29.68, Y:6.10, Z:6.18 [[ 8.45113862e-01 -4.47804139e-01 -2.91982899e-01 2.96760809e+01] [ 4.26463028e-01 8.94087964e-01 -1.36879503e-01 6.09713846e+00] [ 3.22353604e-01 -8.84114583e-03 9.46578041e-01 6.17737038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240371743000004 meters Centerline goodness : 0.986472 Centerline is valid? [True, True] Translation: X:29.70, Y:6.10, Z:6.18 [[ 8.42935871e-01 -4.50333949e-01 -2.94378076e-01 2.97040136e+01] [ 4.30878124e-01 8.92722500e-01 -1.31873350e-01 6.10404720e+00] [ 3.22184979e-01 -1.56802964e-02 9.46546865e-01 6.18474362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270371743 meters Centerline goodness : 0.986458 Centerline is valid? [True, True] Translation: X:29.72, Y:6.12, Z:6.19 [[ 8.38360860e-01 -4.58953404e-01 -2.94130654e-01 2.97162083e+01] [ 4.38878805e-01 8.88320497e-01 -1.35174296e-01 6.11881352e+00] [ 3.23320992e-01 -1.57628711e-02 9.46158057e-01 6.19195571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300371743 meters Centerline goodness : 0.985733 Centerline is valid? [True, True] Translation: X:29.75, Y:6.13, Z:6.20 [[ 8.39202119e-01 -4.56925040e-01 -2.94888642e-01 2.97503474e+01] [ 4.36783851e-01 8.89370753e-01 -1.35053806e-01 6.12604670e+00] [ 3.23974800e-01 -1.54651562e-02 9.45939299e-01 6.20460035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330371743 meters Centerline goodness : 0.986789 Centerline is valid? [True, True] Translation: X:29.78, Y:6.14, Z:6.21 [[ 8.37489985e-01 -4.65698514e-01 -2.85894070e-01 2.97766992e+01] [ 4.42810512e-01 8.84924861e-01 -1.44315073e-01 6.14093547e+00] [ 3.20202085e-01 -5.73447114e-03 9.47331906e-01 6.21133534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360371743 meters Centerline goodness : 0.986732 Centerline is valid? [True, True] Translation: X:29.79, Y:6.15, Z:6.22 [[ 0.8315847 -0.467668 -0.29958895 29.79236963] [ 0.4521523 0.88330637 -0.12380693 6.14649807] [ 0.32252937 -0.03250388 0.94600122 6.21610582] [ 0. 0. 0. 1. ]] SLAMing on 33.390371743 meters Centerline goodness : 0.986226 Centerline is valid? [True, True] Translation: X:29.82, Y:6.16, Z:6.23 [[ 8.33558801e-01 -4.73147990e-01 -2.85150322e-01 2.98234527e+01] [ 4.49998067e-01 8.80960102e-01 -1.46325112e-01 6.16308047e+00] [ 3.20439489e-01 -6.34650882e-03 9.47247727e-01 6.22929750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420371743000004 meters Centerline goodness : 0.986640 Centerline is valid? [True, True] Translation: X:29.84, Y:6.17, Z:6.23 [[ 0.8268202 -0.47695188 -0.29813631 29.84010509] [ 0.46156423 0.87826053 -0.12496761 6.16777018] [ 0.32144489 -0.03428331 0.94630748 6.23320859] [ 0. 0. 0. 1. ]] SLAMing on 33.450371743 meters Centerline goodness : 0.987179 Centerline is valid? [True, True] Translation: X:29.86, Y:6.19, Z:6.24 [[ 8.23772744e-01 -4.86772509e-01 -2.90604528e-01 2.98596914e+01] [ 4.66418845e-01 8.73307409e-01 -1.40668512e-01 6.18539953e+00] [ 3.22260652e-01 -1.96645420e-02 9.46446712e-01 6.24438409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480371743 meters Centerline goodness : 0.985811 Centerline is valid? [True, True] Translation: X:29.90, Y:6.19, Z:6.26 [[ 8.25149826e-01 -4.83174775e-01 -2.92694210e-01 2.98950514e+01] [ 4.64228052e-01 8.75205255e-01 -1.36044394e-01 6.19293812e+00] [ 3.21900730e-01 -2.36198552e-02 9.46478749e-01 6.25599730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510371743 meters Centerline goodness : 0.986855 Centerline is valid? [True, True] Translation: X:29.91, Y:6.21, Z:6.26 [[ 8.21309660e-01 -4.90325399e-01 -2.91601519e-01 2.99072872e+01] [ 4.71071391e-01 8.71211404e-01 -1.38139184e-01 6.20943708e+00] [ 3.21779719e-01 -2.39100868e-02 9.46512610e-01 6.26229757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540371743 meters Centerline goodness : 0.985674 Centerline is valid? [True, True] Translation: X:29.94, Y:6.22, Z:6.27 [[ 8.24361346e-01 -4.90662977e-01 -2.82273296e-01 2.99406735e+01] [ 4.67654082e-01 8.71299242e-01 -1.48786059e-01 6.22346304e+00] [ 3.18948319e-01 -9.35278317e-03 9.47725960e-01 6.27293217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570371743 meters Centerline goodness : 0.986896 Centerline is valid? [True, True] Translation: X:29.97, Y:6.23, Z:6.28 [[ 8.23631702e-01 -4.88479488e-01 -2.88129501e-01 2.99684846e+01] [ 4.70610929e-01 8.72196398e-01 -1.33412129e-01 6.23235557e+00] [ 3.16474602e-01 -2.57144334e-02 9.48252390e-01 6.27899981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600371743000004 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:29.99, Y:6.25, Z:6.29 [[ 0.82333776 -0.48776305 -0.29017605 29.99008769] [ 0.47131087 0.8724479 -0.12923125 6.24561781] [ 0.31619771 -0.03036216 0.94820733 6.28792716] [ 0. 0. 0. 1. ]] SLAMing on 33.630371743 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:30.01, Y:6.26, Z:6.30 [[ 8.22882836e-01 -4.88804021e-01 -2.89714460e-01 3.00137833e+01] [ 4.71925132e-01 8.71904346e-01 -1.30650225e-01 6.25817523e+00] [ 3.16465652e-01 -2.92137069e-02 9.48154023e-01 6.29742607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660371743 meters Centerline goodness : 0.986248 Centerline is valid? [True, True] Translation: X:30.04, Y:6.27, Z:6.31 [[ 8.22669594e-01 -4.89057169e-01 -2.89892780e-01 3.00369000e+01] [ 4.71871900e-01 8.71785852e-01 -1.31629549e-01 6.27322738e+00] [ 3.17098799e-01 -2.85046290e-02 9.47964049e-01 6.30776017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690371743 meters Centerline goodness : 0.986254 Centerline is valid? [True, True] Translation: X:30.06, Y:6.29, Z:6.32 [[ 8.23945034e-01 -4.87912841e-01 -2.88193754e-01 3.00582550e+01] [ 4.70362792e-01 8.72490121e-01 -1.32362503e-01 6.28791570e+00] [ 3.16027568e-01 -2.64961922e-02 9.48379949e-01 6.31524753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720371743 meters Centerline goodness : 0.986066 Centerline is valid? [True, True] Translation: X:30.08, Y:6.30, Z:6.32 [[ 8.24027639e-01 -4.86584278e-01 -2.90196813e-01 3.00812800e+01] [ 4.69635981e-01 8.73160649e-01 -1.30508722e-01 6.30256937e+00] [ 3.16891930e-01 -2.87440712e-02 9.48025993e-01 6.32460898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750371743 meters Centerline goodness : 0.987132 Centerline is valid? [True, True] Translation: X:30.10, Y:6.31, Z:6.34 [[ 0.82324844 -0.48066341 -0.30203426 30.10181594] [ 0.46755554 0.87585606 -0.11944868 6.31498785] [ 0.32195314 -0.04288185 0.94578397 6.3355628 ] [ 0. 0. 0. 1. ]] SLAMing on 33.780371743 meters Centerline goodness : 0.988932 Centerline is valid? [True, True] Translation: X:30.11, Y:6.34, Z:6.35 [[ 8.22021256e-01 -4.87942506e-01 -2.93586726e-01 3.01075524e+01] [ 4.68085955e-01 8.72581961e-01 -1.39629011e-01 6.34221691e+00] [ 3.24309411e-01 -2.26458078e-02 9.45679953e-01 6.34568638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810371743000005 meters Centerline goodness : 0.988400 Centerline is valid? [True, True] Translation: X:30.13, Y:6.36, Z:6.36 [[ 8.22544744e-01 -4.88304714e-01 -2.91510978e-01 3.01283134e+01] [ 4.67053552e-01 8.72487202e-01 -1.43621243e-01 6.35790327e+00] [ 3.24470527e-01 -1.80163389e-02 9.45724214e-01 6.35570807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840371743 meters Centerline goodness : 0.988114 Centerline is valid? [True, True] Translation: X:30.16, Y:6.37, Z:6.37 [[ 8.25202366e-01 -4.82768995e-01 -2.93215199e-01 3.01609203e+01] [ 4.62806078e-01 8.75495719e-01 -1.38988420e-01 6.36777447e+00] [ 3.23807951e-01 -2.10082031e-02 9.45889563e-01 6.36728688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870371743 meters Centerline goodness : 0.987056 Centerline is valid? [True, True] Translation: X:30.18, Y:6.39, Z:6.38 [[ 8.26576504e-01 -4.84670921e-01 -2.86121269e-01 3.01828351e+01] [ 4.62007093e-01 8.74630044e-01 -1.46873183e-01 6.38604581e+00] [ 3.21435419e-01 -1.07881331e-02 9.46870048e-01 6.37587291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900371743 meters Centerline goodness : 0.987805 Centerline is valid? [True, True] Translation: X:30.21, Y:6.40, Z:6.38 [[ 8.26038323e-01 -4.82649586e-01 -2.91049937e-01 3.02071689e+01] [ 4.63490123e-01 8.75532581e-01 -1.36453676e-01 6.40007017e+00] [ 3.20683012e-01 -2.21828053e-02 9.46926781e-01 6.38290429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930371743 meters Centerline goodness : 0.988702 Centerline is valid? [True, True] Translation: X:30.23, Y:6.42, Z:6.39 [[ 8.25949171e-01 -4.85312758e-01 -2.86844024e-01 3.02307928e+01] [ 4.64349961e-01 8.74195679e-01 -1.41989537e-01 6.41772360e+00] [ 3.19667140e-01 -1.59198712e-02 9.47396156e-01 6.39192824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960371743 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:30.25, Y:6.43, Z:6.40 [[ 8.25981593e-01 -4.82180046e-01 -2.91987691e-01 3.02538296e+01] [ 4.64433972e-01 8.75675430e-01 -1.32263476e-01 6.43022296e+00] [ 3.19461256e-01 -2.63618067e-02 9.47232580e-01 6.39871499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990371743000004 meters Centerline goodness : 0.989199 Centerline is valid? [True, True] Translation: X:30.27, Y:6.45, Z:6.41 [[ 8.25993555e-01 -4.83986255e-01 -2.88949740e-01 3.02749422e+01] [ 4.64100658e-01 8.74857329e-01 -1.38691143e-01 6.44765750e+00] [ 3.19914405e-01 -1.95437736e-02 9.47244855e-01 6.40900811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020371743 meters Centerline goodness : 0.990403 Centerline is valid? [True, True] Translation: X:30.29, Y:6.46, Z:6.42 [[ 0.82176913 -0.48071587 -0.30595384 30.28766591] [ 0.46804106 0.87568983 -0.11876403 6.45689444] [ 0.32501242 -0.04560235 0.94460963 6.41666206] [ 0. 0. 0. 1. ]] SLAMing on 34.050371743 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:30.30, Y:6.49, Z:6.43 [[ 8.23189913e-01 -4.86759258e-01 -2.92273488e-01 3.03002315e+01] [ 4.64725697e-01 8.73391118e-01 -1.45663937e-01 6.48504652e+00] [ 3.26172338e-01 -1.59179170e-02 9.45176293e-01 6.43322294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080371743 meters Centerline goodness : 0.990935 Centerline is valid? [True, True] Translation: X:30.33, Y:6.51, Z:6.44 [[ 8.29311967e-01 -4.86376854e-01 -2.75098558e-01 3.03314970e+01] [ 4.57718847e-01 8.73682561e-01 -1.64840042e-01 6.50521063e+00] [ 3.20523194e-01 1.07860245e-02 9.47179256e-01 6.44324690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110371743 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:30.35, Y:6.51, Z:6.44 [[ 0.82616265 -0.47160759 -0.30828811 30.3517076 ] [ 0.45962836 0.88058732 -0.11535922 6.50518935] [ 0.32587888 -0.04639248 0.94427257 6.44358393] [ 0. 0. 0. 1. ]] SLAMing on 34.140371743 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:30.38, Y:6.54, Z:6.46 [[ 8.31509557e-01 -4.81493103e-01 -2.77049181e-01 3.03750107e+01] [ 4.53037835e-01 8.76388709e-01 -1.63399975e-01 6.53515114e+00] [ 3.21478735e-01 1.03548791e-02 9.46860179e-01 6.46181592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170371743000004 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:30.41, Y:6.54, Z:6.46 [[ 8.32027528e-01 -4.71576717e-01 -2.92139681e-01 3.04055627e+01] [ 4.52768852e-01 8.81571055e-01 -1.33539665e-01 6.53809448e+00] [ 3.20516083e-01 -2.11630709e-02 9.47006634e-01 6.46359885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200371743 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:30.42, Y:6.55, Z:6.47 [[ 0.82872975 -0.47006232 -0.30372425 30.41786107] [ 0.45591503 0.8817967 -0.12073138 6.55155785] [ 0.32457431 -0.03841876 0.94507963 6.47398415] [ 0. 0. 0. 1. ]] SLAMing on 34.230371743 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:30.44, Y:6.58, Z:6.49 [[ 8.32477319e-01 -4.76798768e-01 -2.82213481e-01 3.04412520e+01] [ 4.51024615e-01 8.79011272e-01 -1.54647924e-01 6.57572904e+00] [ 3.21804771e-01 1.45566231e-03 9.46804927e-01 6.49115750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260371743 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:30.47, Y:6.59, Z:6.50 [[ 8.32232219e-01 -4.72146665e-01 -2.90632173e-01 3.04694568e+01] [ 4.51108089e-01 8.81400863e-01 -1.40121415e-01 6.58562841e+00] [ 3.22321307e-01 -1.44929685e-02 9.46519376e-01 6.49587963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290371743 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:30.48, Y:6.60, Z:6.50 [[ 0.82732944 -0.47307867 -0.30285735 30.48378202] [ 0.45688986 0.88039413 -0.12711347 6.59535104] [ 0.3267685 -0.03320773 0.94452083 6.5028586 ] [ 0. 0. 0. 1. ]] SLAMing on 34.320371743 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:30.50, Y:6.62, Z:6.52 [[ 8.25294304e-01 -4.82345339e-01 -2.93653343e-01 3.05005713e+01] [ 4.59246703e-01 8.75889124e-01 -1.48022658e-01 6.61660748e+00] [ 3.28605808e-01 -1.26970734e-02 9.44381812e-01 6.51740583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350371743000004 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:30.53, Y:6.63, Z:6.53 [[ 8.28854653e-01 -4.83582957e-01 -2.81331634e-01 3.05341539e+01] [ 4.55827309e-01 8.75280086e-01 -1.61574243e-01 6.63336144e+00] [ 3.24378527e-01 5.68292163e-03 9.45910289e-01 6.52754148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380371743 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:30.57, Y:6.64, Z:6.53 [[ 8.26101234e-01 -4.76997813e-01 -3.00049724e-01 3.05650429e+01] [ 4.59466888e-01 8.78416438e-01 -1.31433404e-01 6.63516441e+00] [ 3.26262056e-01 -2.92856156e-02 9.44825605e-01 6.53048618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:30.57, Y:6.65, Z:6.54 [[ 8.20678720e-01 -4.84808536e-01 -3.02402252e-01 3.05744833e+01] [ 4.66570767e-01 8.74099206e-01 -1.35138070e-01 6.65159249e+00] [ 3.29845658e-01 -3.01871125e-02 9.43552108e-01 6.54042503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440371743 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:30.60, Y:6.68, Z:6.55 [[ 8.22774243e-01 -4.94102943e-01 -2.80900032e-01 3.06025187e+01] [ 4.65535823e-01 8.69385783e-01 -1.65664593e-01 6.67581241e+00] [ 3.26065857e-01 5.53553225e-03 9.45330849e-01 6.55469761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470371743 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:30.62, Y:6.67, Z:6.55 [[ 0.81687625 -0.48671351 -0.30955316 30.62440143] [ 0.47322417 0.87234057 -0.12280396 6.67469824] [ 0.32980612 -0.0461724 0.94291889 6.55454173] [ 0. 0. 0. 1. ]] SLAMing on 34.500371743 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:30.65, Y:6.71, Z:6.57 [[ 8.18893542e-01 -5.01575636e-01 -2.78989692e-01 3.06482639e+01] [ 4.71959479e-01 8.65081172e-01 -1.69967105e-01 6.70545677e+00] [ 3.26600089e-01 7.51313499e-03 9.45132761e-01 6.57374279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530371743 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:30.67, Y:6.70, Z:6.57 [[ 0.81342577 -0.49063923 -0.31242866 30.67128979] [ 0.47887624 0.86976564 -0.11910198 6.70108473] [ 0.33017581 -0.05273404 0.94244525 6.57194807] [ 0. 0. 0. 1. ]] SLAMing on 34.560371743000005 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:30.68, Y:6.73, Z:6.59 [[ 8.11879654e-01 -5.02916144e-01 -2.96524500e-01 3.06842911e+01] [ 4.80118874e-01 8.64109033e-01 -1.51001478e-01 6.72616326e+00] [ 3.32170580e-01 -1.97719810e-02 9.43012076e-01 6.59073880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590371743 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:30.71, Y:6.75, Z:6.60 [[ 8.15619487e-01 -5.08413991e-01 -2.76188460e-01 3.07144125e+01] [ 4.77557527e-01 8.61047145e-01 -1.74747311e-01 6.74891737e+00] [ 3.26655263e-01 1.06314343e-02 9.45083759e-01 6.60278246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620371743 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:30.74, Y:6.74, Z:6.60 [[ 0.81017553 -0.49438358 -0.31496109 30.74037239] [ 0.48458714 0.8671911 -0.1146948 6.74126659] [ 0.32983468 -0.05970317 0.94214894 6.59877898] [ 0. 0. 0. 1. ]] SLAMing on 34.650371743 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:30.75, Y:6.77, Z:6.62 [[ 8.08725786e-01 -5.08077830e-01 -2.96343587e-01 3.07494697e+01] [ 4.85506185e-01 8.61042255e-01 -1.51294347e-01 6.76966544e+00] [ 3.32033654e-01 -2.15210048e-02 9.43022003e-01 6.61969868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680371743 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:30.78, Y:6.79, Z:6.63 [[ 8.12798373e-01 -5.10831801e-01 -2.80017278e-01 3.07793685e+01] [ 4.81632832e-01 8.59673438e-01 -1.70268595e-01 6.78979141e+00] [ 3.27702030e-01 3.52852240e-03 9.44774539e-01 6.63143859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710371743 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:30.80, Y:6.79, Z:6.63 [[ 0.80843867 -0.49924942 -0.31173216 30.80358332] [ 0.48690592 0.86484346 -0.12234548 6.78763919] [ 0.33068043 -0.05287542 0.94226039 6.62945811] [ 0. 0. 0. 1. ]] SLAMing on 34.740371743000004 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:30.82, Y:6.82, Z:6.65 [[ 8.12780031e-01 -5.13225081e-01 -2.75660367e-01 3.08233172e+01] [ 4.81321854e-01 8.58163746e-01 -1.78561635e-01 6.82373367e+00] [ 3.28204043e-01 1.24499727e-02 9.44524804e-01 6.65040840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770371743 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:30.86, Y:6.82, Z:6.65 [[ 0.81218102 -0.49890192 -0.30242167 30.85850718] [ 0.4825204 0.86581003 -0.13246529 6.82103634] [ 0.3279269 -0.03833883 0.94392483 6.64649666] [ 0. 0. 0. 1. ]] SLAMing on 34.800371743 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:30.88, Y:6.85, Z:6.66 [[ 8.11276970e-01 -5.05773659e-01 -2.93296238e-01 3.08758016e+01] [ 4.82947777e-01 8.62460952e-01 -1.51401948e-01 6.84554574e+00] [ 3.29531670e-01 -1.88178524e-02 9.43956973e-01 6.66134809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:30.90, Y:6.86, Z:6.67 [[ 8.10987471e-01 -5.02885539e-01 -2.99007453e-01 3.08994860e+01] [ 4.83742277e-01 8.63815449e-01 -1.40770308e-01 6.85612356e+00] [ 3.29078609e-01 -3.04795900e-02 9.43810502e-01 6.66753386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860371743 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:30.92, Y:6.88, Z:6.68 [[ 8.10605724e-01 -5.05935471e-01 -2.94868886e-01 3.09192994e+01] [ 4.85081649e-01 8.62215176e-01 -1.45879347e-01 6.87647531e+00] [ 3.28045965e-01 -2.47848518e-02 9.44336569e-01 6.67943164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890371743 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:30.94, Y:6.90, Z:6.69 [[ 8.12310392e-01 -5.09412849e-01 -2.83990099e-01 3.09421479e+01] [ 4.84559002e-01 8.60467667e-01 -1.57473702e-01 6.89650312e+00] [ 3.24583425e-01 -9.69243435e-03 9.45807410e-01 6.68878829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920371743000004 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:30.97, Y:6.90, Z:6.69 [[ 0.81076962 -0.49944293 -0.30530213 30.97017468] [ 0.48668571 0.86494499 -0.1225038 6.89977724] [ 0.3252532 -0.04926383 0.94434286 6.68999059] [ 0. 0. 0. 1. ]] SLAMing on 34.950371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:30.99, Y:6.92, Z:6.71 [[ 8.10167809e-01 -5.08832090e-01 -2.91063611e-01 3.09865291e+01] [ 4.87114661e-01 8.60600300e-01 -1.48615044e-01 6.92449431e+00] [ 3.26109534e-01 -2.13782275e-02 9.45090230e-01 6.70765083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:31.00, Y:6.93, Z:6.71 [[ 0.80447089 -0.50095581 -0.31917059 31.00313926] [ 0.49259717 0.86291599 -0.11280079 6.92584341] [ 0.33192561 -0.06647757 0.94096021 6.71120005] [ 0. 0. 0. 1. ]] SLAMing on 35.010371743 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:31.02, Y:6.96, Z:6.74 [[ 8.09298327e-01 -5.19522359e-01 -2.74103515e-01 3.10198938e+01] [ 4.87203300e-01 8.54360929e-01 -1.80832374e-01 6.96496953e+00] [ 3.28129795e-01 1.28032001e-02 9.44545878e-01 6.73931534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040371743 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:31.05, Y:6.96, Z:6.73 [[ 0.80532586 -0.49993369 -0.31861665 31.04577194] [ 0.49069093 0.86371438 -0.11497775 6.95857973] [ 0.33267504 -0.06374775 0.94088445 6.73187886] [ 0. 0. 0. 1. ]] SLAMing on 35.070371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:31.06, Y:7.00, Z:6.76 [[ 8.11449638e-01 -5.18100156e-01 -2.70410267e-01 3.10614779e+01] [ 4.83511980e-01 8.55055431e-01 -1.87340266e-01 6.99934023e+00] [ 3.28276789e-01 2.12705877e-02 9.44342052e-01 6.76075078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100371743000004 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:31.10, Y:7.01, Z:6.76 [[ 8.17170028e-01 -5.05680877e-01 -2.76622479e-01 3.10993286e+01] [ 4.77062449e-01 8.62705294e-01 -1.67782586e-01 7.01251483e+00] [ 3.23488122e-01 5.14070309e-03 9.46218267e-01 6.75855230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.130371743 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:31.13, Y:7.01, Z:6.76 [[ 0.8175834 -0.49205737 -0.29906007 31.13337615] [ 0.47512678 0.86990376 -0.1323707 7.01451305] [ 0.32528746 -0.03386736 0.9450085 6.75656675] [ 0. 0. 0. 1. ]] SLAMing on 35.160371743 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:31.15, Y:7.01, Z:6.76 [[ 0.80968825 -0.47860774 -0.33961679 31.14557142] [ 0.47935918 0.87322156 -0.08774332 7.01071503] [ 0.33855533 -0.09175369 0.93646225 6.76102874] [ 0. 0. 0. 1. ]] SLAMing on 35.190371743 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:31.15, Y:7.07, Z:6.80 [[ 0.82178279 -0.5058245 -0.26232541 31.14829778] [ 0.46450464 0.86134362 -0.20572459 7.07123238] [ 0.33001285 0.04720956 0.94279519 6.80493513] [ 0. 0. 0. 1. ]] SLAMing on 35.220371743 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:31.19, Y:7.06, Z:6.79 [[ 0.82475517 -0.47528902 -0.30639723 31.19448308] [ 0.45994976 0.87903313 -0.12548695 7.05691221] [ 0.32897589 -0.03743132 0.94359619 6.78568033] [ 0. 0. 0. 1. ]] SLAMing on 35.250371743 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:31.21, Y:7.08, Z:6.80 [[ 8.28506164e-01 -4.74206741e-01 -2.97834690e-01 3.12105145e+01] [ 4.51191521e-01 8.80317672e-01 -1.46516236e-01 7.08118553e+00] [ 3.31668128e-01 -1.29908822e-02 9.43306678e-01 6.80483861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280371743 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:31.23, Y:7.08, Z:6.81 [[ 0.82361344 -0.46207844 -0.32885318 31.22512672] [ 0.45234534 0.88496118 -0.11057757 7.08167104] [ 0.34211782 -0.05768203 0.93788495 6.80869828] [ 0. 0. 0. 1. ]] SLAMing on 35.310371743 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:31.24, Y:7.13, Z:6.85 [[ 0.83741817 -0.47828232 -0.26453135 31.23761292] [ 0.43717307 0.8766238 -0.20102342 7.12844502] [ 0.32804042 0.05269468 0.94319285 6.84565637] [ 0. 0. 0. 1. ]] SLAMing on 35.340371743 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:31.28, Y:7.12, Z:6.83 [[ 8.39727210e-01 -4.53784656e-01 -2.98224244e-01 3.12825255e+01] [ 4.32804856e-01 8.91002174e-01 -1.37095162e-01 7.11868519e+00] [ 3.27930130e-01 -1.39503634e-02 9.44598972e-01 6.83037249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370371743 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:31.30, Y:7.13, Z:6.84 [[ 8.39700953e-01 -4.52575634e-01 -3.00129313e-01 3.13045729e+01] [ 4.30936114e-01 8.91635025e-01 -1.38856215e-01 7.13142421e+00] [ 3.30448747e-01 -1.27388641e-02 9.43737965e-01 6.84290695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400371743 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:31.33, Y:7.15, Z:6.86 [[ 8.43929204e-01 -4.54453351e-01 -2.85053767e-01 3.13274112e+01] [ 4.25599165e-01 8.90665848e-01 -1.59936545e-01 7.14982182e+00] [ 3.26571354e-01 1.36564757e-02 9.45073887e-01 6.85683237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430371743 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:31.35, Y:7.13, Z:6.85 [[ 0.83424783 -0.43478586 -0.33910443 31.35245173] [ 0.43146527 0.89767912 -0.08949817 7.13387122] [ 0.3433195 -0.07164813 0.93648185 6.85069376] [ 0. 0. 0. 1. ]] SLAMing on 35.460371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:31.35, Y:7.17, Z:6.89 [[ 8.35198836e-01 -4.58519650e-01 -3.03648867e-01 3.13538960e+01] [ 4.29172565e-01 8.88672674e-01 -1.61467608e-01 7.16574006e+00] [ 3.43880522e-01 4.53979550e-03 9.39002437e-01 6.88588600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490371743000004 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:31.38, Y:7.17, Z:6.89 [[ 8.35095307e-01 -4.58412218e-01 -3.04095489e-01 3.13778053e+01] [ 4.28949730e-01 8.88727573e-01 -1.61757320e-01 7.17438662e+00] [ 3.44409578e-01 4.64110093e-03 9.38808022e-01 6.89455297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:31.41, Y:7.20, Z:6.91 [[ 0.84303836 -0.46712479 -0.26660975 31.41249662] [ 0.42402151 0.8821761 -0.20486845 7.19508373] [ 0.33089588 0.05966369 0.94177925 6.91030346] [ 0. 0. 0. 1. ]] SLAMing on 35.550371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:31.46, Y:7.19, Z:6.90 [[ 8.42299552e-01 -4.47666473e-01 -3.00210250e-01 3.14583095e+01] [ 4.23765460e-01 8.94183273e-01 -1.44426830e-01 7.18724214e+00] [ 3.33098033e-01 -5.56808062e-03 9.42875759e-01 6.89831376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580371743 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:31.48, Y:7.19, Z:6.91 [[ 8.40598411e-01 -4.47198187e-01 -3.05627376e-01 3.14835288e+01] [ 4.25544930e-01 8.94326699e-01 -1.38171153e-01 7.19277384e+00] [ 3.35120612e-01 -1.39117286e-02 9.42072523e-01 6.90691628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610371743 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:31.50, Y:7.19, Z:6.92 [[ 0.83166633 -0.44485632 -0.33231607 31.49850719] [ 0.43339218 0.89417294 -0.11236531 7.19172422] [ 0.34713446 -0.05057274 0.93645078 6.91670539] [ 0. 0. 0. 1. ]] SLAMing on 35.640371743 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:31.51, Y:7.21, Z:6.94 [[ 8.31466410e-01 -4.64364582e-01 -3.05006794e-01 3.15086189e+01] [ 4.34790711e-01 8.85639071e-01 -1.63096517e-01 7.21199332e+00] [ 3.45862179e-01 2.99515439e-03 9.38280546e-01 6.94346140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670371743000004 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:31.53, Y:7.22, Z:6.95 [[ 8.31040561e-01 -4.65327451e-01 -3.04699770e-01 3.15336846e+01] [ 4.35848271e-01 8.85134595e-01 -1.63012372e-01 7.21938393e+00] [ 3.45554439e-01 2.66702548e-03 9.38394915e-01 6.95273951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700371743 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:31.57, Y:7.23, Z:6.96 [[ 8.36252107e-01 -4.67200296e-01 -2.87064970e-01 3.15738575e+01] [ 4.32307595e-01 8.83781134e-01 -1.79000142e-01 7.22730069e+00] [ 3.37331524e-01 2.55888790e-02 9.41038071e-01 6.96316429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730371743 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:31.60, Y:7.22, Z:6.96 [[ 8.29400656e-01 -4.57998233e-01 -3.19893998e-01 3.15980759e+01] [ 4.39276881e-01 8.88441526e-01 -1.33069443e-01 7.22027867e+00] [ 3.45152682e-01 -3.01541539e-02 9.38062020e-01 6.96289176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:31.62, Y:7.23, Z:6.98 [[ 8.28120066e-01 -4.71005616e-01 -3.03925757e-01 3.16174013e+01] [ 4.41919091e-01 8.82129982e-01 -1.62954630e-01 7.23362497e+00] [ 3.44854568e-01 6.35405265e-04 9.38655913e-01 6.98127629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790371743 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:31.66, Y:7.24, Z:6.99 [[ 8.31821103e-01 -4.68838342e-01 -2.97093019e-01 3.16565552e+01] [ 4.37825883e-01 8.83231405e-01 -1.67960657e-01 7.24086415e+00] [ 3.41148280e-01 9.63820546e-03 9.39960082e-01 6.99105346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820371743 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:31.68, Y:7.24, Z:7.00 [[ 8.24576061e-01 -4.71207307e-01 -3.13110196e-01 3.16769307e+01] [ 4.47906060e-01 8.81826320e-01 -1.47521195e-01 7.23862829e+00] [ 3.45621877e-01 -1.86015081e-02 9.38189481e-01 6.99527222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850371743000004 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:31.70, Y:7.25, Z:7.01 [[ 8.23438613e-01 -4.79005868e-01 -3.04141792e-01 3.16978402e+01] [ 4.50263308e-01 8.77808540e-01 -1.63447608e-01 7.25226479e+00] [ 3.45270625e-01 -2.35481769e-03 9.38500213e-01 7.00942854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880371743 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:31.73, Y:7.26, Z:7.02 [[ 8.20876812e-01 -4.83879774e-01 -3.03350662e-01 3.17260024e+01] [ 4.55568605e-01 8.75124028e-01 -1.63141601e-01 7.25578811e+00] [ 3.44410374e-01 -4.27788066e-03 9.38809456e-01 7.01862861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910371743 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:31.75, Y:7.26, Z:7.03 [[ 8.19633608e-01 -4.86217468e-01 -3.02974128e-01 3.17510222e+01] [ 4.58088786e-01 8.73822726e-01 -1.63059827e-01 7.26362106e+00] [ 3.44028215e-01 -5.13973637e-03 9.38945243e-01 7.02789155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940371743 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:31.78, Y:7.27, Z:7.04 [[ 8.18716435e-01 -4.87780120e-01 -3.02942162e-01 3.17754262e+01] [ 4.59730862e-01 8.72947793e-01 -1.63124756e-01 7.27108819e+00] [ 3.44021705e-01 -5.71894279e-03 9.38944280e-01 7.03700134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970371743 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:31.80, Y:7.28, Z:7.05 [[ 8.16808993e-01 -4.91889113e-01 -3.01443475e-01 3.18022661e+01] [ 4.64376184e-01 8.70626759e-01 -1.62369350e-01 7.27763260e+00] [ 3.42312471e-01 -7.35842496e-03 9.39557356e-01 7.04592634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000371743 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:31.84, Y:7.29, Z:7.05 [[ 8.23179487e-01 -4.93289688e-01 -2.81141986e-01 3.18427593e+01] [ 4.59305331e-01 8.69637829e-01 -1.81021156e-01 7.29266224e+00] [ 3.33787575e-01 1.98828895e-02 9.42438606e-01 7.05497583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030371743 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:31.86, Y:7.28, Z:7.06 [[ 0.8148551 -0.48361794 -0.3195698 31.86370532] [ 0.46927019 0.87400495 -0.12609847 7.28087318] [ 0.34028907 -0.0472126 0.93913488 7.05655716] [ 0. 0. 0. 1. ]] SLAMing on 36.060371743 meters Centerline goodness : 0.989256 Centerline is valid? [True, True] Translation: X:31.88, Y:7.30, Z:7.07 [[ 8.14178717e-01 -4.97355336e-01 -2.99584189e-01 3.18779484e+01] [ 4.70375328e-01 8.67498693e-01 -1.61842728e-01 7.30405013e+00] [ 3.40382236e-01 -9.14810642e-03 9.40242652e-01 7.07498465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090371743 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:31.90, Y:7.31, Z:7.08 [[ 8.13477542e-01 -4.99429752e-01 -2.98033911e-01 3.19026396e+01] [ 4.72829089e-01 8.66298375e-01 -1.61120381e-01 7.31089465e+00] [ 3.38654605e-01 -9.85129109e-03 9.40859187e-01 7.08414821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120371743 meters Centerline goodness : 0.988585 Centerline is valid? [True, True] Translation: X:31.93, Y:7.32, Z:7.09 [[ 8.12834591e-01 -5.00897017e-01 -2.97324916e-01 3.19268028e+01] [ 4.74503338e-01 8.65444540e-01 -1.60786599e-01 7.32126868e+00] [ 3.37855753e-01 -1.03887556e-02 9.41140566e-01 7.09414616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150371743 meters Centerline goodness : 0.987984 Centerline is valid? [True, True] Translation: X:31.95, Y:7.33, Z:7.10 [[ 8.12471383e-01 -5.02129022e-01 -2.96237569e-01 3.19503608e+01] [ 4.75970785e-01 8.64725912e-01 -1.60315030e-01 7.33168135e+00] [ 3.36663132e-01 -1.07490543e-02 9.41563802e-01 7.10335445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180371743 meters Centerline goodness : 0.988572 Centerline is valid? [True, True] Translation: X:31.97, Y:7.34, Z:7.11 [[ 8.11480296e-01 -5.04164560e-01 -2.95495898e-01 3.19733671e+01] [ 4.78242824e-01 8.63531196e-01 -1.59992734e-01 7.34198986e+00] [ 3.35832593e-01 -1.14878414e-02 9.41851633e-01 7.11307734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210371743 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:32.00, Y:7.35, Z:7.12 [[ 8.11004348e-01 -5.05124270e-01 -2.95163378e-01 3.19971308e+01] [ 4.79306737e-01 8.62965593e-01 -1.59860679e-01 7.35423748e+00] [ 3.35465348e-01 -1.18260898e-02 9.41978314e-01 7.12245710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240371743000004 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:32.02, Y:7.37, Z:7.13 [[ 8.10680946e-01 -5.06010645e-01 -2.94532903e-01 3.20203476e+01] [ 4.80321186e-01 8.62442966e-01 -1.59636114e-01 7.36533093e+00] [ 3.34795404e-01 -1.20564374e-02 9.42213713e-01 7.13085406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270371743 meters Centerline goodness : 0.987811 Centerline is valid? [True, True] Translation: X:32.04, Y:7.38, Z:7.14 [[ 8.10363808e-01 -5.06805355e-01 -2.94038826e-01 3.20439482e+01] [ 4.81237400e-01 8.61972529e-01 -1.59417455e-01 7.37765669e+00] [ 3.34247010e-01 -1.23163444e-02 9.42405032e-01 7.14044185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300371743 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:32.07, Y:7.39, Z:7.15 [[ 8.09756382e-01 -5.08217078e-01 -2.93274621e-01 3.20676144e+01] [ 4.82833694e-01 8.61134548e-01 -1.59119183e-01 7.39041405e+00] [ 3.33415994e-01 -1.27550943e-02 9.42693525e-01 7.14939657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330371743 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:32.09, Y:7.40, Z:7.16 [[ 8.09372203e-01 -5.09015839e-01 -2.92949675e-01 3.20892672e+01] [ 4.83698808e-01 8.60659588e-01 -1.59061426e-01 7.40275377e+00] [ 3.33094732e-01 -1.29595122e-02 9.42804301e-01 7.15836189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360371743 meters Centerline goodness : 0.988098 Centerline is valid? [True, True] Translation: X:32.11, Y:7.42, Z:7.17 [[ 8.08992559e-01 -5.09638491e-01 -2.92915771e-01 3.21121420e+01] [ 4.84349442e-01 8.60287852e-01 -1.59092522e-01 7.41603488e+00] [ 3.33071552e-01 -1.31689233e-02 9.42809589e-01 7.16796399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390371743 meters Centerline goodness : 0.988353 Centerline is valid? [True, True] Translation: X:32.13, Y:7.43, Z:7.18 [[ 8.08301461e-01 -5.10508034e-01 -2.93309215e-01 3.21337020e+01] [ 4.85161500e-01 8.59767998e-01 -1.59428067e-01 7.42965851e+00] [ 3.33567186e-01 -1.34363988e-02 9.42630572e-01 7.17699311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420371743000004 meters Centerline goodness : 0.987392 Centerline is valid? [True, True] Translation: X:32.16, Y:7.44, Z:7.19 [[ 8.13077453e-01 -5.03690923e-01 -2.91891264e-01 3.21648196e+01] [ 4.80717467e-01 8.63711844e-01 -1.51368979e-01 7.43696616e+00] [ 3.28353123e-01 -1.72425257e-02 9.44397650e-01 7.18672107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450371743 meters Centerline goodness : 0.989071 Centerline is valid? [True, True] Translation: X:32.18, Y:7.46, Z:7.20 [[ 8.05897868e-01 -5.13999804e-01 -2.93824485e-01 3.21780025e+01] [ 4.88012854e-01 8.57692871e-01 -1.61883885e-01 7.45837300e+00] [ 3.35219452e-01 -1.29282483e-02 9.42051368e-01 7.19509884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480371743 meters Centerline goodness : 0.988368 Centerline is valid? [True, True] Translation: X:32.21, Y:7.47, Z:7.21 [[ 8.06579969e-01 -5.08681051e-01 -3.01118485e-01 3.22111014e+01] [ 4.85872071e-01 8.60637837e-01 -1.52416679e-01 7.46575939e+00] [ 3.36685438e-01 -2.33688223e-02 9.41327156e-01 7.20694499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510371743 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:32.23, Y:7.48, Z:7.22 [[ 8.04594712e-01 -5.13162914e-01 -2.98816287e-01 3.22305910e+01] [ 4.89474472e-01 8.58031662e-01 -1.55551948e-01 7.48268665e+00] [ 3.36217326e-01 -2.11066696e-02 9.41547884e-01 7.21640290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540371743 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:32.24, Y:7.50, Z:7.22 [[ 8.01788292e-01 -5.20983776e-01 -2.92765161e-01 3.22424542e+01] [ 4.94916848e-01 8.53452731e-01 -1.63327125e-01 7.50233614e+00] [ 3.34952009e-01 -1.39406340e-02 9.42132056e-01 7.22321165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570371743 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:32.27, Y:7.52, Z:7.23 [[ 8.02929484e-01 -5.21473543e-01 -2.88737923e-01 3.22722564e+01] [ 4.94312214e-01 8.53218331e-01 -1.66354784e-01 7.51861976e+00] [ 3.33106107e-01 -9.15552126e-03 9.42844896e-01 7.23428068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600371743000004 meters Centerline goodness : 0.989536 Centerline is valid? [True, True] Translation: X:32.30, Y:7.53, Z:7.24 [[ 8.01498696e-01 -5.17192924e-01 -3.00185474e-01 3.22977870e+01] [ 4.96670256e-01 8.55312205e-01 -1.47511660e-01 7.52606046e+00] [ 3.33044286e-01 -3.08627932e-02 9.42405959e-01 7.24023546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.630371743 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:32.32, Y:7.54, Z:7.25 [[ 8.01016310e-01 -5.21128379e-01 -2.94615145e-01 3.23159914e+01] [ 4.97396103e-01 8.53222725e-01 -1.56869682e-01 7.54383603e+00] [ 3.33121580e-01 -2.08852510e-02 9.42652544e-01 7.25128278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660371743 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:32.34, Y:7.57, Z:7.26 [[ 8.01344921e-01 -5.26705291e-01 -2.83598052e-01 3.23388602e+01] [ 4.98961761e-01 8.50025094e-01 -1.68803140e-01 7.56685421e+00] [ 3.29974968e-01 -6.23504510e-03 9.43969091e-01 7.26024129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690371743 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:32.37, Y:7.58, Z:7.26 [[ 8.01049802e-01 -5.21844081e-01 -2.93254103e-01 3.23672983e+01] [ 4.99800380e-01 8.52682239e-01 -1.52093981e-01 7.57590619e+00] [ 3.29421909e-01 -2.47336586e-02 9.43858809e-01 7.26485036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720371743 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:32.39, Y:7.59, Z:7.27 [[ 7.98658985e-01 -5.22279136e-01 -2.98945363e-01 3.23883584e+01] [ 5.01835542e-01 8.52184602e-01 -1.48129989e-01 7.58930695e+00] [ 3.32121838e-01 -3.17160611e-02 9.42703122e-01 7.27416802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750371743 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:32.41, Y:7.60, Z:7.28 [[ 7.97427623e-01 -5.24384568e-01 -2.98546498e-01 3.24090717e+01] [ 5.02852202e-01 8.50978818e-01 -1.51574123e-01 7.60472076e+00] [ 3.33539877e-01 -2.92553716e-02 9.42281950e-01 7.28478488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780371743 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:32.43, Y:7.62, Z:7.29 [[ 0.79456506 -0.52151654 -0.3109451 32.42910152] [ 0.50406944 0.85207056 -0.14103109 7.61570687] [ 0.33849721 -0.04467955 0.93990605 7.29481177] [ 0. 0. 0. 1. ]] SLAMing on 36.810371743 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:32.45, Y:7.65, Z:7.31 [[ 7.96646915e-01 -5.32312143e-01 -2.86352013e-01 3.24458178e+01] [ 5.01951326e-01 8.46544312e-01 -1.77221879e-01 7.64535688e+00] [ 3.36747026e-01 -2.55150949e-03 9.41591700e-01 7.30847235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840371743 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:32.47, Y:7.65, Z:7.31 [[ 0.79457302 -0.52143072 -0.31106867 32.46613579] [ 0.50289763 0.85225999 -0.1440378 7.65015335] [ 0.34021712 -0.04198715 0.93940907 7.3102457 ] [ 0. 0. 0. 1. ]] SLAMing on 36.870371743 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:32.49, Y:7.68, Z:7.33 [[ 8.00073340e-01 -5.30012257e-01 -2.81015405e-01 3.24875073e+01] [ 4.96419644e-01 8.47939555e-01 -1.85919467e-01 7.68094718e+00] [ 3.36823674e-01 9.24764195e-03 9.41522328e-01 7.32778154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900371743 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:32.51, Y:7.68, Z:7.33 [[ 0.79864843 -0.51104179 -0.31780023 32.51145617] [ 0.49559839 0.85809074 -0.13439687 7.6791594 ] [ 0.34138385 -0.05016544 0.9385843 7.3274117 ] [ 0. 0. 0. 1. ]] SLAMing on 36.930371743 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:32.53, Y:7.72, Z:7.35 [[ 8.05623366e-01 -5.24542304e-01 -2.75365871e-01 3.25306539e+01] [ 4.87535829e-01 8.51080842e-01 -1.94859480e-01 7.71737579e+00] [ 3.36570658e-01 2.27326224e-02 9.41383779e-01 7.34914845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960371743 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:32.57, Y:7.72, Z:7.35 [[ 8.07682883e-01 -5.08059189e-01 -2.99205984e-01 3.25670874e+01] [ 4.84873233e-01 8.61058186e-01 -1.53221242e-01 7.71648214e+00] [ 3.35479222e-01 -2.13227980e-02 9.41806259e-01 7.34625446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990371743000004 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:32.59, Y:7.73, Z:7.36 [[ 8.10607417e-01 -5.02285404e-01 -3.01039846e-01 3.25907224e+01] [ 4.79207489e-01 8.64445093e-01 -1.51969943e-01 7.73192168e+00] [ 3.36564702e-01 -2.10725855e-02 9.41424531e-01 7.35710091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020371743 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:32.60, Y:7.74, Z:7.37 [[ 0.80533431 -0.49616597 -0.32443178 32.60231999] [ 0.48266564 0.86653238 -0.12710434 7.73552177] [ 0.34419549 -0.05423058 0.93733052 7.36515988] [ 0. 0. 0. 1. ]] SLAMing on 37.050371743 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:32.62, Y:7.77, Z:7.39 [[ 8.14399597e-01 -5.09155362e-01 -2.78413566e-01 3.26211859e+01] [ 4.72189005e-01 8.60312086e-01 -1.92095438e-01 7.77337366e+00] [ 3.37328978e-01 2.49786226e-02 9.41055380e-01 7.38864048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080371743 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:32.65, Y:7.76, Z:7.39 [[ 0.80881351 -0.4911206 -0.3234521 32.64762637] [ 0.47641622 0.86967762 -0.12918366 7.76311206] [ 0.34474381 -0.04961233 0.93738483 7.3856416 ] [ 0. 0. 0. 1. ]] SLAMing on 37.110371743 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:32.66, Y:7.79, Z:7.41 [[ 8.09270124e-01 -5.03875750e-01 -3.01978632e-01 3.26578967e+01] [ 4.74904682e-01 8.63747642e-01 -1.68539474e-01 7.78957688e+00] [ 3.45756285e-01 -7.01710501e-03 9.38298114e-01 7.40643386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:32.68, Y:7.80, Z:7.41 [[ 8.10335762e-01 -5.01690406e-01 -3.02758469e-01 3.26823744e+01] [ 4.72374173e-01 8.65026474e-01 -1.69091216e-01 7.79952070e+00] [ 3.46725531e-01 -5.99462201e-03 9.37947477e-01 7.41463400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170371743000004 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:32.71, Y:7.81, Z:7.42 [[ 8.10487604e-01 -5.00827015e-01 -3.03779764e-01 3.27059565e+01] [ 4.71201109e-01 8.65529730e-01 -1.69787520e-01 7.81031104e+00] [ 3.47964593e-01 -5.53068155e-03 9.37491362e-01 7.42321005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200371743 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:32.73, Y:7.82, Z:7.43 [[ 8.11206624e-01 -4.98798644e-01 -3.05194572e-01 3.27313330e+01] [ 4.68727302e-01 8.66705515e-01 -1.70634893e-01 7.81876160e+00] [ 3.49626272e-01 -4.63287279e-03 9.36877797e-01 7.43132572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230371743 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:32.76, Y:7.83, Z:7.44 [[ 8.11817648e-01 -4.97752557e-01 -3.05277739e-01 3.27561061e+01] [ 4.67546737e-01 8.67309537e-01 -1.70804615e-01 7.82897725e+00] [ 3.49788729e-01 -4.06940971e-03 9.36819772e-01 7.44031064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260371743 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:32.78, Y:7.84, Z:7.45 [[ 8.13096672e-01 -4.95518323e-01 -3.05508417e-01 3.27829030e+01] [ 4.65066789e-01 8.68592316e-01 -1.71056335e-01 7.83559865e+00] [ 3.50123812e-01 -2.99648215e-03 9.36698637e-01 7.44913872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290371743 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:32.81, Y:7.84, Z:7.46 [[ 8.14030765e-01 -4.93997723e-01 -3.05483490e-01 3.28066012e+01] [ 4.63401786e-01 8.69460342e-01 -1.71165122e-01 7.84453049e+00] [ 3.50160961e-01 -2.22791942e-03 9.36686894e-01 7.45803916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320371743 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:32.83, Y:7.85, Z:7.47 [[ 8.16381584e-01 -4.89919096e-01 -3.05778332e-01 3.28338685e+01] [ 4.58963869e-01 8.71767801e-01 -1.71385730e-01 7.84989932e+00] [ 3.50532846e-01 -4.25053009e-04 9.36550342e-01 7.46670904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350371743000004 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:32.86, Y:7.86, Z:7.48 [[ 8.17384292e-01 -4.88050521e-01 -3.06087582e-01 3.28587118e+01] [ 4.56857428e-01 8.72815242e-01 -1.71682391e-01 7.85878833e+00] [ 3.50947587e-01 4.92104267e-04 9.36394975e-01 7.47589544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380371743 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:32.89, Y:7.86, Z:7.48 [[ 8.19840175e-01 -4.83956941e-01 -3.06019227e-01 3.28859019e+01] [ 4.52455654e-01 8.75088627e-01 -1.71766633e-01 7.86288068e+00] [ 3.50921600e-01 2.36105653e-03 9.36401867e-01 7.48472286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410371743 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:32.92, Y:7.86, Z:7.49 [[ 8.22328393e-01 -4.73877258e-01 -3.14986283e-01 3.29226801e+01] [ 4.46717975e-01 8.80529485e-01 -1.58464118e-01 7.86287490e+00] [ 3.52447251e-01 -1.04004908e-02 9.35773886e-01 7.49482896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440371743 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:32.94, Y:7.88, Z:7.51 [[ 8.22229840e-01 -4.77439769e-01 -3.09821491e-01 3.29430327e+01] [ 4.47173280e-01 8.78663917e-01 -1.67289503e-01 7.87942446e+00] [ 3.52099627e-01 -9.93471342e-04 9.35962000e-01 7.50646797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470371743 meters Centerline goodness : 0.988936 Centerline is valid? [True, True] Translation: X:32.96, Y:7.90, Z:7.51 [[ 8.21357227e-01 -4.85043433e-01 -3.00175238e-01 3.29569105e+01] [ 4.50495286e-01 8.74396216e-01 -1.80236662e-01 7.89586541e+00] [ 3.49894702e-01 1.28111547e-02 9.36701432e-01 7.51440452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500371743 meters Centerline goodness : 0.987792 Centerline is valid? [True, True] Translation: X:32.99, Y:7.89, Z:7.52 [[ 8.21665258e-01 -4.81725226e-01 -3.04642431e-01 3.29877768e+01] [ 4.50160811e-01 8.76314003e-01 -1.71548860e-01 7.89465646e+00] [ 3.49601842e-01 3.81765429e-03 9.36890590e-01 7.52093313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530371743 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:33.01, Y:7.90, Z:7.53 [[ 8.20901652e-01 -4.82972720e-01 -3.04725828e-01 3.30134329e+01] [ 4.51453052e-01 8.75629033e-01 -1.71650628e-01 7.90174745e+00] [ 3.49729352e-01 3.33887911e-03 9.36844828e-01 7.53024862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560371743 meters Centerline goodness : 0.987174 Centerline is valid? [True, True] Translation: X:33.05, Y:7.91, Z:7.54 [[ 8.23967373e-01 -4.80995797e-01 -2.99534325e-01 3.30515064e+01] [ 4.48385276e-01 8.76673096e-01 -1.74341412e-01 7.90825692e+00] [ 3.46451170e-01 9.34485458e-03 9.38021460e-01 7.53961722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590371743 meters Centerline goodness : 0.987109 Centerline is valid? [True, True] Translation: X:33.07, Y:7.91, Z:7.55 [[ 8.16537229e-01 -4.86165188e-01 -3.11304294e-01 3.30724286e+01] [ 4.59375595e-01 8.73775515e-01 -1.59657167e-01 7.90542757e+00] [ 3.49629827e-01 -1.26395743e-02 9.36802661e-01 7.54704096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620371743 meters Centerline goodness : 0.986834 Centerline is valid? [True, True] Translation: X:33.10, Y:7.92, Z:7.56 [[ 8.17939245e-01 -4.89988476e-01 -3.01474187e-01 3.31048332e+01] [ 4.58669609e-01 8.71724643e-01 -1.72390068e-01 7.91581991e+00] [ 3.47271625e-01 2.72755389e-03 9.37760619e-01 7.55941069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650371743 meters Centerline goodness : 0.987280 Centerline is valid? [True, True] Translation: X:33.13, Y:7.92, Z:7.57 [[ 8.10516538e-01 -4.98453242e-01 -3.07583008e-01 3.31256511e+01] [ 4.71276387e-01 8.66819722e-01 -1.62856185e-01 7.91638280e+00] [ 3.47795211e-01 -1.29589777e-02 9.37480963e-01 7.56733471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680371743 meters Centerline goodness : 0.987860 Centerline is valid? [True, True] Translation: X:33.16, Y:7.93, Z:7.58 [[ 8.11197070e-01 -5.01711291e-01 -3.00408213e-01 3.31581713e+01] [ 4.71355619e-01 8.65032410e-01 -1.71880219e-01 7.92541569e+00] [ 3.46097087e-01 -2.17036882e-03 9.38196193e-01 7.57914827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710371743 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:33.18, Y:7.93, Z:7.59 [[ 8.05513347e-01 -5.06759940e-01 -3.07152423e-01 3.31764600e+01] [ 4.79948450e-01 8.61942691e-01 -1.63414447e-01 7.93129572e+00] [ 3.47559682e-01 -1.57848114e-02 9.37524990e-01 7.58720669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740371743000004 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:33.20, Y:7.94, Z:7.60 [[ 8.00666181e-01 -5.17342502e-01 -3.02143015e-01 3.32013186e+01] [ 4.88306455e-01 8.55714461e-01 -1.71200370e-01 7.93711348e+00] [ 3.47117375e-01 -1.04640385e-02 9.37763313e-01 7.59932029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770371743 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:33.23, Y:7.95, Z:7.61 [[ 7.98707085e-01 -5.20698100e-01 -3.01563396e-01 3.32262182e+01] [ 4.91987561e-01 8.53658677e-01 -1.70924260e-01 7.94580840e+00] [ 3.46432147e-01 -1.18470223e-02 9.38000222e-01 7.60977492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800371743 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:33.25, Y:7.95, Z:7.62 [[ 7.94808216e-01 -5.26843699e-01 -3.01190333e-01 3.32523265e+01] [ 4.98585903e-01 8.49840351e-01 -1.70831716e-01 7.95215155e+00] [ 3.45965311e-01 -1.43908027e-02 9.38136935e-01 7.62085218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830371743 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:33.28, Y:7.96, Z:7.63 [[ 7.90706012e-01 -5.32889890e-01 -3.01350906e-01 3.32771743e+01] [ 5.04978685e-01 8.46015154e-01 -1.71040602e-01 7.95991829e+00] [ 3.46093241e-01 -1.69329519e-02 9.38047304e-01 7.63108654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860371743 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:33.30, Y:7.97, Z:7.64 [[ 7.88842255e-01 -5.35546992e-01 -3.01524984e-01 3.33005453e+01] [ 5.07769837e-01 8.44312255e-01 -1.71191733e-01 7.97076984e+00] [ 3.46262457e-01 -1.80620197e-02 9.37963792e-01 7.64081778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890371743 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:33.32, Y:7.98, Z:7.65 [[ 7.86929719e-01 -5.38482165e-01 -3.01294831e-01 3.33243157e+01] [ 5.10911311e-01 8.42417482e-01 -1.71179489e-01 7.98290394e+00] [ 3.45993135e-01 -1.92287098e-02 9.38039982e-01 7.65065682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920371743000004 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:33.35, Y:7.99, Z:7.66 [[ 7.84211768e-01 -5.42770225e-01 -3.00686525e-01 3.33475517e+01] [ 5.15570192e-01 8.39619682e-01 -1.70956621e-01 7.99472263e+00] [ 3.45252488e-01 -2.09588159e-02 9.38275784e-01 7.66037350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950371743 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:33.37, Y:8.01, Z:7.67 [[ 7.83467353e-01 -5.44146499e-01 -3.00139125e-01 3.33697826e+01] [ 5.17098984e-01 8.38717024e-01 -1.70770004e-01 8.00747098e+00] [ 3.44655693e-01 -2.14089140e-02 9.38485009e-01 7.66986001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980371743 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:33.39, Y:8.02, Z:7.68 [[ 7.82199593e-01 -5.46646820e-01 -2.98899733e-01 3.33919859e+01] [ 5.19982724e-01 8.37064800e-01 -1.70119042e-01 8.02184775e+00] [ 3.43193478e-01 -2.23556521e-02 9.38998648e-01 7.67981931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010371743 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:33.41, Y:8.04, Z:7.69 [[ 7.81494040e-01 -5.47863176e-01 -2.98518015e-01 3.34141804e+01] [ 5.21309073e-01 8.36258641e-01 -1.70024518e-01 8.03640921e+00] [ 3.42788442e-01 -2.27470027e-02 9.39137188e-01 7.68946460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040371743 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:33.43, Y:8.05, Z:7.70 [[ 7.80447335e-01 -5.49202822e-01 -2.98794607e-01 3.34345883e+01] [ 5.22647982e-01 8.35365576e-01 -1.70303967e-01 8.05059239e+00] [ 3.43134148e-01 -2.32511212e-02 9.38998585e-01 7.69887885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070371743 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:33.46, Y:8.07, Z:7.71 [[ 7.78137338e-01 -5.52320083e-01 -2.99073250e-01 3.34552187e+01] [ 5.25915391e-01 8.33269017e-01 -1.70516121e-01 8.06767937e+00] [ 3.43387951e-01 -2.46022652e-02 9.38871367e-01 7.70848930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100371743000004 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:33.48, Y:8.08, Z:7.72 [[ 7.76825182e-01 -5.54191791e-01 -2.99021899e-01 3.34764720e+01] [ 5.27885462e-01 8.32003878e-01 -1.70606232e-01 8.08266828e+00] [ 3.43335953e-01 -2.53180960e-02 9.38871353e-01 7.71790653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.130371743 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:33.51, Y:8.13, Z:7.72 [[ 0.78351214 -0.56985967 -0.24772703 33.50724692] [ 0.52507401 0.82037664 -0.22644967 8.12779365] [ 0.33227401 0.04735104 0.94199356 7.71926251] [ 0. 0. 0. 1. ]] SLAMing on 38.160371743 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:33.54, Y:8.09, Z:7.73 [[ 0.77467352 -0.53170899 -0.34229591 33.54189945] [ 0.5338865 0.84002211 -0.09658185 8.08936282] [ 0.33888957 -0.10792776 0.93461514 7.73044869] [ 0. 0. 0. 1. ]] SLAMing on 38.190371743 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:33.54, Y:8.13, Z:7.75 [[ 7.72019598e-01 -5.60214890e-01 -3.00241599e-01 3.35413201e+01] [ 5.33816770e-01 8.27894589e-01 -1.72134268e-01 8.13462668e+00] [ 3.45000575e-01 -2.73829723e-02 9.38202950e-01 7.74969789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220371743 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:33.56, Y:8.15, Z:7.76 [[ 7.70976191e-01 -5.61664344e-01 -3.00214719e-01 3.35601888e+01] [ 5.35356406e-01 8.26891904e-01 -1.72172291e-01 8.15301897e+00] [ 3.44948158e-01 -2.79811359e-02 9.38204575e-01 7.75870639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250371743 meters Centerline goodness : 0.990344 Centerline is valid? [True, True] Translation: X:33.58, Y:8.17, Z:7.77 [[ 7.70455788e-01 -5.62084690e-01 -3.00763496e-01 3.35800689e+01] [ 5.35689513e-01 8.26599431e-01 -1.72540216e-01 8.16885522e+00] [ 3.45593148e-01 -2.81812424e-02 9.37961190e-01 7.76728450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280371743 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:33.60, Y:8.19, Z:7.78 [[ 7.69683698e-01 -5.62267445e-01 -3.02394320e-01 3.35987267e+01] [ 5.35572713e-01 8.26467947e-01 -1.73529829e-01 8.18964456e+00] [ 3.47489387e-01 -2.83910658e-02 9.37254007e-01 7.77515731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.310371743 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:33.62, Y:8.21, Z:7.78 [[ 7.69705009e-01 -5.61964588e-01 -3.02902627e-01 3.36194078e+01] [ 5.35109117e-01 8.26680513e-01 -1.73947010e-01 8.20643315e+00] [ 3.48155759e-01 -2.81980725e-02 9.37012506e-01 7.78434896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340371743 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:33.64, Y:8.22, Z:7.79 [[ 7.70259015e-01 -5.61152611e-01 -3.02999665e-01 3.36391138e+01] [ 5.34173147e-01 8.27247683e-01 -1.74127308e-01 8.22223543e+00] [ 3.48367765e-01 -2.77311555e-02 9.36947642e-01 7.79347226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370371743 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:33.66, Y:8.24, Z:7.80 [[ 7.71640179e-01 -5.59755469e-01 -3.02068286e-01 3.36575607e+01] [ 5.32822267e-01 8.28219294e-01 -1.73646864e-01 8.24330937e+00] [ 3.47378564e-01 -2.69558121e-02 9.37337462e-01 7.80298730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400371743 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:33.69, Y:8.27, Z:7.81 [[ 7.77926829e-01 -5.60901334e-01 -2.83230547e-01 3.36883512e+01] [ 5.27225430e-01 8.27882555e-01 -1.91425761e-01 8.26773348e+00] [ 3.41852593e-01 -4.11111080e-04 9.39753497e-01 7.81196799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430371743 meters Centerline goodness : 0.989808 Centerline is valid? [True, True] Translation: X:33.72, Y:8.27, Z:7.82 [[ 0.7786132 -0.54549778 -0.31015101 33.71554066] [ 0.52708512 0.8367435 -0.1484641 8.27138614] [ 0.34050368 -0.04787988 0.9390233 7.81811976] [ 0. 0. 0. 1. ]] SLAMing on 38.460371743 meters Centerline goodness : 0.990027 Centerline is valid? [True, True] Translation: X:33.73, Y:8.29, Z:7.83 [[ 7.78442772e-01 -5.50805822e-01 -3.01064441e-01 3.37315064e+01] [ 5.26959969e-01 8.34039830e-01 -1.63373048e-01 8.29457619e+00] [ 3.41086561e-01 -3.14723405e-02 9.39504896e-01 7.83115635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490371743000004 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:33.74, Y:8.31, Z:7.84 [[ 0.77466496 -0.55234266 -0.30791522 33.74188015] [ 0.53056013 0.83263993 -0.15879765 8.31143499] [ 0.34409322 -0.04035257 0.93806797 7.84142937] [ 0. 0. 0. 1. ]] SLAMing on 38.520371743 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:33.75, Y:8.34, Z:7.85 [[ 7.74687824e-01 -5.56374396e-01 -3.00510078e-01 3.37548859e+01] [ 5.29215985e-01 8.30565949e-01 -1.73466555e-01 8.33716025e+00] [ 3.46105788e-01 -2.46523087e-02 9.37871552e-01 7.85334368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550371743 meters Centerline goodness : 0.989920 Centerline is valid? [True, True] Translation: X:33.79, Y:8.36, Z:7.86 [[ 7.79141364e-01 -5.55463161e-01 -2.90515767e-01 3.37865781e+01] [ 5.24956515e-01 8.31470935e-01 -1.81870125e-01 8.35633785e+00] [ 3.42577571e-01 -1.08056073e-02 9.39427404e-01 7.86336129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580371743 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:33.81, Y:8.36, Z:7.87 [[ 0.77885876 -0.54650736 -0.30774784 33.81332355] [ 0.5253706 0.83648331 -0.15582493 8.36252519] [ 0.3425854 -0.04031606 0.93862125 7.86918684] [ 0. 0. 0. 1. ]] SLAMing on 38.610371743 meters Centerline goodness : 0.990383 Centerline is valid? [True, True] Translation: X:33.83, Y:8.38, Z:7.88 [[ 7.77240237e-01 -5.50944846e-01 -3.03903589e-01 3.38294191e+01] [ 5.27109178e-01 8.33889428e-01 -1.63659206e-01 8.38489271e+00] [ 3.43589186e-01 -3.29878513e-02 9.38540502e-01 7.88136333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640371743 meters Centerline goodness : 0.989291 Centerline is valid? [True, True] Translation: X:33.85, Y:8.40, Z:7.89 [[ 7.76697057e-01 -5.52351225e-01 -3.02737191e-01 3.38496735e+01] [ 5.27866029e-01 8.33027910e-01 -1.65595761e-01 8.40139003e+00] [ 3.43655551e-01 -3.11869389e-02 9.38577774e-01 7.89078883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670371743000004 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:33.87, Y:8.43, Z:7.90 [[ 7.75463017e-01 -5.58343063e-01 -2.94805245e-01 3.38699180e+01] [ 5.30596424e-01 8.29352403e-01 -1.75048639e-01 8.42517379e+00] [ 3.42234632e-01 -2.06788630e-02 9.39386950e-01 7.89964910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700371743 meters Centerline goodness : 0.989935 Centerline is valid? [True, True] Translation: X:33.88, Y:8.43, Z:7.91 [[ 0.76929822 -0.55625035 -0.31427026 33.88336489] [ 0.53739009 0.82941688 -0.1525763 8.43344879] [ 0.34553168 -0.05150905 0.93699236 7.90570807] [ 0. 0. 0. 1. ]] SLAMing on 38.730371743 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:33.91, Y:8.46, Z:7.92 [[ 7.72492660e-01 -5.65928559e-01 -2.88062416e-01 3.39056663e+01] [ 5.34033724e-01 8.24405406e-01 -1.87519886e-01 8.46408511e+00] [ 3.43603072e-01 -8.97730934e-03 9.39072062e-01 7.92190039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760371743 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:33.92, Y:8.47, Z:7.93 [[ 0.76782176 -0.55791828 -0.3149237 33.92346016] [ 0.53964082 0.8281597 -0.15145724 8.46857517] [ 0.34530788 -0.05365352 0.93695452 7.92604652] [ 0. 0. 0. 1. ]] SLAMing on 38.790371743 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:33.93, Y:8.50, Z:7.94 [[ 7.67275419e-01 -5.66132498e-01 -3.01301222e-01 3.39329783e+01] [ 5.38874644e-01 8.23854209e-01 -1.75722397e-01 8.49718727e+00] [ 3.47710439e-01 -2.75361126e-02 9.37197531e-01 7.94339571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820371743 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:33.96, Y:8.52, Z:7.95 [[ 7.72555332e-01 -5.67076843e-01 -2.85625828e-01 3.39625988e+01] [ 5.34423515e-01 8.23642640e-01 -1.89748010e-01 8.51841316e+00] [ 3.42855314e-01 -6.05432187e-03 9.39368713e-01 7.95405792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850371743000004 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:33.99, Y:8.53, Z:7.96 [[ 0.77350664 -0.55719992 -0.30201942 33.98830585] [ 0.53448311 0.82958012 -0.16163114 8.52729378] [ 0.34061016 -0.03640152 0.93949968 7.95642125] [ 0. 0. 0. 1. ]] SLAMing on 38.880371743 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:34.01, Y:8.55, Z:7.97 [[ 7.73313612e-01 -5.58784624e-01 -2.99576036e-01 3.40085325e+01] [ 5.34603778e-01 8.28695169e-01 -1.65719997e-01 8.54551191e+00] [ 3.40859000e-01 -3.20009512e-02 9.39569625e-01 7.96793981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910371743 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:34.03, Y:8.56, Z:7.98 [[ 7.72634666e-01 -5.59588140e-01 -2.99827929e-01 3.40294278e+01] [ 5.35441400e-01 8.28136126e-01 -1.65810329e-01 8.56210119e+00] [ 3.41083833e-01 -3.24294780e-02 9.39473335e-01 7.97754152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940371743 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:34.05, Y:8.58, Z:7.99 [[ 7.71202777e-01 -5.62931563e-01 -2.97244566e-01 3.40488799e+01] [ 5.37680568e-01 8.25984425e-01 -1.69261147e-01 8.58277605e+00] [ 3.40801824e-01 -2.92879603e-02 9.39678845e-01 7.98785556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970371743 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:34.06, Y:8.59, Z:8.00 [[ 0.764696 -0.56116135 -0.31676169 34.06116358] [ 0.54345514 0.82575963 -0.15092233 8.59482211] [ 0.3462608 -0.05673607 0.9364211 7.99526652] [ 0. 0. 0. 1. ]] SLAMing on 39.000371743 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:34.08, Y:8.63, Z:8.01 [[ 7.67711706e-01 -5.73609645e-01 -2.85640881e-01 3.40806368e+01] [ 5.40129343e-01 8.19107066e-01 -1.93193964e-01 8.62584088e+00] [ 3.44788385e-01 -5.96575383e-03 9.38661483e-01 8.01386394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030371743 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:34.11, Y:8.63, Z:8.02 [[ 0.76656221 -0.56484488 -0.30550389 34.11102972] [ 0.54186062 0.8242476 -0.16432579 8.63155021] [ 0.34462943 -0.03957459 0.93790426 8.01639293] [ 0. 0. 0. 1. ]] SLAMing on 39.060371743 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:34.13, Y:8.65, Z:8.03 [[ 0.76452931 -0.56913174 -0.30262848 34.12955578] [ 0.54406376 0.82153169 -0.17052948 8.6523686 ] [ 0.34567263 -0.0342744 0.93772901 8.02825603] [ 0. 0. 0. 1. ]] SLAMing on 39.090371743 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:34.15, Y:8.67, Z:8.04 [[ 0.76427634 -0.56956005 -0.30246161 34.15008995] [ 0.54480074 0.8212026 -0.16975997 8.66768357] [ 0.34507076 -0.03503778 0.93792245 8.03692836] [ 0. 0. 0. 1. ]] SLAMing on 39.120371743 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:34.17, Y:8.69, Z:8.05 [[ 7.64067327e-01 -5.71294309e-01 -2.99706408e-01 3.41698326e+01] [ 5.45323151e-01 8.20153531e-01 -1.73120899e-01 8.68836444e+00] [ 3.44708254e-01 -3.11608205e-02 9.38192530e-01 8.04780957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150371743 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:34.19, Y:8.70, Z:8.06 [[ 7.64309208e-01 -5.70672214e-01 -3.00274304e-01 3.41921728e+01] [ 5.45294975e-01 8.20526278e-01 -1.71435171e-01 8.70471661e+00] [ 3.44216246e-01 -3.27085893e-02 9.38320481e-01 8.05645169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:34.20, Y:8.72, Z:8.06 [[ 0.7596684 -0.56502802 -0.32194294 34.20472747] [ 0.54813213 0.82273127 -0.15054708 8.7171947 ] [ 0.34993584 -0.06210141 0.93471296 8.06386515] [ 0. 0. 0. 1. ]] SLAMing on 39.210371743 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:34.22, Y:8.76, Z:8.09 [[ 7.65467739e-01 -5.80750196e-01 -2.77107109e-01 3.42204825e+01] [ 5.41827773e-01 8.14019833e-01 -2.09271058e-01 8.75550154e+00] [ 3.47104890e-01 1.00459158e-02 9.37772507e-01 8.08687040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240371743000004 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:34.26, Y:8.76, Z:8.08 [[ 0.76619783 -0.56126046 -0.31293383 34.25765667] [ 0.54116633 0.82617354 -0.15676822 8.75632336] [ 0.34652545 -0.04923379 0.93674764 8.0817622 ] [ 0. 0. 0. 1. ]] SLAMing on 39.270371743 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:34.27, Y:8.78, Z:8.10 [[ 0.76549063 -0.56577073 -0.30647606 34.27415216] [ 0.54095685 0.82377724 -0.16957814 8.77731428] [ 0.34841035 -0.03597985 0.93665131 8.09603097] [ 0. 0. 0. 1. ]] SLAMing on 39.300371743 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:34.29, Y:8.79, Z:8.11 [[ 0.76496204 -0.5663371 -0.30674967 34.29483673] [ 0.54129312 0.82339858 -0.1703424 8.79335951] [ 0.34904846 -0.03573601 0.93642304 8.10660036] [ 0. 0. 0. 1. ]] SLAMing on 39.330371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:34.31, Y:8.83, Z:8.12 [[ 7.67739285e-01 -5.77104544e-01 -2.78436232e-01 3.43142626e+01] [ 5.40366029e-01 8.16654036e-01 -2.02683845e-01 8.82776350e+00] [ 3.44355840e-01 5.15086899e-03 9.38825076e-01 8.12341007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360371743 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:34.35, Y:8.82, Z:8.12 [[ 0.76471761 -0.55607693 -0.32555402 34.35312193] [ 0.54397013 0.82793961 -0.13642766 8.81786312] [ 0.34540334 -0.07276303 0.93562924 8.11643583] [ 0. 0. 0. 1. ]] SLAMing on 39.390371743 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:34.36, Y:8.84, Z:8.14 [[ 0.7631847 -0.56927093 -0.30574454 34.36296926] [ 0.54411232 0.82137246 -0.17114048 8.8442776 ] [ 0.34855544 -0.03574758 0.93660622 8.1385066 ] [ 0. 0. 0. 1. ]] SLAMing on 39.420371743000004 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:34.38, Y:8.86, Z:8.14 [[ 0.76275902 -0.56652466 -0.3118469 34.38095391] [ 0.54487978 0.82273583 -0.1619005 8.85670749] [ 0.34828824 -0.046428 0.93623701 8.14474976] [ 0. 0. 0. 1. ]] SLAMing on 39.450371743 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:34.40, Y:8.88, Z:8.16 [[ 7.59829958e-01 -5.76311793e-01 -3.00870656e-01 3.43993452e+01] [ 5.47601075e-01 8.16791672e-01 -1.81616153e-01 8.88121329e+00] [ 3.50416177e-01 -2.67597006e-02 9.36211740e-01 8.16247455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480371743 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:34.42, Y:8.89, Z:8.17 [[ 0.75868849 -0.57463483 -0.30689833 34.42465255] [ 0.54913127 0.81757097 -0.17329903 8.8942093 ] [ 0.35049483 -0.03704749 0.93583164 8.16983043] [ 0. 0. 0. 1. ]] SLAMing on 39.510371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:34.45, Y:8.91, Z:8.18 [[ 0.75639321 -0.57679629 -0.30850502 34.44597942] [ 0.5512616 0.81598305 -0.17401814 8.9117622 ] [ 0.35210788 -0.03844083 0.93516969 8.18007522] [ 0. 0. 0. 1. ]] SLAMing on 39.540371743 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:34.47, Y:8.92, Z:8.19 [[ 0.75617656 -0.57584293 -0.31080852 34.46648487] [ 0.5517114 0.81644752 -0.17037597 8.92485553] [ 0.35186864 -0.04264229 0.93507759 8.18854004] [ 0. 0. 0. 1. ]] SLAMing on 39.570371743 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:34.49, Y:8.95, Z:8.20 [[ 0.75459218 -0.57985887 -0.3071715 34.48508917] [ 0.55284282 0.81395732 -0.1784329 8.94579161] [ 0.35349039 -0.03517348 0.93477664 8.20215652] [ 0. 0. 0. 1. ]] SLAMing on 39.600371743000004 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:34.51, Y:8.96, Z:8.21 [[ 0.7549339 -0.57978413 -0.30647214 34.5077565 ] [ 0.55295762 0.81400904 -0.17784022 8.96172012] [ 0.35258004 -0.03520849 0.93511907 8.21123215] [ 0. 0. 0. 1. ]] SLAMing on 39.630371743 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:34.53, Y:8.98, Z:8.22 [[ 0.7552247 -0.57587517 -0.313055 34.52971285] [ 0.5526701 0.81624441 -0.16822849 8.97558151] [ 0.35240801 -0.04596583 0.93471693 8.21884109] [ 0. 0. 0. 1. ]] SLAMing on 39.660371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:34.55, Y:9.00, Z:8.23 [[ 7.54408044e-01 -5.80551294e-01 -3.06314706e-01 3.45482381e+01] [ 5.52967242e-01 8.13530218e-01 -1.79988372e-01 8.99570037e+00] [ 3.53688751e-01 -3.35973229e-02 9.34759588e-01 8.23341052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690371743 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:34.57, Y:9.01, Z:8.24 [[ 0.75499797 -0.5783132 -0.30908237 34.56927031] [ 0.55233198 0.81492243 -0.17558707 9.010729 ] [ 0.35342247 -0.0381482 0.93468565 8.24065896] [ 0. 0. 0. 1. ]] SLAMing on 39.720371743 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:34.59, Y:9.03, Z:8.25 [[ 0.75395439 -0.57868099 -0.31093584 34.59101628] [ 0.55294772 0.81458152 -0.17523063 9.02636325] [ 0.35468522 -0.03981536 0.93413764 8.25096129] [ 0. 0. 0. 1. ]] SLAMing on 39.750371743 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:34.61, Y:9.04, Z:8.26 [[ 7.55038099e-01 -5.79536117e-01 -3.06684459e-01 3.46107475e+01] [ 5.52315418e-01 8.14222568e-01 -1.78855497e-01 9.04288971e+00] [ 3.53362628e-01 -3.43438411e-02 9.34855793e-01 8.26067352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780371743 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:34.63, Y:9.06, Z:8.27 [[ 0.7537828 -0.57938993 -0.31003032 34.63213286] [ 0.55301629 0.81416122 -0.17695899 9.0594344 ] [ 0.35494292 -0.03806317 0.9341128 8.27121434] [ 0. 0. 0. 1. ]] SLAMing on 39.810371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:34.65, Y:9.08, Z:8.28 [[ 0.75287465 -0.58091198 -0.30938816 34.65379832] [ 0.5537422 0.81315516 -0.17929939 9.07638944] [ 0.35573774 -0.03633132 0.93387938 8.28270083] [ 0. 0. 0. 1. ]] SLAMing on 39.840371743 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:34.67, Y:9.09, Z:8.29 [[ 0.75176472 -0.58042159 -0.31298656 34.6748762 ] [ 0.55462905 0.81326949 -0.17600953 9.0920266 ] [ 0.35670215 -0.04127368 0.93330598 8.2924486 ] [ 0. 0. 0. 1. ]] SLAMing on 39.870371743 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:34.69, Y:9.11, Z:8.31 [[ 7.51718586e-01 -5.85228481e-01 -3.04017751e-01 3.46949296e+01] [ 5.54613802e-01 8.10426919e-01 -1.88710730e-01 9.11307542e+00] [ 3.56823063e-01 -2.67550776e-02 9.33788770e-01 8.30648867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900371743 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:34.72, Y:9.12, Z:8.31 [[ 0.75065427 -0.57793103 -0.32017791 34.72159655] [ 0.55596601 0.81436066 -0.1664888 9.11947464] [ 0.35695933 -0.0530325 0.93261331 8.30967606] [ 0. 0. 0. 1. ]] SLAMing on 39.930371743 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:34.74, Y:9.14, Z:8.33 [[ 7.50268528e-01 -5.84524392e-01 -3.08914830e-01 3.47367781e+01] [ 5.56093787e-01 8.10652708e-01 -1.83308177e-01 9.14127410e+00] [ 3.57570744e-01 -3.42552612e-02 9.33257596e-01 8.32592774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960371743 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:34.76, Y:9.15, Z:8.33 [[ 0.74951762 -0.58313534 -0.3133313 34.75990528] [ 0.5570031 0.81131583 -0.17752231 9.15408333] [ 0.35773017 -0.0414704 0.93290371 8.3341728 ] [ 0. 0. 0. 1. ]] SLAMing on 39.990371743000004 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:34.78, Y:9.17, Z:8.35 [[ 0.74740109 -0.58543491 -0.31409805 34.78013698] [ 0.55847906 0.80969738 -0.18025342 9.17043571] [ 0.35985101 -0.04069558 0.93212184 8.34592988] [ 0. 0. 0. 1. ]] SLAMing on 40.020371743 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:34.80, Y:9.19, Z:8.36 [[ 0.74600296 -0.58660136 -0.31524343 34.80100895] [ 0.55962429 0.80880603 -0.18070269 9.1852335 ] [ 0.36097123 -0.04161314 0.93164807 8.35633362] [ 0. 0. 0. 1. ]] SLAMing on 40.050371743 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:34.82, Y:9.20, Z:8.37 [[ 0.7449785 -0.58831133 -0.31447862 34.82140576] [ 0.5603097 0.80767349 -0.18362072 9.20067231] [ 0.3620222 -0.03941193 0.93133594 8.36720368] [ 0. 0. 0. 1. ]] SLAMing on 40.080371743 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:34.84, Y:9.21, Z:8.38 [[ 0.74469971 -0.58779636 -0.31609774 34.84218752] [ 0.56052564 0.80792963 -0.18182609 9.21476919] [ 0.36226145 -0.04177505 0.93113989 8.37569375] [ 0. 0. 0. 1. ]] SLAMing on 40.110371743 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:34.86, Y:9.23, Z:8.39 [[ 0.74393524 -0.58892024 -0.31580581 34.86306318] [ 0.56037027 0.80724449 -0.18531457 9.23122627] [ 0.364068 -0.03910615 0.93055102 8.38681517] [ 0. 0. 0. 1. ]] SLAMing on 40.140371743 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:34.89, Y:9.24, Z:8.40 [[ 0.74330022 -0.58768517 -0.31957929 34.88521705] [ 0.56051055 0.80790076 -0.18200078 9.24479088] [ 0.36514751 -0.04384635 0.92991655 8.3960622 ] [ 0. 0. 0. 1. ]] SLAMing on 40.170371743000004 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:34.90, Y:9.26, Z:8.41 [[ 7.44542149e-01 -5.89242908e-01 -3.13767085e-01 3.49025014e+01] [ 5.58813524e-01 8.07244221e-01 -1.89958452e-01 9.26361056e+00] [ 3.65218337e-01 -3.39052157e-02 9.30304253e-01 8.40836640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200371743 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:34.93, Y:9.28, Z:8.42 [[ 0.74468456 -0.58859199 -0.3146496 34.92544559] [ 0.55857247 0.80766749 -0.18886509 9.27940476] [ 0.36529673 -0.03510969 0.93022879 8.41853495] [ 0. 0. 0. 1. ]] SLAMing on 40.230371743 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:34.95, Y:9.29, Z:8.43 [[ 0.74562067 -0.58441075 -0.3201779 34.94873024] [ 0.55796533 0.81021968 -0.17949587 9.29242961] [ 0.36431375 -0.04481233 0.93019748 8.42717259] [ 0. 0. 0. 1. ]] SLAMing on 40.260371743 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:34.97, Y:9.31, Z:8.44 [[ 0.74620519 -0.58684079 -0.31431784 34.96636443] [ 0.55753215 0.80890292 -0.18663859 9.30854698] [ 0.36377976 -0.03597162 0.93079016 8.43971355] [ 0. 0. 0. 1. ]] SLAMing on 40.290371743 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:34.99, Y:9.33, Z:8.45 [[ 7.48651416e-01 -5.86628418e-01 -3.08849731e-01 3.49890654e+01] [ 5.55982610e-01 8.09305872e-01 -1.89492330e-01 9.32554586e+00] [ 3.61115486e-01 -2.98513785e-02 9.32043186e-01 8.45054030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320371743 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:35.01, Y:9.34, Z:8.46 [[ 0.7501812 -0.58247471 -0.31297183 35.01288427] [ 0.55493108 0.81196529 -0.18100792 9.33706971] [ 0.3595548 -0.03788906 0.93235442 8.45692431] [ 0. 0. 0. 1. ]] SLAMing on 40.350371743000004 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:35.03, Y:9.35, Z:8.47 [[ 0.75101593 -0.58061069 -0.31443012 35.03317273] [ 0.55273754 0.8133222 -0.18162657 9.35276452] [ 0.36118733 -0.03739288 0.93174325 8.46813385] [ 0. 0. 0. 1. ]] SLAMing on 40.380371743 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:35.05, Y:9.37, Z:8.48 [[ 7.51171309e-01 -5.82234890e-01 -3.11037292e-01 3.50530322e+01] [ 5.51591233e-01 8.12475292e-01 -1.88761785e-01 9.37043511e+00] [ 3.62613812e-01 -2.97730066e-02 9.31463790e-01 8.48158694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410371743 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:35.07, Y:9.38, Z:8.49 [[ 0.74634195 -0.57566211 -0.33404615 35.06887295] [ 0.55424846 0.81544177 -0.16692322 9.37660169] [ 0.36848656 -0.06056276 0.92765824 8.48527869] [ 0. 0. 0. 1. ]] SLAMing on 40.440371743 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:35.08, Y:9.40, Z:8.51 [[ 7.47563788e-01 -5.84875545e-01 -3.14752253e-01 3.50764744e+01] [ 5.50244447e-01 8.10770880e-01 -1.99703852e-01 9.40065555e+00] [ 3.71993860e-01 -2.38993110e-02 9.27927471e-01 8.50880217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470371743 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:35.10, Y:9.42, Z:8.52 [[ 7.55483843e-01 -5.86683030e-01 -2.91628505e-01 3.51044304e+01] [ 5.43096989e-01 8.09761925e-01 -2.22106475e-01 9.42351234e+00] [ 3.66455759e-01 9.41529037e-03 9.30387838e-01 8.52376576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500371743 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:35.14, Y:9.43, Z:8.52 [[ 7.56457851e-01 -5.71487525e-01 -3.18077865e-01 3.51410499e+01] [ 5.42168941e-01 8.19929038e-01 -1.83764014e-01 9.42505913e+00] [ 3.65820120e-01 -3.34422080e-02 9.30084544e-01 8.51707793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530371743 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:35.16, Y:9.44, Z:8.53 [[ 7.57546734e-01 -5.71979392e-01 -3.14583090e-01 3.51594879e+01] [ 5.40195909e-01 8.19851431e-01 -1.89820998e-01 9.44079027e+00] [ 3.66485095e-01 -2.61382211e-02 9.30056702e-01 8.52875119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560371743 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:35.18, Y:9.46, Z:8.54 [[ 7.61082368e-01 -5.68986469e-01 -3.11461118e-01 3.51820525e+01] [ 5.35628812e-01 8.22104952e-01 -1.92990217e-01 9.45699205e+00] [ 3.65862550e-01 -1.99460980e-02 9.30455129e-01 8.53896859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590371743 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:35.21, Y:9.47, Z:8.55 [[ 7.62829914e-01 -5.66229058e-01 -3.12210146e-01 3.52069253e+01] [ 5.33245274e-01 8.23995783e-01 -1.91521352e-01 9.47158137e+00] [ 3.65704799e-01 -2.03863681e-02 9.30507601e-01 8.54828510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620371743 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:35.23, Y:9.49, Z:8.56 [[ 7.67060642e-01 -5.61644837e-01 -3.10117798e-01 3.52307805e+01] [ 5.28088168e-01 8.27213113e-01 -1.91941014e-01 9.48721370e+00] [ 3.64336188e-01 -1.65391421e-02 9.31120614e-01 8.55865821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650371743 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:35.26, Y:9.50, Z:8.56 [[ 7.69493780e-01 -5.55215347e-01 -3.15618821e-01 3.52558056e+01] [ 5.25495002e-01 8.31285793e-01 -1.81159966e-01 9.49730960e+00] [ 3.62952236e-01 -2.64546461e-02 9.31432137e-01 8.56462062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680371743 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:35.28, Y:9.51, Z:8.58 [[ 7.70988432e-01 -5.53934885e-01 -3.14218047e-01 3.52767190e+01] [ 5.23528644e-01 8.32221025e-01 -1.82553896e-01 9.51224130e+00] [ 3.62621836e-01 -2.37552062e-02 9.31633562e-01 8.57656796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710371743 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:35.30, Y:9.53, Z:8.59 [[ 7.72629286e-01 -5.55067872e-01 -3.08129266e-01 3.52975419e+01] [ 5.20653430e-01 8.31725505e-01 -1.92750333e-01 9.53036444e+00] [ 3.63268486e-01 -1.15040068e-02 9.31613474e-01 8.59199909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740371743000004 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:35.32, Y:9.53, Z:8.59 [[ 0.76405377 -0.54088895 -0.35165463 35.31849435] [ 0.52551726 0.83797098 -0.14709263 9.52564655] [ 0.37423715 -0.0724139 0.92450137 8.59144022] [ 0. 0. 0. 1. ]] SLAMing on 40.770371743 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:35.32, Y:9.56, Z:8.63 [[ 7.63825421e-01 -5.62919633e-01 -3.15740736e-01 3.53184397e+01] [ 5.24941553e-01 8.26447568e-01 -2.03520965e-01 9.55632770e+00] [ 3.75509110e-01 -1.02909453e-02 9.26761568e-01 8.62593553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800371743 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:35.34, Y:9.57, Z:8.64 [[ 7.63016001e-01 -5.63974079e-01 -3.15816118e-01 3.53405749e+01] [ 5.26007346e-01 8.25723315e-01 -2.03708807e-01 9.56890809e+00] [ 3.75663218e-01 -1.06885187e-02 9.26694611e-01 8.63567658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830371743 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:35.36, Y:9.58, Z:8.65 [[ 7.59543678e-01 -5.67809218e-01 -3.17310719e-01 3.53642368e+01] [ 5.29749344e-01 8.23064307e-01 -2.04770063e-01 9.58042888e+00] [ 3.77437457e-01 -1.25633384e-02 9.25949852e-01 8.64579386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860371743 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:35.39, Y:9.59, Z:8.66 [[ 7.57182128e-01 -5.70614010e-01 -3.17922752e-01 3.53867781e+01] [ 5.32581144e-01 8.21101313e-01 -2.05304553e-01 9.59268403e+00] [ 3.78196443e-01 -1.38667247e-02 9.25621502e-01 8.65525351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890371743 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:35.41, Y:9.62, Z:8.67 [[ 7.60141749e-01 -5.85513748e-01 -2.81705826e-01 3.54146383e+01] [ 5.33862824e-01 8.09939593e-01 -2.42875153e-01 9.61847984e+00] [ 3.70371443e-01 3.42272760e-02 9.28252922e-01 8.67294317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920371743000004 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:35.46, Y:9.61, Z:8.66 [[ 7.58176637e-01 -5.68479320e-01 -3.19373529e-01 3.54605940e+01] [ 5.38034481e-01 8.22123101e-01 -1.86098103e-01 9.61226093e+00] [ 3.68357279e-01 -3.07387371e-02 9.29176003e-01 8.65786803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950371743 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:35.48, Y:9.62, Z:8.67 [[ 7.53757137e-01 -5.74834486e-01 -3.18457992e-01 3.54825036e+01] [ 5.44391664e-01 8.17638312e-01 -1.87364104e-01 9.62450126e+00] [ 3.68086803e-01 -3.21388458e-02 9.29235815e-01 8.66950714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:35.50, Y:9.64, Z:8.68 [[ 7.51168225e-01 -5.79776893e-01 -3.15602680e-01 3.55031832e+01] [ 5.47513895e-01 8.14293811e-01 -1.92754050e-01 9.64053070e+00] [ 3.68747654e-01 -2.80061350e-02 9.29107542e-01 8.68405358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010371743 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:35.53, Y:9.65, Z:8.69 [[ 7.50140256e-01 -5.81108342e-01 -3.15598942e-01 3.55255323e+01] [ 5.50010447e-01 8.13236108e-01 -1.90093503e-01 9.65391920e+00] [ 3.67121376e-01 -3.09859258e-02 9.29656801e-01 8.69450610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040371743 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:35.55, Y:9.67, Z:8.71 [[ 7.48290509e-01 -5.83037245e-01 -3.16431484e-01 3.55467980e+01] [ 5.53507778e-01 8.11669015e-01 -1.86608009e-01 9.66577241e+00] [ 3.65637051e-01 -3.55102860e-02 9.30079871e-01 8.70526845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070371743 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:35.57, Y:9.68, Z:8.72 [[ 0.74669716 -0.58309928 -0.32006027 35.5681047 ] [ 0.55525285 0.81135302 -0.1827582 9.67783373] [ 0.36624804 -0.04124935 0.92960253 8.71565287] [ 0. 0. 0. 1. ]] SLAMing on 41.100371743000004 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:35.59, Y:9.70, Z:8.73 [[ 7.43228079e-01 -5.90277240e-01 -3.14936188e-01 3.55858440e+01] [ 5.58557766e-01 8.06564175e-01 -1.93565115e-01 9.69541148e+00] [ 3.68273329e-01 -3.20470251e-02 9.29165079e-01 8.73167548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.130371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:35.61, Y:9.71, Z:8.74 [[ 0.74278566 -0.58999111 -0.31651219 35.60789867] [ 0.55984996 0.80659277 -0.18967372 9.70745118] [ 0.36720225 -0.03631242 0.92943204 8.73964168] [ 0. 0. 0. 1. ]] SLAMing on 41.160371743 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:35.63, Y:9.72, Z:8.75 [[ 7.39085845e-01 -5.94344155e-01 -3.17028608e-01 3.56293267e+01] [ 5.63058916e-01 8.03429231e-01 -1.93561688e-01 9.72280591e+00] [ 3.69752309e-01 -3.54470804e-02 9.28453948e-01 8.75225140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190371743 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:35.65, Y:9.74, Z:8.76 [[ 0.73640484 -0.59489888 -0.32218508 35.65176345] [ 0.56494889 0.80273271 -0.19092656 9.73598996] [ 0.3722105 -0.04141886 0.92722372 8.76280979] [ 0. 0. 0. 1. ]] SLAMing on 41.220371743 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:35.67, Y:9.75, Z:8.78 [[ 7.33112896e-01 -6.00933255e-01 -3.18472454e-01 3.56710532e+01] [ 5.67535909e-01 7.98583571e-01 -2.00417744e-01 9.75398932e+00] [ 3.74764557e-01 -3.38157213e-02 9.26503116e-01 8.77600297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250371743 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:35.69, Y:9.77, Z:8.79 [[ 7.31751465e-01 -6.03283949e-01 -3.17156540e-01 3.56928624e+01] [ 5.68554232e-01 7.96924913e-01 -2.04099897e-01 9.77006668e+00] [ 3.75880140e-01 -3.09702942e-02 9.26150615e-01 8.78746432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280371743 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:35.72, Y:9.78, Z:8.80 [[ 0.73140104 -0.60180522 -0.3207538 35.7174504 ] [ 0.56893496 0.7978065 -0.19954401 9.78356867] [ 0.37598609 -0.03654135 0.92590453 8.79671909] [ 0. 0. 0. 1. ]] SLAMing on 41.310371743 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:35.74, Y:9.80, Z:8.81 [[ 0.72896888 -0.60285312 -0.32430309 35.73895684] [ 0.57052987 0.79684473 -0.19883195 9.79852843] [ 0.37828567 -0.04008229 0.92482072 8.80690017] [ 0. 0. 0. 1. ]] SLAMing on 41.340371743 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:35.76, Y:9.82, Z:8.82 [[ 7.29796001e-01 -6.05719437e-01 -3.17020127e-01 3.57592179e+01] [ 5.69820984e-01 7.95141721e-01 -2.07493832e-01 9.81775463e+00] [ 3.77758976e-01 -2.92165522e-02 9.25442893e-01 8.81959195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370371743 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:35.78, Y:9.83, Z:8.83 [[ 0.72797364 -0.60186763 -0.32834393 35.78406044] [ 0.57093466 0.79732751 -0.19571013 9.82867558] [ 0.37958925 -0.04499112 0.9240605 8.82671074] [ 0. 0. 0. 1. ]] SLAMing on 41.400371743 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:35.80, Y:9.85, Z:8.84 [[ 0.72704539 -0.60329897 -0.32777333 35.80131444] [ 0.5710592 0.79638765 -0.19914341 9.84609546] [ 0.38117765 -0.04239168 0.9235294 8.83996147] [ 0. 0. 0. 1. ]] SLAMing on 41.430371743 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:35.82, Y:9.86, Z:8.85 [[ 0.72652667 -0.60571066 -0.32445892 35.81871922] [ 0.57124435 0.79484194 -0.20470998 9.86381783] [ 0.38188858 -0.03661807 0.92348266 8.85371576] [ 0. 0. 0. 1. ]] SLAMing on 41.460371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:35.84, Y:9.88, Z:8.86 [[ 0.72700019 -0.60473823 -0.32521131 35.8388895 ] [ 0.57098321 0.79550671 -0.20284784 9.87868489] [ 0.38137762 -0.03821978 0.92362891 8.86415531] [ 0. 0. 0. 1. ]] SLAMing on 41.490371743000004 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:35.86, Y:9.90, Z:8.88 [[ 0.7283254 -0.60342816 -0.32467917 35.85721604] [ 0.56998377 0.79650515 -0.20173756 9.89506565] [ 0.38034276 -0.03813127 0.92405919 8.87551639] [ 0. 0. 0. 1. ]] SLAMing on 41.520371743 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:35.88, Y:9.91, Z:8.89 [[ 7.29238984e-01 -6.03513961e-01 -3.22461475e-01 3.58757871e+01] [ 5.69117435e-01 7.96589553e-01 -2.03839222e-01 9.91091716e+00] [ 3.79889259e-01 -3.48709403e-02 9.24374474e-01 8.88669241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550371743 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:35.90, Y:9.93, Z:8.90 [[ 7.30406781e-01 -6.03927691e-01 -3.19025514e-01 3.58957581e+01] [ 5.67494745e-01 7.96522117e-01 -2.08571885e-01 9.93063402e+00] [ 3.80073215e-01 -2.87029839e-02 9.24510946e-01 8.89968077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580371743 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:35.92, Y:9.94, Z:8.91 [[ 0.73064577 -0.60020011 -0.32544829 35.91823115] [ 0.56716199 0.79892858 -0.20010097 9.94266551] [ 0.38011057 -0.03837897 0.92414447 8.90716859] [ 0. 0. 0. 1. ]] SLAMing on 41.610371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:35.94, Y:9.96, Z:8.92 [[ 7.31718909e-01 -6.01405128e-01 -3.20779224e-01 3.59350572e+01] [ 5.66063610e-01 7.98334530e-01 -2.05509048e-01 9.96027762e+00] [ 3.79683326e-01 -3.12065895e-02 9.24590028e-01 8.91878284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640371743 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:35.96, Y:9.98, Z:8.93 [[ 7.31519097e-01 -6.04472415e-01 -3.15424968e-01 3.59562095e+01] [ 5.66249913e-01 7.96295209e-01 -2.12779172e-01 9.97962049e+00] [ 3.79790530e-01 -2.29573331e-02 9.24787605e-01 8.93276643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670371743000004 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:35.98, Y:9.99, Z:8.94 [[ 0.73082199 -0.59942397 -0.32648142 35.98175725] [ 0.56695268 0.79943598 -0.19866247 9.98961752] [ 0.38008404 -0.03991261 0.92409042 8.93841457] [ 0. 0. 0. 1. ]] SLAMing on 41.700371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:36.00, Y:10.01, Z:8.95 [[ 7.29962312e-01 -6.04673379e-01 -3.18630080e-01 3.59989652e+01] [ 5.67198266e-01 7.96031467e-01 -2.11234542e-01 1.00100859e+01] [ 3.81367474e-01 -2.65331746e-02 9.24042661e-01 8.95435025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730371743 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:36.02, Y:10.02, Z:8.96 [[ 0.72424865 -0.59633802 -0.34618615 36.01901053] [ 0.57087937 0.8001489 -0.18400678 10.01510257] [ 0.3867307 -0.06436387 0.91994383 8.95741498] [ 0. 0. 0. 1. ]] SLAMing on 41.760371743 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:36.03, Y:10.05, Z:8.99 [[ 7.28310199e-01 -6.14820855e-01 -3.02588120e-01 3.60282041e+01] [ 5.67051540e-01 7.88665423e-01 -2.37611872e-01 1.00487045e+01] [ 3.84729522e-01 1.47208971e-03 9.23028184e-01 8.98767141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790371743 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:36.06, Y:10.06, Z:8.98 [[ 7.29060946e-01 -6.04266043e-01 -3.21454020e-01 3.60639407e+01] [ 5.67467979e-01 7.96236100e-01 -2.09733560e-01 1.00565874e+01] [ 3.82688163e-01 -2.95063157e-02 9.23406274e-01 8.98470656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:36.09, Y:10.07, Z:8.99 [[ 7.28493384e-01 -6.02703712e-01 -3.25646472e-01 3.60868804e+01] [ 5.67077908e-01 7.97244135e-01 -2.06940658e-01 1.00717448e+01] [ 3.84343642e-01 -3.39120197e-02 9.22567038e-01 8.99349775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850371743000004 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:36.11, Y:10.09, Z:9.00 [[ 0.72818143 -0.60122743 -0.32905528 36.10723747] [ 0.56668042 0.79819032 -0.20436613 10.0874676 ] [ 0.38551926 -0.03765357 0.92193118 9.00359548] [ 0. 0. 0. 1. ]] SLAMing on 41.880371743 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:36.13, Y:10.10, Z:9.02 [[ 7.28453831e-01 -6.03251969e-01 -3.24718459e-01 3.61253206e+01] [ 5.66321296e-01 7.96954070e-01 -2.10105686e-01 1.01049227e+01] [ 3.85532367e-01 -3.08426871e-02 9.22178683e-01 9.01653911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910371743 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:36.15, Y:10.12, Z:9.03 [[ 0.72850898 -0.60084853 -0.32902237 36.14681103] [ 0.56621334 0.79849093 -0.20448642 10.11833976] [ 0.38558674 -0.03732666 0.92191626 9.02609435] [ 0. 0. 0. 1. ]] SLAMing on 41.940371743 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:36.16, Y:10.14, Z:9.04 [[ 7.30774234e-01 -6.02082714e-01 -3.21660419e-01 3.61632768e+01] [ 5.65275758e-01 7.97911064e-01 -2.09287484e-01 1.01368764e+01] [ 3.82664783e-01 -2.88849364e-02 9.23435609e-01 9.03868326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:36.18, Y:10.15, Z:9.05 [[ 7.30734232e-01 -6.03762830e-01 -3.18587394e-01 3.61840475e+01] [ 5.65642683e-01 7.96776346e-01 -2.12593060e-01 1.01545429e+01] [ 3.82198687e-01 -2.48576015e-02 9.23745778e-01 9.05140583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000371743 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:36.21, Y:10.17, Z:9.06 [[ 7.30277626e-01 -6.03816375e-01 -3.19531492e-01 3.62076488e+01] [ 5.66229707e-01 7.96680877e-01 -2.11384717e-01 1.01704525e+01] [ 3.82202183e-01 -2.65586936e-02 9.23696989e-01 9.06207820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:36.23, Y:10.18, Z:9.07 [[ 7.30199183e-01 -6.03632759e-01 -3.20057252e-01 3.62299629e+01] [ 5.67262355e-01 7.96721961e-01 -2.08440729e-01 1.01849483e+01] [ 3.80818294e-01 -2.93531804e-02 9.24183866e-01 9.07010504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060371743 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:36.25, Y:10.20, Z:9.08 [[ 0.7281284 -0.60175601 -0.32820535 36.25292103] [ 0.56898969 0.79762499 -0.20011276 10.19607133] [ 0.38220384 -0.04103767 0.92316636 9.07735129] [ 0. 0. 0. 1. ]] SLAMing on 42.090371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:36.27, Y:10.22, Z:9.09 [[ 7.26946239e-01 -6.07664782e-01 -3.19832265e-01 3.62701062e+01] [ 5.69931848e-01 7.93709484e-01 -2.12609841e-01 1.02155656e+01] [ 3.83049415e-01 -2.77266698e-02 9.23311636e-01 9.09304254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120371743 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:36.29, Y:10.23, Z:9.10 [[ 7.25684977e-01 -6.08150718e-01 -3.21767024e-01 3.62938463e+01] [ 5.70888841e-01 7.93253208e-01 -2.11743427e-01 1.02310769e+01] [ 3.84014641e-01 -3.00341796e-02 9.22838395e-01 9.10276529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150371743 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:36.32, Y:10.24, Z:9.11 [[ 0.72339976 -0.60538061 -0.33197455 36.31745925] [ 0.5719528 0.79477228 -0.20299512 10.24328953] [ 0.38673348 -0.04302715 0.92118721 9.11032372] [ 0. 0. 0. 1. ]] SLAMing on 42.180371743 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:36.34, Y:10.26, Z:9.13 [[ 7.23159894e-01 -6.09532600e-01 -3.24822686e-01 3.63350138e+01] [ 5.71654180e-01 7.92151538e-01 -2.13792983e-01 1.02621946e+01] [ 3.87622583e-01 -3.10797358e-02 9.21294081e-01 9.12511693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210371743 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:36.36, Y:10.28, Z:9.14 [[ 7.23201590e-01 -6.07332855e-01 -3.28825582e-01 3.63575940e+01] [ 5.71022901e-01 7.93634406e-01 -2.09945889e-01 1.02770065e+01] [ 3.88474332e-01 -3.59337376e-02 9.20758633e-01 9.13503548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240371743 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:36.38, Y:10.29, Z:9.15 [[ 7.22865081e-01 -6.08392218e-01 -3.27604918e-01 3.63772511e+01] [ 5.70990205e-01 7.92936014e-01 -2.12656209e-01 1.02931685e+01] [ 3.89148121e-01 -3.33374513e-02 9.20571754e-01 9.14764981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270371743 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:36.40, Y:10.31, Z:9.16 [[ 0.7231346 -0.60625419 -0.3309565 36.39875418] [ 0.57045625 0.79436858 -0.20870607 10.30608665] [ 0.38943038 -0.03787362 0.9202769 9.15706774] [ 0. 0. 0. 1. ]] SLAMing on 42.300371743 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:36.42, Y:10.32, Z:9.17 [[ 7.22774673e-01 -6.07757177e-01 -3.28980220e-01 3.64167727e+01] [ 5.70242719e-01 7.93406868e-01 -2.12905574e-01 1.03222149e+01] [ 3.90410057e-01 -3.37158187e-02 9.20023495e-01 9.17087238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330371743 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:36.44, Y:10.34, Z:9.18 [[ 7.22788108e-01 -6.08342743e-01 -3.27866525e-01 3.64371913e+01] [ 5.70117358e-01 7.93036994e-01 -2.14612499e-01 1.03374803e+01] [ 3.90568240e-01 -3.18030355e-02 9.20024465e-01 9.18254212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:36.46, Y:10.35, Z:9.19 [[ 0.72193607 -0.60715029 -0.33192897 36.45857299] [ 0.57054084 0.79372035 -0.21092924 10.35007961] [ 0.39152453 -0.03710161 0.91941939 9.19234185] [ 0. 0. 0. 1. ]] SLAMing on 42.390371743 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:36.48, Y:10.36, Z:9.20 [[ 0.72308351 -0.60462675 -0.33403103 36.47798689] [ 0.56991859 0.79543512 -0.2060965 10.36127995] [ 0.39031147 -0.04134551 0.91975404 9.20004922] [ 0. 0. 0. 1. ]] SLAMing on 42.420371743000004 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:36.49, Y:10.39, Z:9.23 [[ 7.20552002e-01 -6.18065534e-01 -3.14324368e-01 3.64918043e+01] [ 5.71123560e-01 7.86073365e-01 -2.36445648e-01 1.03875702e+01] [ 3.93220919e-01 -9.14666734e-03 9.19398525e-01 9.22518067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450371743 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:36.52, Y:10.39, Z:9.22 [[ 0.7209092 -0.60811544 -0.33239363 36.52367126] [ 0.57179677 0.79292441 -0.21052157 10.39345522] [ 0.39158444 -0.03829466 0.91934495 9.22374433] [ 0. 0. 0. 1. ]] SLAMing on 42.480371743 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:36.54, Y:10.41, Z:9.24 [[ 7.20846707e-01 -6.11417957e-01 -3.26417074e-01 3.65429611e+01] [ 5.71071673e-01 7.90822978e-01 -2.20173027e-01 1.04107065e+01] [ 3.92755865e-01 -2.76965432e-02 9.19225615e-01 9.23800958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510371743 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:36.57, Y:10.42, Z:9.25 [[ 7.19578059e-01 -6.10386213e-01 -3.31113407e-01 3.65661664e+01] [ 5.71359167e-01 7.91422345e-01 -2.17254170e-01 1.04247336e+01] [ 3.94659499e-01 -3.28533465e-02 9.18239913e-01 9.24839805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:36.59, Y:10.44, Z:9.26 [[ 7.19346391e-01 -6.12070719e-01 -3.28496886e-01 3.65861588e+01] [ 5.71225400e-01 7.90299907e-01 -2.21647467e-01 1.04416858e+01] [ 3.95274983e-01 -2.82044603e-02 9.18129727e-01 9.26161500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570371743 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:36.61, Y:10.45, Z:9.27 [[ 7.19707451e-01 -6.09439641e-01 -3.32572562e-01 3.66088607e+01] [ 5.70816480e-01 7.92093853e-01 -2.16231067e-01 1.04549342e+01] [ 3.95208466e-01 -3.42147893e-02 9.17954038e-01 9.27044113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600371743000004 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:36.63, Y:10.47, Z:9.28 [[ 7.20520746e-01 -6.08636129e-01 -3.32282887e-01 3.66283253e+01] [ 5.69324051e-01 7.92788491e-01 -2.17615564e-01 1.04711225e+01] [ 3.95878743e-01 -3.23801112e-02 9.17731741e-01 9.28313412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.630371743 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:36.65, Y:10.49, Z:9.30 [[ 7.21947788e-01 -6.09622903e-01 -3.27339744e-01 3.66483287e+01] [ 5.68082824e-01 7.92289717e-01 -2.22618305e-01 1.04884836e+01] [ 3.95061130e-01 -2.52372929e-02 9.18308109e-01 9.29691536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:36.67, Y:10.50, Z:9.31 [[ 7.25046740e-01 -6.04863601e-01 -3.29313298e-01 3.66702710e+01] [ 5.65429417e-01 7.95799778e-01 -2.16777045e-01 1.05019023e+01] [ 3.93187994e-01 -2.90299360e-02 9.18999709e-01 9.30650665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690371743 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:36.69, Y:10.52, Z:9.32 [[ 7.25261257e-01 -6.06367073e-01 -3.26059937e-01 3.66902723e+01] [ 5.65119305e-01 7.94825738e-01 -2.21115846e-01 1.05190121e+01] [ 3.93238198e-01 -2.38960085e-02 9.19126053e-01 9.32045947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720371743 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:36.71, Y:10.53, Z:9.33 [[ 7.27343348e-01 -6.01250813e-01 -3.30861171e-01 3.67132531e+01] [ 5.63988399e-01 7.98372928e-01 -2.10992306e-01 1.05303342e+01] [ 3.91009897e-01 -3.31380115e-02 9.19789722e-01 9.32709998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750371743 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:36.73, Y:10.55, Z:9.34 [[ 7.28841259e-01 -6.03842695e-01 -3.22745130e-01 3.67317959e+01] [ 5.62230607e-01 7.96846674e-01 -2.21206062e-01 1.05500716e+01] [ 3.90752049e-01 -2.02330857e-02 9.20273578e-01 9.34305495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780371743 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:36.76, Y:10.56, Z:9.35 [[ 7.28686653e-01 -6.00029118e-01 -3.30122430e-01 3.67563727e+01] [ 5.61987532e-01 7.99389084e-01 -2.12478484e-01 1.05620328e+01] [ 3.91389544e-01 -3.06944539e-02 9.19713040e-01 9.35101056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.810371743 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:36.78, Y:10.58, Z:9.37 [[ 7.27249618e-01 -6.02093764e-01 -3.29531627e-01 3.67758989e+01] [ 5.61708353e-01 7.97992725e-01 -2.18383464e-01 1.05787637e+01] [ 3.94451162e-01 -2.62813769e-02 9.18541001e-01 9.36550019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840371743 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:36.80, Y:10.59, Z:9.38 [[ 7.26750285e-01 -6.02000157e-01 -3.30801806e-01 3.67966855e+01] [ 5.61572890e-01 7.98041532e-01 -2.18553430e-01 1.05932372e+01] [ 3.95562780e-01 -2.69355588e-02 9.18043879e-01 9.37623769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870371743 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:36.82, Y:10.61, Z:9.39 [[ 7.25218317e-01 -6.00313849e-01 -3.37167132e-01 3.68185351e+01] [ 5.61251129e-01 7.99086639e-01 -2.15540515e-01 1.06063589e+01] [ 3.98817707e-01 -3.29215045e-02 9.16439093e-01 9.38715810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900371743 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:36.84, Y:10.62, Z:9.40 [[ 7.24778037e-01 -6.04971491e-01 -3.29706374e-01 3.68357661e+01] [ 5.61572563e-01 7.95961008e-01 -2.26014005e-01 1.06247985e+01] [ 3.99165447e-01 -2.13440665e-02 9.16630447e-01 9.40250027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930371743 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:36.86, Y:10.64, Z:9.41 [[ 7.24631968e-01 -6.06664482e-01 -3.26904753e-01 3.68568901e+01] [ 5.62530597e-01 7.94737338e-01 -2.27929574e-01 1.06404681e+01] [ 3.98080190e-01 -1.87288698e-02 9.17159415e-01 9.41382675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960371743 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:36.88, Y:10.65, Z:9.42 [[ 7.23143555e-01 -6.03482122e-01 -3.35965365e-01 3.68818756e+01] [ 5.63728429e-01 7.96737343e-01 -2.17761025e-01 1.06512236e+01] [ 3.99091038e-01 -3.19207459e-02 9.16355504e-01 9.42170509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.990371743 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:36.90, Y:10.67, Z:9.43 [[ 7.21626457e-01 -6.07623836e-01 -3.31735634e-01 3.69004523e+01] [ 5.65799608e-01 7.93776839e-01 -2.23134789e-01 1.06655149e+01] [ 3.98906079e-01 -2.66759241e-02 9.16603696e-01 9.43454491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020371743 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:36.92, Y:10.68, Z:9.44 [[ 7.19379211e-01 -6.07892865e-01 -3.36094950e-01 3.69206033e+01] [ 5.67787758e-01 7.93339404e-01 -2.19612505e-01 1.06776228e+01] [ 4.00138242e-01 -3.28459271e-02 9.15866001e-01 9.44499551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050371743 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:36.94, Y:10.69, Z:9.46 [[ 7.17136005e-01 -6.12390257e-01 -3.32707263e-01 3.69384972e+01] [ 5.70138461e-01 7.90055109e-01 -2.25288838e-01 1.06937002e+01] [ 4.00821763e-01 -2.81264694e-02 9.15724203e-01 9.45993650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080371743 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:36.96, Y:10.71, Z:9.47 [[ 7.16923113e-01 -6.15439760e-01 -3.27498323e-01 3.69595986e+01] [ 5.71055558e-01 7.87883461e-01 -2.30510738e-01 1.07106656e+01] [ 3.99895985e-01 -2.17612616e-02 9.16302160e-01 9.47333963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110371743 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:36.98, Y:10.72, Z:9.48 [[ 7.14898855e-01 -6.12386903e-01 -3.37493568e-01 3.69839798e+01] [ 5.72691616e-01 7.89733913e-01 -2.19874189e-01 1.07218390e+01] [ 4.01178190e-01 -3.60919313e-02 9.15288715e-01 9.48133538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140371743 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:37.00, Y:10.74, Z:9.50 [[ 7.14702899e-01 -6.16259435e-01 -3.30793101e-01 3.70014300e+01] [ 5.72970709e-01 7.87104309e-01 -2.28410537e-01 1.07390535e+01] [ 4.01128823e-01 -2.62890847e-02 9.15644337e-01 9.49625024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170371743000004 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:37.02, Y:10.75, Z:9.51 [[ 7.13293063e-01 -6.15625138e-01 -3.34990592e-01 3.70247275e+01] [ 5.74637842e-01 7.87340238e-01 -2.23353306e-01 1.07518379e+01] [ 4.01253483e-01 -3.31819073e-02 9.15365831e-01 9.50589822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:37.04, Y:10.77, Z:9.52 [[ 7.12874152e-01 -6.17435519e-01 -3.32541461e-01 3.70440617e+01] [ 5.74918197e-01 7.86074869e-01 -2.27058069e-01 1.07681789e+01] [ 4.01596202e-01 -2.93203084e-02 9.15347371e-01 9.51896548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230371743 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:37.06, Y:10.78, Z:9.53 [[ 7.12463757e-01 -6.19564409e-01 -3.29447019e-01 3.70647179e+01] [ 5.75766545e-01 7.84526734e-01 -2.30240501e-01 1.07842342e+01] [ 4.01108814e-01 -2.56465592e-02 9.15671324e-01 9.53139274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260371743 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:37.09, Y:10.80, Z:9.54 [[ 7.11304234e-01 -6.17946487e-01 -3.34945407e-01 3.70881670e+01] [ 5.77135049e-01 7.85470166e-01 -2.23498888e-01 1.07970835e+01] [ 4.01199977e-01 -3.43330286e-02 9.15346831e-01 9.54063737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290371743 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:37.11, Y:10.81, Z:9.55 [[ 7.09664148e-01 -6.21673622e-01 -3.31509736e-01 3.71068565e+01] [ 5.78816978e-01 7.82718633e-01 -2.28741005e-01 1.08131757e+01] [ 4.01681097e-01 -2.95541729e-02 9.15302599e-01 9.55403562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320371743 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:37.13, Y:10.83, Z:9.56 [[ 7.08550934e-01 -6.21684675e-01 -3.33861856e-01 3.71274794e+01] [ 5.79623734e-01 7.82589797e-01 -2.27133302e-01 1.08267524e+01] [ 4.02482175e-01 -3.25787425e-02 9.14847924e-01 9.56444849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350371743000004 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:37.15, Y:10.84, Z:9.58 [[ 7.08454715e-01 -6.24051442e-01 -3.29623594e-01 3.71470443e+01] [ 5.79633229e-01 7.80943910e-01 -2.32705669e-01 1.08425837e+01] [ 4.02637847e-01 -2.61993598e-02 9.14984348e-01 9.57615830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380371743 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:37.17, Y:10.86, Z:9.59 [[ 7.07822393e-01 -6.22972553e-01 -3.33005494e-01 3.71682159e+01] [ 5.79979864e-01 7.81640819e-01 -2.29479821e-01 1.08555595e+01] [ 4.03250316e-01 -3.07055248e-02 9.14574411e-01 9.58563821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410371743 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:37.19, Y:10.87, Z:9.60 [[ 7.08143568e-01 -6.24933162e-01 -3.28620191e-01 3.71881155e+01] [ 5.79323047e-01 7.80322170e-01 -2.35546426e-01 1.08728498e+01] [ 4.03630394e-01 -2.35765638e-02 9.14618309e-01 9.59888165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440371743 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:37.21, Y:10.88, Z:9.61 [[ 0.70719183 -0.6194018 -0.34091218 37.2120595 ] [ 0.57965142 0.78402499 -0.22205643 10.88258594] [ 0.40482582 -0.04057374 0.9134932 9.60564886] [ 0. 0. 0. 1. ]] SLAMing on 43.470371743 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:37.23, Y:10.90, Z:9.62 [[ 7.07002575e-01 -6.23981230e-01 -3.32858503e-01 3.72276374e+01] [ 5.79106969e-01 7.80960476e-01 -2.33956949e-01 1.09020947e+01] [ 4.05934080e-01 -2.73525130e-02 9.13492946e-01 9.62315344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500371743 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:37.25, Y:10.92, Z:9.63 [[ 7.09390122e-01 -6.22731223e-01 -3.30108283e-01 3.72473483e+01] [ 5.76747229e-01 7.82098030e-01 -2.35977342e-01 1.09181971e+01] [ 4.05127497e-01 -2.29890420e-02 9.13971124e-01 9.63469985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530371743 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:37.27, Y:10.93, Z:9.64 [[ 7.13823313e-01 -6.16910927e-01 -3.31477278e-01 3.72719125e+01] [ 5.75855576e-01 7.86408581e-01 -2.23499216e-01 1.09296096e+01] [ 3.98555685e-01 -3.13440881e-02 9.16608376e-01 9.63907459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560371743 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:37.29, Y:10.95, Z:9.66 [[ 7.11730177e-01 -6.23158026e-01 -3.24213247e-01 3.72868380e+01] [ 5.73916958e-01 7.81987490e-01 -2.43135539e-01 1.09514358e+01] [ 4.05042566e-01 -1.30245804e-02 9.14205054e-01 9.65953187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590371743 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:37.32, Y:10.96, Z:9.66 [[ 7.16132397e-01 -6.11905778e-01 -3.35746495e-01 3.73178435e+01] [ 5.73265644e-01 7.90066959e-01 -2.17165150e-01 1.09589094e+01] [ 3.98146822e-01 -3.69529315e-02 9.16577105e-01 9.65907158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620371743 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:37.33, Y:10.99, Z:9.68 [[ 7.12611789e-01 -6.25396356e-01 -3.17905388e-01 3.73278936e+01] [ 5.73624946e-01 7.80292608e-01 -2.49194437e-01 1.09857360e+01] [ 4.03904517e-01 -4.77956733e-03 9.14788662e-01 9.68417878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650371743 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:37.36, Y:10.99, Z:9.68 [[ 7.12268715e-01 -6.16224813e-01 -3.36065853e-01 3.73584374e+01] [ 5.74484206e-01 7.86895878e-01 -2.25305956e-01 1.09931518e+01] [ 4.03287955e-01 -3.25861406e-02 9.14492739e-01 9.68411691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680371743 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:37.38, Y:11.01, Z:9.70 [[ 7.11707144e-01 -6.19719731e-01 -3.30787538e-01 3.73775987e+01] [ 5.75030217e-01 7.84430826e-01 -2.32397350e-01 1.10111874e+01] [ 4.03501165e-01 -2.48139757e-02 9.14642595e-01 9.69844956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710371743 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:37.40, Y:11.03, Z:9.71 [[ 7.10100014e-01 -6.20022476e-01 -3.33661654e-01 3.73997164e+01] [ 5.76664913e-01 7.84035763e-01 -2.29663885e-01 1.10252201e+01] [ 4.03999440e-01 -2.93266411e-02 9.14289014e-01 9.70804995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740371743 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:37.42, Y:11.04, Z:9.72 [[ 7.09648946e-01 -6.20483699e-01 -3.33763917e-01 3.74192511e+01] [ 5.77177382e-01 7.83658276e-01 -2.29664923e-01 1.10395480e+01] [ 4.04060197e-01 -2.96595138e-02 9.14251426e-01 9.71932525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770371743 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:37.44, Y:11.06, Z:9.73 [[ 7.08646837e-01 -6.22792214e-01 -3.31586367e-01 3.74397447e+01] [ 5.77856724e-01 7.81955756e-01 -2.33723775e-01 1.10566635e+01] [ 4.04847215e-01 -2.59817980e-02 9.14015141e-01 9.73257744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800371743 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:37.46, Y:11.07, Z:9.74 [[ 7.06784331e-01 -6.23146617e-01 -3.34879388e-01 3.74608620e+01] [ 5.79796305e-01 7.81480225e-01 -2.30488401e-01 1.10710821e+01] [ 4.05329686e-01 -3.12562417e-02 9.13636083e-01 9.74284874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:37.48, Y:11.08, Z:9.75 [[ 0.70435505 -0.62154193 -0.34288422 37.48199393] [ 0.58087488 0.78231819 -0.22486132 11.08371272] [ 0.40800531 -0.04079062 0.91206787 9.75343556] [ 0. 0. 0. 1. ]] SLAMing on 43.860371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:37.50, Y:11.10, Z:9.77 [[ 7.03198866e-01 -6.29756574e-01 -3.30027289e-01 3.74963760e+01] [ 5.82349880e-01 7.76456068e-01 -2.40799899e-01 1.11042209e+01] [ 4.07897011e-01 -2.28611366e-02 9.12741692e-01 9.77009186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890371743 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:37.52, Y:11.12, Z:9.78 [[ 0.70002348 -0.62632389 -0.34305324 37.52179827] [ 0.58511289 0.778451 -0.22728164 11.11510085] [ 0.40940206 -0.04162238 0.91140415 9.77710589] [ 0. 0. 0. 1. ]] SLAMing on 43.920371743000004 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:37.54, Y:11.13, Z:9.79 [[ 6.99239977e-01 -6.31819322e-01 -3.34466438e-01 3.75373494e+01] [ 5.85996231e-01 7.74552989e-01 -2.38067395e-01 1.11338937e+01] [ 4.09477559e-01 -2.95298320e-02 9.11842156e-01 9.79320601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950371743 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:37.56, Y:11.15, Z:9.80 [[ 6.98217457e-01 -6.32019805e-01 -3.36219196e-01 3.75583957e+01] [ 5.87106023e-01 7.74272516e-01 -2.36238414e-01 1.11488738e+01] [ 4.09632640e-01 -3.24505302e-02 9.11673222e-01 9.80410767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980371743 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:37.58, Y:11.16, Z:9.82 [[ 6.98334129e-01 -6.31420783e-01 -3.37101229e-01 3.75815509e+01] [ 5.86908978e-01 7.74714454e-01 -2.35277211e-01 1.11649730e+01] [ 4.09716116e-01 -3.35456316e-02 9.11596070e-01 9.81642347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010371743 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:37.60, Y:11.18, Z:9.83 [[ 6.96940127e-01 -6.33832624e-01 -3.35455905e-01 3.75984714e+01] [ 5.88996421e-01 7.72774486e-01 -2.36437750e-01 1.11817948e+01] [ 4.09093724e-01 -3.27993724e-02 9.11902695e-01 9.82818495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040371743 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:37.62, Y:11.20, Z:9.84 [[ 6.96866717e-01 -6.32322587e-01 -3.38444864e-01 3.76208531e+01] [ 5.88680812e-01 7.73850261e-01 -2.33689272e-01 1.11962866e+01] [ 4.09672651e-01 -3.63857214e-02 9.11506664e-01 9.83960821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070371743 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:37.64, Y:11.21, Z:9.85 [[ 6.95464089e-01 -6.36187889e-01 -3.34057885e-01 3.76380461e+01] [ 5.91061457e-01 7.70859705e-01 -2.37532460e-01 1.12136464e+01] [ 4.08627037e-01 -3.22534440e-02 9.12131383e-01 9.85240536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100371743000004 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:37.66, Y:11.23, Z:9.86 [[ 6.94865111e-01 -6.36059095e-01 -3.35546278e-01 3.76582202e+01] [ 5.91807925e-01 7.70854725e-01 -2.35682779e-01 1.12282149e+01] [ 4.08565609e-01 -3.48112063e-02 9.12064868e-01 9.86299986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.130371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:37.68, Y:11.24, Z:9.87 [[ 6.93634288e-01 -6.36138573e-01 -3.37933707e-01 3.76776572e+01] [ 5.92416749e-01 7.70669687e-01 -2.34756531e-01 1.12431702e+01] [ 4.09772949e-01 -3.73624086e-02 9.11422065e-01 9.87456363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160371743 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:37.70, Y:11.26, Z:9.89 [[ 0.69191509 -0.6363628 -0.34102185 37.69711301] [ 0.59329147 0.77031925 -0.23369527 11.25817103] [ 0.41141067 -0.04062807 0.91054413 9.88635587] [ 0. 0. 0. 1. ]] SLAMing on 44.190371743 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:37.71, Y:11.28, Z:9.90 [[ 6.91989747e-01 -6.40071324e-01 -3.33854593e-01 3.77141595e+01] [ 5.92047612e-01 7.67797682e-01 -2.44880267e-01 1.12777368e+01] [ 4.13073620e-01 -2.82031805e-02 9.10260823e-01 9.90116624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220371743 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:37.74, Y:11.29, Z:9.91 [[ 6.91949578e-01 -6.38233650e-01 -3.37436794e-01 3.77358571e+01] [ 5.91980587e-01 7.69130134e-01 -2.40827368e-01 1.12915263e+01] [ 4.13236937e-01 -3.31156355e-02 9.10021202e-01 9.90931654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:37.76, Y:11.31, Z:9.92 [[ 6.91221839e-01 -6.38221551e-01 -3.38947815e-01 3.77568613e+01] [ 5.93266549e-01 7.68986856e-01 -2.38105057e-01 1.13065932e+01] [ 4.12610193e-01 -3.65029851e-02 9.10176005e-01 9.91928544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280371743 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:37.77, Y:11.33, Z:9.93 [[ 6.92981386e-01 -6.44257507e-01 -3.23587800e-01 3.77730558e+01] [ 5.92573266e-01 7.64637431e-01 -2.53350595e-01 1.13278123e+01] [ 4.10650366e-01 -1.61822332e-02 9.11649281e-01 9.93498462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.310371743 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:37.80, Y:11.33, Z:9.94 [[ 0.69164988 -0.63413616 -0.34567582 37.80187637] [ 0.5942948 0.77168312 -0.22653666 11.33385726] [ 0.41040729 -0.04874929 0.91059836 9.93518282] [ 0. 0. 0. 1. ]] SLAMing on 44.340371743 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:37.82, Y:11.36, Z:9.95 [[ 6.93022317e-01 -6.41325069e-01 -3.29275300e-01 3.78155806e+01] [ 5.93403113e-01 7.66833202e-01 -2.44621311e-01 1.13558563e+01] [ 4.09381012e-01 -2.58649606e-02 9.11996815e-01 9.95406150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370371743 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:37.84, Y:11.37, Z:9.96 [[ 6.93072265e-01 -6.38978311e-01 -3.33702792e-01 3.78391820e+01] [ 5.93888474e-01 7.68509485e-01 -2.38095888e-01 1.13692944e+01] [ 4.08591869e-01 -3.31645857e-02 9.12114464e-01 9.96228942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400371743 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:37.86, Y:11.39, Z:9.97 [[ 6.93997364e-01 -6.40145144e-01 -3.29517606e-01 3.78582414e+01] [ 5.93961821e-01 7.67712694e-01 -2.40471568e-01 1.13855046e+01] [ 4.06911555e-01 -2.88342428e-02 9.13012362e-01 9.97317845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430371743 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:37.88, Y:11.40, Z:9.98 [[ 6.94984797e-01 -6.42794068e-01 -3.22198569e-01 3.78792245e+01] [ 5.94787282e-01 7.65735080e-01 -2.44699564e-01 1.14037601e+01] [ 4.04010176e-01 -2.15771343e-02 9.14499975e-01 9.98481477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:37.91, Y:11.42, Z:9.99 [[ 6.94737359e-01 -6.39669119e-01 -3.28882076e-01 3.79066484e+01] [ 5.96062230e-01 7.67936176e-01 -2.34486350e-01 1.14170525e+01] [ 4.02554121e-01 -3.31277566e-02 9.14796552e-01 9.99077929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.490371743 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:37.93, Y:11.44, Z:10.00 [[ 6.95662938e-01 -6.44381133e-01 -3.17531153e-01 3.79282212e+01] [ 5.96385681e-01 7.64466195e-01 -2.44776543e-01 1.14366544e+01] [ 4.00471218e-01 -1.90890637e-02 9.16110480e-01 1.00038048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520371743 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:37.96, Y:11.45, Z:10.01 [[ 6.96300686e-01 -6.39149521e-01 -3.26578084e-01 3.79571770e+01] [ 5.96761690e-01 7.68339839e-01 -2.31364165e-01 1.14482535e+01] [ 3.98799247e-01 -3.37902623e-02 9.16415505e-01 1.00074437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550371743 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:37.98, Y:11.46, Z:10.02 [[ 0.69482917 -0.63846063 -0.33102938 37.98056599] [ 0.59795599 0.76861515 -0.22733102 11.46244352] [ 0.3995761 -0.03998478 0.91582758 10.01797894] [ 0. 0. 0. 1. ]] SLAMing on 44.580371743 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:38.00, Y:11.48, Z:10.03 [[ 6.93409438e-01 -6.42678564e-01 -3.25803030e-01 3.80002869e+01] [ 5.99063493e-01 7.65456309e-01 -2.34945888e-01 1.14803924e+01] [ 4.00382671e-01 -3.22630052e-02 9.15779895e-01 1.00319088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610371743 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:38.02, Y:11.49, Z:10.04 [[ 0.69375679 -0.63939596 -0.33147295 38.02476041] [ 0.59969811 0.76772076 -0.22575876 11.49175273] [ 0.3988279 -0.04216203 0.91605604 10.03789961] [ 0. 0. 0. 1. ]] SLAMing on 44.640371743 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:38.05, Y:11.51, Z:10.05 [[ 0.69039856 -0.64150556 -0.33439564 38.04511475] [ 0.60186726 0.76580385 -0.2264956 11.50564969] [ 0.40137966 -0.04488955 0.91481107 10.05073154] [ 0. 0. 0. 1. ]] SLAMing on 44.670371743000004 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:38.06, Y:11.52, Z:10.06 [[ 0.68934187 -0.64247917 -0.3347063 38.06356988] [ 0.60279154 0.76495984 -0.22688942 11.51948825] [ 0.4018086 -0.04535374 0.91459985 10.06139471] [ 0. 0. 0. 1. ]] SLAMing on 44.700371743 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:38.08, Y:11.54, Z:10.08 [[ 6.87965346e-01 -6.47930466e-01 -3.26940047e-01 3.80813856e+01] [ 6.02964509e-01 7.61007913e-01 -2.39375767e-01 1.15398539e+01] [ 4.03902815e-01 -3.24510129e-02 9.14226147e-01 1.00786681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:38.11, Y:11.55, Z:10.09 [[ 6.89441695e-01 -6.45804984e-01 -3.28033644e-01 3.81050020e+01] [ 6.02408335e-01 7.62685351e-01 -2.35404445e-01 1.15541265e+01] [ 4.02211818e-01 -3.53125617e-02 9.14865387e-01 1.00872890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760371743 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:38.13, Y:11.57, Z:10.10 [[ 0.68931083 -0.64395369 -0.33192504 38.12733729] [ 0.60240062 0.76398617 -0.23116799 11.56842131] [ 0.40244761 -0.04060525 0.91454203 10.09726038] [ 0. 0. 0. 1. ]] SLAMing on 44.790371743 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:38.15, Y:11.58, Z:10.11 [[ 0.69406834 -0.63884235 -0.33188793 38.15062078] [ 0.60186426 0.76787127 -0.21939262 11.58077087] [ 0.3950045 -0.04747801 0.91745152 10.10574305] [ 0. 0. 0. 1. ]] SLAMing on 44.820371743 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:38.16, Y:11.60, Z:10.13 [[ 6.91271743e-01 -6.46836158e-01 -3.22096820e-01 3.81618010e+01] [ 6.00116587e-01 7.62201986e-01 -2.42710143e-01 1.16034112e+01] [ 4.02496532e-01 -2.55169808e-02 9.15065804e-01 1.01257936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850371743000004 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:38.19, Y:11.62, Z:10.13 [[ 6.93052930e-01 -6.41388838e-01 -3.29086606e-01 3.81874944e+01] [ 5.97854877e-01 7.66460002e-01 -2.34752234e-01 1.16177983e+01] [ 4.02799183e-01 -3.40503089e-02 9.14654795e-01 1.01336915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880371743 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:38.21, Y:11.63, Z:10.14 [[ 0.69317715 -0.63694815 -0.33734625 38.2087664 ] [ 0.59685584 0.76964038 -0.22675273 11.62979054] [ 0.40406502 -0.04416727 0.91366335 10.14181728] [ 0. 0. 0. 1. ]] SLAMing on 44.910371743 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:38.23, Y:11.65, Z:10.15 [[ 0.69709489 -0.6359313 -0.33113457 38.22769314] [ 0.59627072 0.77066925 -0.22478907 11.64562243] [ 0.39814563 -0.04074654 0.91641681 10.1531212 ] [ 0. 0. 0. 1. ]] SLAMing on 44.940371743 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:38.24, Y:11.67, Z:10.17 [[ 6.95094274e-01 -6.41774813e-01 -3.23989259e-01 3.82411757e+01] [ 5.92972183e-01 7.66609075e-01 -2.46362571e-01 1.16690360e+01] [ 4.06482399e-01 -2.08714060e-02 9.13420190e-01 1.01728489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970371743 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:38.27, Y:11.68, Z:10.18 [[ 0.69483788 -0.63500195 -0.33759864 38.26832098] [ 0.59248904 0.77152549 -0.23174372 11.68020606] [ 0.40762367 -0.03899918 0.91231683 10.17874539] [ 0. 0. 0. 1. ]] SLAMing on 45.000371743 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:38.29, Y:11.70, Z:10.19 [[ 6.93837187e-01 -6.36364808e-01 -3.37090179e-01 3.82854353e+01] [ 5.92205814e-01 7.70543593e-01 -2.35700752e-01 1.16971069e+01] [ 4.09734342e-01 -3.60888170e-02 9.11490739e-01 1.01928021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030371743 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:38.30, Y:11.71, Z:10.21 [[ 6.94626049e-01 -6.37258652e-01 -3.33760487e-01 3.83040673e+01] [ 5.90761606e-01 7.70069937e-01 -2.40817393e-01 1.17147221e+01] [ 4.10481885e-01 -2.98948472e-02 9.11378582e-01 1.02067189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060371743 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:38.32, Y:11.73, Z:10.22 [[ 6.94026499e-01 -6.37981093e-01 -3.33627552e-01 3.83240720e+01] [ 5.91236285e-01 7.69481998e-01 -2.41530764e-01 1.17308037e+01] [ 4.10812456e-01 -2.96239637e-02 9.11238469e-01 1.02187296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090371743 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:38.34, Y:11.75, Z:10.23 [[ 6.94174209e-01 -6.38838638e-01 -3.31673577e-01 3.83439327e+01] [ 5.90896487e-01 7.68886390e-01 -2.44243856e-01 1.17479447e+01] [ 4.11051712e-01 -2.64369664e-02 9.11228609e-01 1.02313292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120371743 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:38.36, Y:11.76, Z:10.24 [[ 6.95341204e-01 -6.35597904e-01 -3.35433921e-01 3.83648333e+01] [ 5.89568483e-01 7.71388935e-01 -2.39516418e-01 1.17617484e+01] [ 4.10986148e-01 -3.12156331e-02 9.11107003e-01 1.02402098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150371743 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:38.39, Y:11.78, Z:10.25 [[ 6.94732777e-01 -6.34241937e-01 -3.39239642e-01 3.83851797e+01] [ 5.89172959e-01 7.72344671e-01 -2.37400365e-01 1.17767486e+01] [ 4.12579197e-01 -3.49410083e-02 9.10251357e-01 1.02518818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180371743 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:38.40, Y:11.80, Z:10.27 [[ 6.95680234e-01 -6.36486109e-01 -3.33038202e-01 3.84013152e+01] [ 5.87894670e-01 7.70876335e-01 -2.45213241e-01 1.17951008e+01] [ 4.12806090e-01 -2.52013789e-02 9.10470220e-01 1.02658609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210371743 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:38.42, Y:11.81, Z:10.28 [[ 6.97604955e-01 -6.37614819e-01 -3.26794537e-01 3.84215128e+01] [ 5.86868896e-01 7.70157344e-01 -2.49885103e-01 1.18131169e+01] [ 4.11013657e-01 -1.74644628e-02 9.11461884e-01 1.02776309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240371743 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:38.45, Y:11.83, Z:10.28 [[ 6.97960611e-01 -6.32630675e-01 -3.35603062e-01 3.84465720e+01] [ 5.86422606e-01 7.73878284e-01 -2.39208964e-01 1.18256917e+01] [ 4.11046850e-01 -2.98467871e-02 9.11125489e-01 1.02842709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270371743 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:38.46, Y:11.84, Z:10.30 [[ 6.99070261e-01 -6.32207621e-01 -3.34087255e-01 3.84645784e+01] [ 5.84821582e-01 7.74346236e-01 -2.41602201e-01 1.18418406e+01] [ 4.11441961e-01 -2.64845234e-02 9.11051087e-01 1.02972313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300371743 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:38.48, Y:11.86, Z:10.31 [[ 6.99983325e-01 -6.31178443e-01 -3.34121413e-01 3.84833425e+01] [ 5.83232630e-01 7.75232848e-01 -2.42597880e-01 1.18580893e+01] [ 4.12144447e-01 -2.50560396e-02 9.10773929e-01 1.03099000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330371743 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:38.50, Y:11.87, Z:10.32 [[ 7.01333667e-01 -6.31084491e-01 -3.31456563e-01 3.85026675e+01] [ 5.81860469e-01 7.75433356e-01 -2.45237649e-01 1.18748238e+01] [ 4.11788152e-01 -2.08680512e-02 9.11040637e-01 1.03220293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360371743 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:38.52, Y:11.89, Z:10.33 [[ 7.02804855e-01 -6.30761613e-01 -3.28945471e-01 3.85239460e+01] [ 5.80059565e-01 7.75805532e-01 -2.48307628e-01 1.18920403e+01] [ 4.11820636e-01 -1.62961606e-02 9.11119201e-01 1.03337595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390371743 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:38.55, Y:11.90, Z:10.34 [[ 7.03445186e-01 -6.27074304e-01 -3.34578373e-01 3.85470169e+01] [ 5.79287055e-01 7.78587410e-01 -2.41305102e-01 1.19048024e+01] [ 4.11814738e-01 -2.40720084e-02 9.10949592e-01 1.03415762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420371743000004 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:38.57, Y:11.92, Z:10.36 [[ 7.02679183e-01 -6.28491463e-01 -3.33527282e-01 3.85662092e+01] [ 5.78986142e-01 7.77541160e-01 -2.45366649e-01 1.19219772e+01] [ 4.13542033e-01 -2.06936378e-02 9.10249834e-01 1.03557550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450371743 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:38.59, Y:11.94, Z:10.37 [[ 7.02216710e-01 -6.27503944e-01 -3.36348766e-01 3.85876661e+01] [ 5.78328450e-01 7.78280175e-01 -2.44573452e-01 1.19368598e+01] [ 4.15244382e-01 -2.27764957e-02 9.09424727e-01 1.03665492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480371743 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:38.61, Y:11.96, Z:10.38 [[ 7.02906999e-01 -6.31166251e-01 -3.27949561e-01 3.86072966e+01] [ 5.78208747e-01 7.75561549e-01 -2.53335606e-01 1.19570098e+01] [ 4.14241954e-01 -1.15519339e-02 9.10093488e-01 1.03811989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510371743 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:38.63, Y:11.97, Z:10.39 [[ 7.02209929e-01 -6.25602469e-01 -3.39886404e-01 3.86337859e+01] [ 5.78729277e-01 7.79615662e-01 -2.39315365e-01 1.19669150e+01] [ 4.14697047e-01 -2.86525873e-02 9.09508322e-01 1.03856597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540371743 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:38.65, Y:11.99, Z:10.40 [[ 7.01298464e-01 -6.34974203e-01 -3.24018867e-01 3.86508600e+01] [ 5.80293180e-01 7.72500037e-01 -2.57882761e-01 1.19892689e+01] [ 4.14053487e-01 -7.17315449e-03 9.10224289e-01 1.04042190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570371743 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:38.68, Y:12.00, Z:10.41 [[ 6.99910571e-01 -6.30617131e-01 -3.35331517e-01 3.86800479e+01] [ 5.81940427e-01 7.75714939e-01 -2.44155019e-01 1.20001503e+01] [ 4.14090004e-01 -2.42562874e-02 9.09912689e-01 1.04098428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600371743000004 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:38.70, Y:12.00, Z:10.41 [[ 0.68604264 -0.62192989 -0.37755624 38.6966306 ] [ 0.59037013 0.77914407 -0.21070744 11.99759403] [ 0.42521596 -0.07834364 0.90169488 10.41307422] [ 0. 0. 0. 1. ]] SLAMing on 45.630371743 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:38.69, Y:12.04, Z:10.46 [[ 6.93502403e-01 -6.55916269e-01 -2.98040711e-01 3.86937892e+01] [ 5.87037195e-01 7.54278414e-01 -2.94026199e-01 1.20431687e+01] [ 4.17662242e-01 2.89468920e-02 9.08141139e-01 1.04587355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:38.74, Y:12.04, Z:10.45 [[ 6.89737308e-01 -6.40436788e-01 -3.37791603e-01 3.87405832e+01] [ 5.91854665e-01 7.67428472e-01 -2.46498672e-01 1.20431897e+01] [ 4.17097711e-01 -2.99042053e-02 9.08369549e-01 1.04502477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690371743 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:38.76, Y:12.06, Z:10.46 [[ 6.86853305e-01 -6.44657370e-01 -3.35632854e-01 3.87598132e+01] [ 5.94958492e-01 7.63954480e-01 -2.49795807e-01 1.20597078e+01] [ 4.17440931e-01 -2.81145412e-02 9.08269036e-01 1.04638722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720371743 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:38.78, Y:12.08, Z:10.48 [[ 6.86158705e-01 -6.49412251e-01 -3.27795607e-01 3.87805379e+01] [ 5.96887143e-01 7.60184267e-01 -2.56604012e-01 1.20787774e+01] [ 4.15826852e-01 -1.95859068e-02 9.09232875e-01 1.04775283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:38.81, Y:12.08, Z:10.48 [[ 0.68016496 -0.64446755 -0.34933825 38.81018515] [ 0.60209557 0.76297448 -0.23526765 12.08437197] [ 0.41815853 -0.0503142 0.90697956 10.48319028] [ 0. 0. 0. 1. ]] SLAMing on 45.780371743 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:38.82, Y:12.10, Z:10.50 [[ 6.78550005e-01 -6.52822241e-01 -3.36738790e-01 3.88213427e+01] [ 6.03520573e-01 7.56796983e-01 -2.51040324e-01 1.21036689e+01] [ 4.18727607e-01 -3.28853749e-02 9.07516249e-01 1.05010427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.810371743 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:38.84, Y:12.12, Z:10.51 [[ 6.75416523e-01 -6.58674985e-01 -3.31601848e-01 3.88417073e+01] [ 6.06669795e-01 7.51944491e-01 -2.57936509e-01 1.21214312e+01] [ 4.19242509e-01 -2.69582452e-02 9.07473951e-01 1.05149034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840371743 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:38.87, Y:12.13, Z:10.52 [[ 0.67331664 -0.65314504 -0.34647693 38.86746478] [ 0.60846145 0.75572574 -0.24218436 12.12981127] [ 0.42002304 -0.0477511 0.9062563 10.52090131] [ 0. 0. 0. 1. ]] SLAMing on 45.870371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:38.88, Y:12.15, Z:10.54 [[ 6.69209757e-01 -6.61407455e-01 -3.38671639e-01 3.88815648e+01] [ 6.11495880e-01 7.49131083e-01 -2.54706515e-01 1.21482388e+01] [ 4.22174240e-01 -3.66442270e-02 9.05773764e-01 1.05382593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900371743 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:38.90, Y:12.16, Z:10.55 [[ 6.65853125e-01 -6.64126467e-01 -3.39964191e-01 3.89014983e+01] [ 6.13118366e-01 7.46717347e-01 -2.57874141e-01 1.21649270e+01] [ 4.25118202e-01 -3.67319863e-02 9.04392214e-01 1.05529924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930371743 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:38.92, Y:12.18, Z:10.56 [[ 0.66505466 -0.66372931 -0.34229476 38.92282753] [ 0.61455289 0.74682841 -0.25411036 12.17846985] [ 0.42429595 -0.04136095 0.90457848 10.56277898] [ 0. 0. 0. 1. ]] SLAMing on 45.960371743 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:38.94, Y:12.19, Z:10.58 [[ 0.66033732 -0.66718973 -0.34469187 38.94222285] [ 0.61819938 0.74354143 -0.25490326 12.19307003] [ 0.42636152 -0.04476617 0.90344443 10.5765668 ] [ 0. 0. 0. 1. ]] SLAMing on 45.990371743 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:38.96, Y:12.21, Z:10.59 [[ 6.58530186e-01 -6.72029312e-01 -3.38695436e-01 3.89598626e+01] [ 6.19461192e-01 7.39622340e-01 -2.63109532e-01 1.22120362e+01] [ 4.27324029e-01 -3.65431096e-02 9.03359716e-01 1.05926227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020371743 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:38.98, Y:12.22, Z:10.60 [[ 0.65593781 -0.67006124 -0.34751047 38.98194462] [ 0.62162847 0.74069616 -0.25484749 12.22340466] [ 0.4281631 -0.04885829 0.90237976 10.60159 ] [ 0. 0. 0. 1. ]] SLAMing on 46.050371743 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:39.00, Y:12.24, Z:10.62 [[ 6.55422250e-01 -6.75284986e-01 -3.38248225e-01 3.89980956e+01] [ 6.22042400e-01 7.36653428e-01 -2.65339368e-01 1.22434403e+01] [ 4.28351406e-01 -3.64954118e-02 9.02874940e-01 1.06179724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080371743 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:39.02, Y:12.26, Z:10.63 [[ 0.65392188 -0.67416562 -0.34334661 39.02020335] [ 0.62286639 0.73733509 -0.26148505 12.25856462] [ 0.42944574 -0.04286827 0.90207465 10.62979198] [ 0. 0. 0. 1. ]] SLAMing on 46.110371743 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:39.04, Y:12.27, Z:10.64 [[ 0.65411718 -0.673435 -0.34440674 39.03879586] [ 0.62288844 0.73790172 -0.25982887 12.27377879] [ 0.42911618 -0.04456845 0.90214907 10.64133291] [ 0. 0. 0. 1. ]] SLAMing on 46.140371743 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:39.06, Y:12.29, Z:10.66 [[ 6.55286835e-01 -6.75259984e-01 -3.38560361e-01 3.90566692e+01] [ 6.22121199e-01 7.36657186e-01 -2.65144119e-01 1.22934523e+01] [ 4.28444136e-01 -3.68801266e-02 9.02815307e-01 1.06563436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170371743000004 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:39.08, Y:12.30, Z:10.66 [[ 0.66045612 -0.66620328 -0.34636816 39.08108944] [ 0.62111236 0.74393374 -0.2465401 12.3037527 ] [ 0.42192079 -0.05230463 0.90512269 10.66246649] [ 0. 0. 0. 1. ]] SLAMing on 46.200371743 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:39.09, Y:12.33, Z:10.69 [[ 6.57284457e-01 -6.79799113e-01 -3.25346444e-01 3.90892560e+01] [ 6.19713309e-01 7.33187358e-01 -2.79985202e-01 1.23324333e+01] [ 4.28873592e-01 -1.75915996e-02 9.03193212e-01 1.06882960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230371743 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:39.12, Y:12.34, Z:10.69 [[ 0.6571837 -0.67142346 -0.34249105 39.11966531] [ 0.61969528 0.73997485 -0.26156256 12.3436032 ] [ 0.429054 -0.04034543 0.90237737 10.69324587] [ 0. 0. 0. 1. ]] SLAMing on 46.260371743 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:39.14, Y:12.36, Z:10.70 [[ 0.6572487 -0.66963039 -0.34586022 39.13919574] [ 0.61923812 0.74137978 -0.25865068 12.35818784] [ 0.42961413 -0.04417201 0.90193156 10.70402972] [ 0. 0. 0. 1. ]] SLAMing on 46.290371743 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:39.16, Y:12.38, Z:10.72 [[ 6.58971435e-01 -6.70843448e-01 -3.40184826e-01 3.91564641e+01] [ 6.16367927e-01 7.40829831e-01 -2.66948945e-01 1.23779160e+01] [ 4.31100018e-01 -3.37672864e-02 9.01672083e-01 1.07197433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320371743 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:39.18, Y:12.39, Z:10.72 [[ 0.6630293 -0.66074965 -0.35185515 39.18097576] [ 0.61543862 0.74871544 -0.24629351 12.38665222] [ 0.42617773 -0.05324544 0.90307113 10.72428839] [ 0. 0. 0. 1. ]] SLAMing on 46.350371743000004 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:39.19, Y:12.42, Z:10.75 [[ 6.60215909e-01 -6.76994787e-01 -3.25258377e-01 3.91851871e+01] [ 6.13215089e-01 7.35920559e-01 -2.87033423e-01 1.24176299e+01] [ 4.33684458e-01 -9.94931254e-03 9.01009879e-01 1.07532873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:39.22, Y:12.42, Z:10.75 [[ 0.66385903 -0.65962073 -0.3524084 39.21696424] [ 0.60932769 0.75028314 -0.25650532 12.42412582] [ 0.43360231 -0.04444883 0.90000741 10.75327061] [ 0. 0. 0. 1. ]] SLAMing on 46.410371743 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:39.23, Y:12.45, Z:10.77 [[ 6.65651346e-01 -6.65962515e-01 -3.36752452e-01 3.92288606e+01] [ 6.06943982e-01 7.45678560e-01 -2.74922693e-01 1.24478745e+01] [ 4.34197292e-01 -2.13872138e-02 9.00563878e-01 1.07732261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440371743 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:39.25, Y:12.46, Z:10.78 [[ 6.71544851e-01 -6.57476736e-01 -3.41689705e-01 3.92522826e+01] [ 6.01509707e-01 7.53012496e-01 -2.66755042e-01 1.24631768e+01] [ 4.32681852e-01 -2.63916987e-02 9.01160304e-01 1.07816009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470371743 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:39.27, Y:12.48, Z:10.80 [[ 6.73445594e-01 -6.57967556e-01 -3.36971406e-01 3.92709872e+01] [ 5.99242939e-01 7.52818562e-01 -2.72345577e-01 1.24832181e+01] [ 4.32872882e-01 -1.85178070e-02 9.01264755e-01 1.07960905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:39.29, Y:12.49, Z:10.80 [[ 6.75590728e-01 -6.49863831e-01 -3.48215694e-01 3.92942958e+01] [ 5.96991631e-01 7.59334216e-01 -2.58867805e-01 1.24944540e+01] [ 4.32640915e-01 -3.29931659e-02 9.00962424e-01 1.08021305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530371743 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:39.31, Y:12.50, Z:10.81 [[ 0.67114447 -0.63667249 -0.3797542 39.30709501] [ 0.59521815 0.76815596 -0.23590628 12.49999511] [ 0.44190548 -0.0677094 0.89450264 10.81055062] [ 0. 0. 0. 1. ]] SLAMing on 46.560371743 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:39.31, Y:12.54, Z:10.85 [[ 6.83231806e-01 -6.64153163e-01 -3.03471374e-01 3.93058675e+01] [ 5.87985122e-01 7.46830969e-01 -3.10671853e-01 1.25438775e+01] [ 4.32975514e-01 3.38242387e-02 9.00770850e-01 1.08524378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590371743 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:39.35, Y:12.53, Z:10.84 [[ 0.67483105 -0.63189531 -0.38119729 39.34681783] [ 0.59072637 0.77213957 -0.2341855 12.5332949 ] [ 0.44231823 -0.06714765 0.89434097 10.83565122] [ 0. 0. 0. 1. ]] SLAMing on 46.620371743 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:39.34, Y:12.58, Z:10.88 [[ 0.68911853 -0.66237142 -0.29390433 39.34336934] [ 0.58321088 0.74767237 -0.31757062 12.5801354 ] [ 0.43009385 0.0474356 0.9015371 10.87976265] [ 0. 0. 0. 1. ]] SLAMing on 46.650371743 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:39.39, Y:12.58, Z:10.87 [[ 6.91797980e-01 -6.38567246e-01 -3.37116342e-01 3.93941216e+01] [ 5.82174341e-01 7.69429916e-01 -2.62774889e-01 1.25813602e+01] [ 4.27186835e-01 -1.44733468e-02 9.04047526e-01 1.08652242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680371743 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:39.42, Y:12.60, Z:10.88 [[ 6.92068822e-01 -6.40363261e-01 -3.33130064e-01 3.94162653e+01] [ 5.81625521e-01 7.68027827e-01 -2.68039195e-01 1.26018488e+01] [ 4.27495612e-01 -8.25537663e-03 9.03979729e-01 1.08808436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:39.44, Y:12.59, Z:10.88 [[ 0.67735857 -0.6161189 -0.4019737 39.43934725] [ 0.58689075 0.78203924 -0.20969949 12.58904513] [ 0.44355903 -0.0938729 0.89131547 10.87649719] [ 0. 0. 0. 1. ]] SLAMing on 46.740371743 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:39.42, Y:12.65, Z:10.94 [[ 0.69074806 -0.66690397 -0.27947487 39.42060087] [ 0.58237482 0.74218492 -0.33166414 12.64963266] [ 0.42861017 0.06633724 0.90105088 10.93569336] [ 0. 0. 0. 1. ]] SLAMing on 46.770371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:39.49, Y:12.64, Z:10.91 [[ 6.88636457e-01 -6.34222520e-01 -3.51484886e-01 3.94852743e+01] [ 5.84475961e-01 7.72391835e-01 -2.48593452e-01 1.26385655e+01] [ 4.29147622e-01 -3.42439526e-02 9.02584994e-01 1.09102799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800371743 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:39.50, Y:12.66, Z:10.93 [[ 6.83384464e-01 -6.41176800e-01 -3.49110276e-01 3.94997820e+01] [ 5.87305936e-01 7.66875615e-01 -2.58792442e-01 1.26562465e+01] [ 4.33655868e-01 -2.81798032e-02 9.00637822e-01 1.09291075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830371743 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:39.52, Y:12.67, Z:10.94 [[ 6.80998027e-01 -6.45371989e-01 -3.46029886e-01 3.95172839e+01] [ 5.89740739e-01 7.63466899e-01 -2.63294806e-01 1.26723508e+01] [ 4.34105457e-01 -2.47646769e-02 9.00521606e-01 1.09435604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860371743 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:39.53, Y:12.67, Z:10.95 [[ 0.66789116 -0.63612321 -0.38635302 39.53329607] [ 0.59650138 0.76796658 -0.23326687 12.67220486] [ 0.44509268 -0.07466323 0.89236646 10.94950272] [ 0. 0. 0. 1. ]] SLAMing on 46.890371743 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:39.53, Y:12.72, Z:11.00 [[ 0.67501309 -0.67908437 -0.28844712 39.52639602] [ 0.59654557 0.73238995 -0.3282352 12.72077934] [ 0.43415517 0.04949121 0.89947758 10.99736106] [ 0. 0. 0. 1. ]] SLAMing on 46.920371743000004 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:39.58, Y:12.72, Z:10.98 [[ 6.74647486e-01 -6.57293937e-01 -3.35880113e-01 3.95819851e+01] [ 5.99293480e-01 7.53401774e-01 -2.70616134e-01 1.27219290e+01] [ 4.30927017e-01 -1.87202678e-02 9.02192583e-01 1.09835761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950371743 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:39.61, Y:12.72, Z:10.99 [[ 0.66882704 -0.64670349 -0.36666742 39.60938025] [ 0.60300731 0.76039548 -0.24120718 12.72280733] [ 0.43480177 -0.05977725 0.89853998 10.9874141 ] [ 0. 0. 0. 1. ]] SLAMing on 46.980371743 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:39.61, Y:12.75, Z:11.01 [[ 6.67689987e-01 -6.60701412e-01 -3.43021465e-01 3.96130466e+01] [ 6.03054634e-01 7.50204565e-01 -2.71142433e-01 1.27485875e+01] [ 4.36480457e-01 -2.58215962e-02 8.99343125e-01 1.10125461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:39.64, Y:12.76, Z:11.03 [[ 6.61956917e-01 -6.62020707e-01 -3.51484885e-01 3.96370289e+01] [ 6.07891795e-01 7.48507705e-01 -2.64959962e-01 1.27595441e+01] [ 4.38498125e-01 -3.82726980e-02 8.97916808e-01 1.10255929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040371743 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:39.65, Y:12.78, Z:11.04 [[ 6.61010500e-01 -6.72196356e-01 -3.33492395e-01 3.96508925e+01] [ 6.09877978e-01 7.40194782e-01 -2.83126361e-01 1.27822752e+01] [ 4.37165839e-01 -1.62401701e-02 8.99234278e-01 1.10439647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070371743 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:39.68, Y:12.79, Z:11.05 [[ 6.57976796e-01 -6.68670678e-01 -3.46332297e-01 3.96796837e+01] [ 6.13899142e-01 7.42658930e-01 -2.67554774e-01 1.27903700e+01] [ 4.36112805e-01 -3.65682671e-02 8.99148699e-01 1.10496381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100371743000004 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:39.70, Y:12.81, Z:11.07 [[ 6.55169381e-01 -6.76312927e-01 -3.36680720e-01 3.96965646e+01] [ 6.15910315e-01 7.36234109e-01 -2.80381560e-01 1.28115330e+01] [ 4.37501504e-01 -2.36677150e-02 8.98906154e-01 1.10674440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.130371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:39.72, Y:12.82, Z:11.08 [[ 0.65342548 -0.67182401 -0.34883755 39.72318553] [ 0.61774011 0.7395823 -0.26723618 12.82223848] [ 0.43752976 -0.04087202 0.89827456 11.07513278] [ 0. 0. 0. 1. ]] SLAMing on 47.160371743 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:39.74, Y:12.84, Z:11.09 [[ 0.65090627 -0.67365067 -0.35002259 39.74123016] [ 0.61935092 0.73784713 -0.26830215 12.83685945] [ 0.43900509 -0.04214726 0.89749548 11.08815707] [ 0. 0. 0. 1. ]] SLAMing on 47.190371743 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:39.76, Y:12.86, Z:11.11 [[ 6.46314369e-01 -6.82094191e-01 -3.42089537e-01 3.97571216e+01] [ 6.21094609e-01 7.30678513e-01 -2.83461457e-01 1.28562529e+01] [ 4.43304887e-01 -2.92647538e-02 8.95893047e-01 1.11060404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220371743 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:39.78, Y:12.87, Z:11.11 [[ 0.64523406 -0.67714083 -0.35377013 39.78133013] [ 0.6224269 0.73443673 -0.27053179 12.86667715] [ 0.4430099 -0.04563972 0.89535426 11.11346856] [ 0. 0. 0. 1. ]] SLAMing on 47.250371743 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:39.80, Y:12.89, Z:11.13 [[ 6.42959959e-01 -6.84205955e-01 -3.44187016e-01 3.97973496e+01] [ 6.23256838e-01 7.28592492e-01 -2.84084308e-01 1.28874456e+01] [ 4.45144251e-01 -3.18620762e-02 8.94891839e-01 1.11308791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280371743 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:39.82, Y:12.90, Z:11.14 [[ 6.42052941e-01 -6.83216054e-01 -3.47827320e-01 3.98189204e+01] [ 6.23483283e-01 7.29328101e-01 -2.81689754e-01 1.29030179e+01] [ 4.46135201e-01 -3.60047843e-02 8.94241040e-01 1.11421596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.310371743 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:39.84, Y:12.92, Z:11.15 [[ 0.64069146 -0.67976862 -0.3569721 39.84036406] [ 0.62360757 0.73193799 -0.27455487 12.91623267] [ 0.44791522 -0.04670554 0.89285528 11.15413936] [ 0. 0. 0. 1. ]] SLAMing on 47.340371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:39.85, Y:12.92, Z:11.16 [[ 0.6339001 -0.67290528 -0.38127307 39.85090472] [ 0.62573262 0.73594816 -0.25853238 12.92302221] [ 0.45456501 -0.07469129 0.8875764 11.16489163] [ 0. 0. 0. 1. ]] SLAMing on 47.370371743 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:39.85, Y:12.96, Z:11.20 [[ 6.42688774e-01 -7.00424472e-01 -3.10413755e-01 3.98507824e+01] [ 6.20587180e-01 7.13539419e-01 -3.25166188e-01 1.29647440e+01] [ 4.49246805e-01 1.63418616e-02 8.93258222e-01 1.12013184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:39.89, Y:12.97, Z:11.20 [[ 6.49742234e-01 -6.82000888e-01 -3.35722831e-01 3.98938838e+01] [ 6.19104851e-01 7.31036554e-01 -2.86870600e-01 1.29731839e+01] [ 4.41071665e-01 -2.14556882e-02 8.97215381e-01 1.11966242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430371743 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:39.92, Y:12.99, Z:11.20 [[ 6.55902979e-01 -6.76419629e-01 -3.35033980e-01 3.99202487e+01] [ 6.17408478e-01 7.36095993e-01 -2.77433705e-01 1.29888139e+01] [ 4.34278774e-01 -2.48832260e-02 9.00434768e-01 1.12025025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:39.94, Y:13.00, Z:11.22 [[ 0.65245808 -0.67146473 -0.35133114 39.94437135] [ 0.61735187 0.73982339 -0.26746591 13.00251212] [ 0.43951692 -0.04238465 0.89723376 11.2164447 ] [ 0. 0. 0. 1. ]] SLAMing on 47.490371743 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:39.96, Y:13.02, Z:11.23 [[ 6.53344461e-01 -6.75758484e-01 -3.41308491e-01 3.99594853e+01] [ 6.15998856e-01 7.36598189e-01 -2.79228432e-01 1.30243260e+01] [ 4.40098199e-01 -2.78132905e-02 8.97518800e-01 1.12343364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520371743 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:39.98, Y:13.04, Z:11.24 [[ 6.59101632e-01 -6.68416233e-01 -3.44680691e-01 3.99830921e+01] [ 6.12183705e-01 7.43062956e-01 -2.70348951e-01 1.30380375e+01] [ 4.36825080e-01 -3.28204675e-02 8.98947533e-01 1.12424852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550371743 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:40.00, Y:13.06, Z:11.26 [[ 6.59519019e-01 -6.71001912e-01 -3.38808350e-01 4.00002694e+01] [ 6.10150537e-01 7.41128962e-01 -2.80078890e-01 1.30590809e+01] [ 4.39034151e-01 -2.20067423e-02 8.98200822e-01 1.12598459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580371743 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:40.03, Y:13.07, Z:11.27 [[ 0.6574069 -0.66207577 -0.35982197 40.02526571] [ 0.60700945 0.74823628 -0.26773493 13.07023541] [ 0.44649266 -0.04240455 0.89378194 11.27053603] [ 0. 0. 0. 1. ]] SLAMing on 47.610371743 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:40.04, Y:13.07, Z:11.28 [[ 0.64426139 -0.64676659 -0.40819143 40.03797691] [ 0.61000144 0.75648812 -0.23584734 13.06839507] [ 0.46133015 -0.09705002 0.88190464 11.27845135] [ 0. 0. 0. 1. ]] SLAMing on 47.640371743 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:40.02, Y:13.12, Z:11.33 [[ 0.65531428 -0.69229523 -0.3021432 40.02343232] [ 0.6039874 0.72045804 -0.34079236 13.1230464 ] [ 0.45361042 0.04083541 0.89026404 11.32677375] [ 0. 0. 0. 1. ]] SLAMing on 47.670371743000004 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:40.07, Y:13.11, Z:11.31 [[ 0.64435801 -0.65154977 -0.40035691 40.07167355] [ 0.60657974 0.75427468 -0.25125827 13.10623323] [ 0.46568635 -0.08094811 0.88123982 11.30988344] [ 0. 0. 0. 1. ]] SLAMing on 47.700371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:40.06, Y:13.16, Z:11.35 [[ 0.6555534 -0.69194958 -0.30241614 40.06141817] [ 0.60169866 0.72061154 -0.34449634 13.1567122 ] [ 0.45629866 0.04387237 0.88874448 11.35405367] [ 0. 0. 0. 1. ]] SLAMing on 47.730371743 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:40.11, Y:13.16, Z:11.35 [[ 6.56522228e-01 -6.69000401e-01 -3.48449462e-01 4.01121293e+01] [ 6.01990695e-01 7.43048642e-01 -2.92379750e-01 1.31601236e+01] [ 4.54517070e-01 -1.78095290e-02 8.90559967e-01 1.13450079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760371743 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:40.13, Y:13.18, Z:11.36 [[ 6.53624029e-01 -6.67626514e-01 -3.56441392e-01 4.01342982e+01] [ 6.02442908e-01 7.44045423e-01 -2.88892629e-01 1.31758711e+01] [ 4.58080965e-01 -2.59084249e-02 8.88532826e-01 1.13601990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790371743 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:40.15, Y:13.17, Z:11.36 [[ 0.64200953 -0.65073087 -0.40542952 40.15200079] [ 0.60735733 0.75438249 -0.24904643 13.17113315] [ 0.46791114 -0.08635041 0.87954692 11.36493903] [ 0. 0. 0. 1. ]] SLAMing on 47.820371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:40.14, Y:13.20, Z:11.40 [[ 6.41936012e-01 -6.81595779e-01 -3.51205567e-01 4.01375226e+01] [ 6.06425120e-01 7.31612379e-01 -3.11435226e-01 1.32042112e+01] [ 4.69219276e-01 -1.30583912e-02 8.82985135e-01 1.14032200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850371743000004 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:40.16, Y:13.24, Z:11.43 [[ 0.65208519 -0.69561202 -0.3015109 40.15916697] [ 0.60533012 0.7171481 -0.34536075 13.23656258] [ 0.45646506 0.042691 0.88871656 11.42597623] [ 0. 0. 0. 1. ]] SLAMing on 47.880371743 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:40.21, Y:13.22, Z:11.41 [[ 0.63925004 -0.65543999 -0.40219125 40.20926036] [ 0.61104516 0.75047356 -0.25181987 13.21795719] [ 0.46688671 -0.08478116 0.88024369 11.40725781] [ 0. 0. 0. 1. ]] SLAMing on 47.910371743 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:40.20, Y:13.27, Z:11.45 [[ 0.64847552 -0.6995774 -0.30011826 40.19877249] [ 0.60836684 0.71325345 -0.34807945 13.26956992] [ 0.4575689 0.04313901 0.88812709 11.45279906] [ 0. 0. 0. 1. ]] SLAMing on 47.940371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:40.25, Y:13.25, Z:11.43 [[ 0.63274299 -0.66026957 -0.40457436 40.25137602] [ 0.61706281 0.74557062 -0.25171003 13.24815792] [ 0.46783523 -0.09038004 0.87918238 11.43247597] [ 0. 0. 0. 1. ]] SLAMing on 47.970371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:40.24, Y:13.28, Z:11.47 [[ 6.29452497e-01 -6.92537094e-01 -3.52394563e-01 4.02391640e+01] [ 6.17654871e-01 7.21102395e-01 -3.13869076e-01 1.32814921e+01] [ 4.71478541e-01 -2.00925445e-02 8.81648612e-01 1.14689525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000371743 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:40.26, Y:13.30, Z:11.48 [[ 6.26847474e-01 -6.94743771e-01 -3.52694395e-01 4.02583484e+01] [ 6.19940182e-01 7.18932734e-01 -3.14340413e-01 1.32963313e+01] [ 4.71949590e-01 -2.16059340e-02 8.81360748e-01 1.14806944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030371743 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:40.28, Y:13.31, Z:11.49 [[ 6.22762321e-01 -6.98453483e-01 -3.52604345e-01 4.02782924e+01] [ 6.24163287e-01 7.15243251e-01 -3.14399877e-01 1.33098127e+01] [ 4.71791567e-01 -2.42862903e-02 8.81375569e-01 1.14922240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060371743 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:40.30, Y:13.33, Z:11.51 [[ 6.20969206e-01 -7.00183690e-01 -3.52335132e-01 4.02974574e+01] [ 6.26197130e-01 7.13508561e-01 -3.14297133e-01 1.33256165e+01] [ 4.71459859e-01 -2.54624077e-02 8.81519862e-01 1.15055354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090371743 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:40.32, Y:13.34, Z:11.52 [[ 6.19460949e-01 -7.01749289e-01 -3.51875076e-01 4.03154711e+01] [ 6.28089026e-01 7.11933199e-01 -3.14094404e-01 1.33410776e+01] [ 4.70927073e-01 -2.64396558e-02 8.81775842e-01 1.15185559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120371743 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:40.33, Y:13.36, Z:11.53 [[ 6.18279263e-01 -7.03549453e-01 -3.50355421e-01 4.03336283e+01] [ 6.30777996e-01 7.10110871e-01 -3.12828500e-01 1.33558422e+01] [ 4.68881513e-01 -2.75811155e-02 8.82830340e-01 1.15319626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:40.35, Y:13.37, Z:11.55 [[ 6.18046768e-01 -7.04198896e-01 -3.49459737e-01 4.03526316e+01] [ 6.31866999e-01 7.09454088e-01 -3.12120158e-01 1.33719140e+01] [ 4.67720309e-01 -2.79072206e-02 8.83435849e-01 1.15450007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180371743 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:40.37, Y:13.39, Z:11.56 [[ 6.17607031e-01 -7.04991878e-01 -3.48637357e-01 4.03716899e+01] [ 6.33029071e-01 7.08652143e-01 -3.11586802e-01 1.33873666e+01] [ 4.66728775e-01 -2.82593826e-02 8.83948900e-01 1.15581423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:40.39, Y:13.40, Z:11.57 [[ 6.17087577e-01 -7.05402539e-01 -3.48726511e-01 4.03903333e+01] [ 6.33353665e-01 7.08237112e-01 -3.11870693e-01 1.34039566e+01] [ 4.66975435e-01 -2.84156835e-02 8.83813607e-01 1.15711661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240371743 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:40.41, Y:13.43, Z:11.59 [[ 6.25998458e-01 -7.14764163e-01 -3.11830278e-01 4.04127827e+01] [ 6.30432300e-01 6.99216258e-01 -3.37122736e-01 1.34345724e+01] [ 4.59000050e-01 1.44504333e-02 8.88318715e-01 1.15898327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270371743 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:40.45, Y:13.44, Z:11.59 [[ 6.26720757e-01 -6.97767418e-01 -3.46903045e-01 4.04547865e+01] [ 6.31026258e-01 7.15642731e-01 -2.99435040e-01 1.34431842e+01] [ 4.57194657e-01 -3.12427759e-02 8.88817717e-01 1.15872758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300371743 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:40.48, Y:13.45, Z:11.59 [[ 0.62624301 -0.68923454 -0.36438365 40.47921772] [ 0.63094327 0.72259468 -0.28243144 13.45275828] [ 0.45796319 -0.05303469 0.88738776 11.59481291] [ 0. 0. 0. 1. ]] SLAMing on 48.330371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:40.49, Y:13.48, Z:11.61 [[ 6.25017233e-01 -6.98619217e-01 -3.48259455e-01 4.04902679e+01] [ 6.31064658e-01 7.14803301e-01 -3.01353013e-01 1.34767866e+01] [ 4.59468014e-01 -3.14234075e-02 8.87638278e-01 1.16143828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360371743 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:40.51, Y:13.49, Z:11.63 [[ 6.25141914e-01 -6.96131115e-01 -3.52985917e-01 4.05134047e+01] [ 6.30923223e-01 7.16943187e-01 -2.96527153e-01 1.34929400e+01] [ 4.59492626e-01 -3.73354606e-02 8.87396523e-01 1.16258913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390371743 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:40.53, Y:13.51, Z:11.64 [[ 6.25445237e-01 -6.97472934e-01 -3.49785308e-01 4.05308171e+01] [ 6.30765772e-01 7.15837023e-01 -2.99519445e-01 1.35111056e+01] [ 4.59295979e-01 -3.32995900e-02 8.87658910e-01 1.16379050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420371743000004 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:40.55, Y:13.53, Z:11.65 [[ 0.62174849 -0.69268749 -0.36553091 40.55164737] [ 0.6308619 0.71949969 -0.29040224 13.52521248] [ 0.46415738 -0.05004237 0.884338 11.65128884] [ 0. 0. 0. 1. ]] SLAMing on 48.450371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:40.56, Y:13.54, Z:11.67 [[ 0.6229259 -0.69516558 -0.35875916 40.56466655] [ 0.63003194 0.71766658 -0.29667227 13.54393642] [ 0.46370581 -0.04122489 0.88502962 11.66660677] [ 0. 0. 0. 1. ]] SLAMing on 48.480371743 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:40.58, Y:13.57, Z:11.68 [[ 6.23337101e-01 -7.00418749e-01 -3.47655627e-01 4.05795500e+01] [ 6.29335169e-01 7.13242197e-01 -3.08581939e-01 1.35671145e+01] [ 4.64099239e-01 -2.64413411e-02 8.85388475e-01 1.16842519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510371743 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:40.60, Y:13.56, Z:11.69 [[ 0.61373895 -0.68034034 -0.40057649 40.60002363] [ 0.63167763 0.72751111 -0.26778902 13.56451559] [ 0.47361151 -0.08868265 0.87625768 11.68759278] [ 0. 0. 0. 1. ]] SLAMing on 48.540371743 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:40.59, Y:13.60, Z:11.72 [[ 6.16041728e-01 -7.04140607e-01 -3.53098562e-01 4.05874219e+01] [ 6.26956984e-01 7.09675115e-01 -3.21381661e-01 1.35972320e+01] [ 4.76883140e-01 -2.33930957e-02 8.78655355e-01 1.17213289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570371743 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:40.60, Y:13.61, Z:11.73 [[ 6.17403384e-01 -7.02975431e-01 -3.53041931e-01 4.06046175e+01] [ 6.25591615e-01 7.10860881e-01 -3.21421747e-01 1.36145664e+01] [ 4.76915289e-01 -2.24131974e-02 8.78663448e-01 1.17349206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600371743000004 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:40.62, Y:13.63, Z:11.75 [[ 6.20454640e-01 -7.00746314e-01 -3.52123051e-01 4.06203443e+01] [ 6.23341073e-01 7.13117274e-01 -3.20795356e-01 1.36320907e+01] [ 4.75901193e-01 -2.04537930e-02 8.79260881e-01 1.17477747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.630371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:40.64, Y:13.67, Z:11.77 [[ 0.63266546 -0.715667 -0.2958972 40.63588377] [ 0.6202993 0.69705504 -0.35964296 13.66958988] [ 0.46364124 0.04398885 0.88493038 11.77002118] [ 0. 0. 0. 1. ]] SLAMing on 48.660371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:40.69, Y:13.67, Z:11.76 [[ 6.33165167e-01 -6.84382195e-01 -3.61556196e-01 4.06903960e+01] [ 6.19894419e-01 7.28087314e-01 -2.92608566e-01 1.36689267e+01] [ 4.63500572e-01 -3.88571170e-02 8.85244229e-01 1.17582379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:40.70, Y:13.67, Z:11.77 [[ 0.621886 -0.67268327 -0.40094267 40.7032431 ] [ 0.623116 0.73516669 -0.26693893 13.67024096] [ 0.47432505 -0.08382821 0.87634958 11.76735748] [ 0. 0. 0. 1. ]] SLAMing on 48.720371743 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:40.69, Y:13.70, Z:11.80 [[ 6.20905363e-01 -7.00188263e-01 -3.52438544e-01 4.06906367e+01] [ 6.22013285e-01 7.13698906e-01 -3.22076613e-01 1.37018503e+01] [ 4.77049268e-01 -1.92423604e-02 8.78665879e-01 1.18016361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750371743 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:40.71, Y:13.73, Z:11.82 [[ 6.27862410e-01 -7.09212633e-01 -3.20634113e-01 4.07107876e+01] [ 6.20799542e-01 7.04801457e-01 -3.43311570e-01 1.37303578e+01] [ 4.69464293e-01 1.65029198e-02 8.82797220e-01 1.18202855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780371743 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:40.75, Y:13.74, Z:11.82 [[ 6.28626125e-01 -6.94004677e-01 -3.50979633e-01 4.07493810e+01] [ 6.22335402e-01 7.19545982e-01 -3.08143193e-01 1.37386550e+01] [ 4.66398801e-01 -2.47201898e-02 8.84229082e-01 1.18179755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.810371743 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:40.77, Y:13.74, Z:11.82 [[ 0.61710401 -0.68260645 -0.39144741 40.76758159] [ 0.62783955 0.7270076 -0.27798822 13.74042424] [ 0.47434179 -0.07421852 0.87720663 11.82349313] [ 0. 0. 0. 1. ]] SLAMing on 48.840371743 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:40.76, Y:13.77, Z:11.85 [[ 6.15018010e-01 -7.05176382e-01 -3.52815983e-01 4.07625362e+01] [ 6.27351359e-01 7.08665588e-01 -3.22836424e-01 1.37690678e+01] [ 4.77685168e-01 -2.27893715e-02 8.78235461e-01 1.18546718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870371743 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:40.78, Y:13.79, Z:11.87 [[ 6.14825482e-01 -7.05397050e-01 -3.52710403e-01 4.07809376e+01] [ 6.27539749e-01 7.08446212e-01 -3.22951742e-01 1.37860999e+01] [ 4.77685555e-01 -2.27808374e-02 8.78235472e-01 1.18679857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900371743 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:40.80, Y:13.80, Z:11.88 [[ 6.11753958e-01 -7.08191299e-01 -3.52451670e-01 4.07977973e+01] [ 6.30775028e-01 7.05585754e-01 -3.22911144e-01 1.38028397e+01] [ 4.77367740e-01 -2.47755413e-02 8.78354264e-01 1.18803939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930371743 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:40.82, Y:13.83, Z:11.90 [[ 6.17324571e-01 -7.16219457e-01 -3.25484353e-01 4.08200678e+01] [ 6.29757837e-01 6.97852289e-01 -3.41185066e-01 1.38302099e+01] [ 4.71503383e-01 5.64560231e-03 8.81846181e-01 1.18992844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:40.86, Y:13.84, Z:11.90 [[ 6.16158057e-01 -7.03679233e-01 -3.53814622e-01 4.08564573e+01] [ 6.31993463e-01 7.09799703e-01 -3.11076590e-01 1.38403452e+01] [ 4.70035649e-01 -3.19361813e-02 8.82069481e-01 1.19005057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.990371743 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:40.87, Y:13.85, Z:11.91 [[ 0.60735528 -0.69476806 -0.38524916 40.87182388] [ 0.63665455 0.7157285 -0.28706045 13.84512795] [ 0.47517423 -0.07092295 0.87702873 11.90694863] [ 0. 0. 0. 1. ]] SLAMing on 49.020371743 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:40.87, Y:13.87, Z:11.94 [[ 6.06278251e-01 -7.13293832e-01 -3.51622796e-01 4.08692713e+01] [ 6.36007989e-01 7.00338664e-01 -3.24067266e-01 1.38725389e+01] [ 4.77410222e-01 -2.71599726e-02 8.78260677e-01 1.19353509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050371743 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:40.89, Y:13.89, Z:11.95 [[ 6.06365913e-01 -7.13317235e-01 -3.51424106e-01 4.08863454e+01] [ 6.36012789e-01 7.00321401e-01 -3.24095154e-01 1.38898168e+01] [ 4.77292481e-01 -2.69899721e-02 8.78329909e-01 1.19482590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080371743 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:40.90, Y:13.91, Z:11.96 [[ 6.07064920e-01 -7.12810605e-01 -3.51245248e-01 4.09044570e+01] [ 6.35398014e-01 7.00859248e-01 -3.24138363e-01 1.39059563e+01] [ 4.77222743e-01 -2.64075033e-02 8.78385506e-01 1.19609075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110371743 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:40.92, Y:13.92, Z:11.97 [[ 6.06957477e-01 -7.13032552e-01 -3.50980341e-01 4.09216936e+01] [ 6.35727084e-01 7.00630662e-01 -3.23987268e-01 1.39232726e+01] [ 4.76921057e-01 -2.64812144e-02 8.78547125e-01 1.19737113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140371743 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:40.94, Y:13.94, Z:11.99 [[ 6.07955951e-01 -7.12205620e-01 -3.50931215e-01 4.09384220e+01] [ 6.34682419e-01 7.01501737e-01 -3.24150491e-01 1.39404157e+01] [ 4.77040658e-01 -2.56606525e-02 8.78506540e-01 1.19866257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170371743000004 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:40.96, Y:13.96, Z:12.00 [[ 6.07955636e-01 -7.11972307e-01 -3.51404864e-01 4.09553707e+01] [ 6.34139964e-01 7.01746296e-01 -3.24682371e-01 1.39575339e+01] [ 4.77761918e-01 -2.54473905e-02 8.78120709e-01 1.19999642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200371743 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:40.98, Y:13.98, Z:12.02 [[ 6.15193083e-01 -7.15157447e-01 -3.31794059e-01 4.09770801e+01] [ 6.30694530e-01 6.98960969e-01 -3.37161642e-01 1.39817564e+01] [ 4.73034756e-01 -1.84118854e-03 8.81041843e-01 1.20166954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230371743 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:41.00, Y:13.99, Z:12.02 [[ 0.61015858 -0.69786896 -0.37508056 41.00478608] [ 0.63262536 0.71415129 -0.29962157 13.98668875] [ 0.47696086 -0.0544688 0.87723514 12.01624712] [ 0. 0. 0. 1. ]] SLAMing on 49.260371743 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:41.01, Y:14.01, Z:12.04 [[ 6.11018290e-01 -7.08905046e-01 -3.52292896e-01 4.10081394e+01] [ 6.30861117e-01 7.04891345e-01 -3.24256754e-01 1.40095707e+01] [ 4.78195463e-01 -2.41210826e-02 8.77922134e-01 1.20392219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290371743 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:41.03, Y:14.04, Z:12.06 [[ 6.17801774e-01 -7.16873827e-01 -3.23129824e-01 4.10283664e+01] [ 6.28489737e-01 6.97130571e-01 -3.44977706e-01 1.40368430e+01] [ 4.72569167e-01 1.00440602e-02 8.81236347e-01 1.20594392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320371743 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:41.06, Y:14.04, Z:12.05 [[ 0.61354369 -0.69236464 -0.37973061 41.06189512] [ 0.63032317 0.71906502 -0.29264005 14.03584437] [ 0.47566462 -0.05980554 0.87759129 12.05361613] [ 0. 0. 0. 1. ]] SLAMing on 49.350371743000004 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:41.06, Y:14.06, Z:12.08 [[ 6.14204648e-01 -7.07161906e-01 -3.50249467e-01 4.10613614e+01] [ 6.28469968e-01 7.06751592e-01 -3.24850251e-01 1.40612803e+01] [ 4.77261092e-01 -2.05967374e-02 8.78520133e-01 1.20808963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380371743 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:41.08, Y:14.09, Z:12.10 [[ 6.23702552e-01 -7.13605725e-01 -3.19001561e-01 4.10809524e+01] [ 6.24558816e-01 7.00357810e-01 -3.45579546e-01 1.40904295e+01] [ 4.70022777e-01 1.63036079e-02 8.82503701e-01 1.21013349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410371743 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:41.12, Y:14.09, Z:12.09 [[ 0.61726499 -0.6865369 -0.38425384 41.11713721] [ 0.62697373 0.72428824 -0.28689803 14.08660613] [ 0.47527662 -0.06382495 0.87751838 12.09307444] [ 0. 0. 0. 1. ]] SLAMing on 49.440371743 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:41.11, Y:14.13, Z:12.13 [[ 6.25682291e-01 -7.15423131e-01 -3.10952430e-01 4.11149815e+01] [ 6.23583173e-01 6.98203222e-01 -3.51647958e-01 1.41278175e+01] [ 4.68685072e-01 2.61151971e-02 8.82979218e-01 1.21298952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470371743 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:41.16, Y:14.13, Z:12.12 [[ 6.26079114e-01 -6.93657933e-01 -3.56179191e-01 4.11596624e+01] [ 6.23769904e-01 7.19628607e-01 -3.05034055e-01 1.41317325e+01] [ 4.67906027e-01 -3.11984090e-02 8.83227383e-01 1.21232479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500371743 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:41.17, Y:14.14, Z:12.13 [[ 0.61680955 -0.68350249 -0.39034641 41.17459599] [ 0.62690288 0.72647739 -0.28146648 14.13575013] [ 0.47596088 -0.07109808 0.87658787 12.13060158] [ 0. 0. 0. 1. ]] SLAMing on 49.530371743 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:41.17, Y:14.18, Z:12.17 [[ 6.25104267e-01 -7.18571916e-01 -3.04793465e-01 4.11691560e+01] [ 6.24247904e-01 6.94661279e-01 -3.57435675e-01 1.41809278e+01] [ 4.68571456e-01 3.31678835e-02 8.82802742e-01 1.21711337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560371743 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:41.22, Y:14.18, Z:12.16 [[ 0.62302739 -0.69058025 -0.36733608 41.21974477] [ 0.6261719 0.72177241 -0.29487853 14.17829525] [ 0.46877033 -0.04629813 0.88210592 12.16094473] [ 0. 0. 0. 1. ]] SLAMing on 49.590371743 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:41.23, Y:14.20, Z:12.18 [[ 6.21498433e-01 -7.00813986e-01 -3.50142049e-01 4.12286866e+01] [ 6.27179526e-01 7.12917985e-01 -3.13677842e-01 1.42007945e+01] [ 4.69452383e-01 -2.46516373e-02 8.82613594e-01 1.21821129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620371743 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:41.25, Y:14.22, Z:12.20 [[ 6.19644352e-01 -7.01033411e-01 -3.52977384e-01 4.12487569e+01] [ 6.28391315e-01 7.12561021e-01 -3.12059523e-01 1.42170124e+01] [ 4.70282077e-01 -2.84420014e-02 8.82057719e-01 1.21955280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:41.27, Y:14.23, Z:12.21 [[ 6.18595602e-01 -6.98338852e-01 -3.60086557e-01 4.12700375e+01] [ 6.30511049e-01 7.14665171e-01 -3.02835781e-01 1.42281819e+01] [ 4.68823313e-01 -3.97056704e-02 8.82399094e-01 1.22053437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680371743 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:41.28, Y:14.25, Z:12.23 [[ 6.15200187e-01 -7.07258043e-01 -3.48302729e-01 4.12816016e+01] [ 6.32015987e-01 7.06538691e-01 -3.18369078e-01 1.42496480e+01] [ 4.71258446e-01 -2.42721766e-02 8.81661125e-01 1.22255243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710371743 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:41.30, Y:14.26, Z:12.23 [[ 6.12297591e-01 -7.05265066e-01 -3.57341358e-01 4.13041276e+01] [ 6.34748090e-01 7.07965615e-01 -3.09644230e-01 1.42618920e+01] [ 4.71366653e-01 -3.72273282e-02 8.81151295e-01 1.22347562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:41.32, Y:14.28, Z:12.25 [[ 6.09265943e-01 -7.09259095e-01 -3.54607596e-01 4.13206518e+01] [ 6.36440001e-01 7.04134662e-01 -3.14862673e-01 1.42794617e+01] [ 4.73010714e-01 -3.38513552e-02 8.80406128e-01 1.22504514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770371743 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:41.34, Y:14.30, Z:12.26 [[ 6.06716214e-01 -7.10375461e-01 -3.56738197e-01 4.13394571e+01] [ 6.38209963e-01 7.02846071e-01 -3.14158310e-01 1.42954049e+01] [ 4.73902394e-01 -3.70689315e-02 8.79796803e-01 1.22637833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800371743 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:41.35, Y:14.30, Z:12.27 [[ 0.59626231 -0.70636536 -0.38146984 41.35362869] [ 0.64363043 0.7046305 -0.2987235 14.30225507] [ 0.47980321 -0.06740803 0.87478285 12.27254071] [ 0. 0. 0. 1. ]] SLAMing on 49.830371743 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:41.36, Y:14.34, Z:12.30 [[ 6.00217614e-01 -7.29680587e-01 -3.27574505e-01 4.13578946e+01] [ 6.41749971e-01 6.83785824e-01 -3.47266356e-01 1.43361325e+01] [ 4.77384321e-01 -1.78554603e-03 8.78692791e-01 1.23044782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860371743 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:41.39, Y:14.34, Z:12.30 [[ 0.5928472 -0.71040593 -0.37928302 41.38899513] [ 0.64624579 0.70070076 -0.30229923 14.33663964] [ 0.48051907 -0.0658928 0.87450533 12.300805 ] [ 0. 0. 0. 1. ]] SLAMing on 49.890371743 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:41.39, Y:14.37, Z:12.33 [[ 5.97765845e-01 -7.32794782e-01 -3.25096605e-01 4.13939935e+01] [ 6.43990406e-01 6.80449624e-01 -3.49663647e-01 1.43709961e+01] [ 4.77443558e-01 -3.42109543e-04 8.78662354e-01 1.23318635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920371743000004 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:41.43, Y:14.37, Z:12.33 [[ 0.59047928 -0.71122849 -0.38142923 41.42723934] [ 0.64835457 0.69948615 -0.30059189 14.37015042] [ 0.48059398 -0.0698081 0.87416032 12.32741615] [ 0. 0. 0. 1. ]] SLAMing on 49.950371743 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:41.43, Y:14.40, Z:12.35 [[ 5.89641904e-01 -7.27298388e-01 -3.51225683e-01 4.14268470e+01] [ 6.47256880e-01 6.85625218e-01 -3.33131494e-01 1.43954535e+01] [ 4.83095184e-01 -3.09049511e-02 8.75022244e-01 1.23537925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980371743 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:41.45, Y:14.42, Z:12.37 [[ 5.96239931e-01 -7.35540085e-01 -3.21681096e-01 4.14457929e+01] [ 6.45466679e-01 6.77475980e-01 -3.52702515e-01 1.44227466e+01] [ 4.77358053e-01 2.66089488e-03 8.78704847e-01 1.23720565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010371743 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:41.48, Y:14.43, Z:12.37 [[ 5.97571320e-01 -7.18328975e-01 -3.56247107e-01 4.14829245e+01] [ 6.45671138e-01 6.94532037e-01 -3.17386248e-01 1.44316402e+01] [ 4.75412767e-01 -4.03575558e-02 8.78836713e-01 1.23724869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040371743 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:41.50, Y:14.45, Z:12.39 [[ 6.01060046e-01 -7.20319412e-01 -3.46217803e-01 4.14972270e+01] [ 6.44743120e-01 6.93020914e-01 -3.22534217e-01 1.44513685e+01] [ 4.72263836e-01 -2.93591148e-02 8.80968167e-01 1.23859762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070371743 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:41.52, Y:14.47, Z:12.40 [[ 6.02171902e-01 -7.13771536e-01 -3.57657931e-01 4.15177441e+01] [ 6.42288430e-01 6.99198195e-01 -3.13986396e-01 1.44675552e+01] [ 4.74188331e-01 -4.06457658e-02 8.79484706e-01 1.23976527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100371743000004 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:41.53, Y:14.49, Z:12.41 [[ 6.03868566e-01 -7.15391490e-01 -3.51507852e-01 4.15312612e+01] [ 6.40595503e-01 6.97995333e-01 -3.20062362e-01 1.44873466e+01] [ 4.74320731e-01 -3.18987498e-02 8.79774013e-01 1.24125496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.130371743 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:41.55, Y:14.49, Z:12.42 [[ 0.59837418 -0.70275553 -0.38481554 41.54833854] [ 0.6409292 0.70805187 -0.29643264 14.49365252] [ 0.48078904 -0.06926188 0.8740965 12.42020567] [ 0. 0. 0. 1. ]] SLAMing on 50.160371743 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:41.54, Y:14.52, Z:12.45 [[ 5.99869833e-01 -7.19612458e-01 -3.49734319e-01 4.15432923e+01] [ 6.38150877e-01 6.93988323e-01 -3.33382161e-01 1.45217690e+01] [ 4.82617490e-01 -2.31973614e-02 8.75523980e-01 1.24487594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190371743 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:41.56, Y:14.54, Z:12.46 [[ 6.00763340e-01 -7.19030902e-01 -3.49396583e-01 4.15598330e+01] [ 6.37525338e-01 6.94612885e-01 -3.33278238e-01 1.45387651e+01] [ 4.82332721e-01 -2.25278268e-02 8.75698375e-01 1.24619717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220371743 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:41.58, Y:14.56, Z:12.47 [[ 6.01222791e-01 -7.18787701e-01 -3.49106571e-01 4.15761865e+01] [ 6.37335235e-01 6.94874068e-01 -3.33097325e-01 1.45561584e+01] [ 4.82011363e-01 -2.22322153e-02 8.75882854e-01 1.24746916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250371743 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:41.59, Y:14.57, Z:12.49 [[ 6.01463678e-01 -7.18607337e-01 -3.49062943e-01 4.15935073e+01] [ 6.37070411e-01 6.95068880e-01 -3.33197455e-01 1.45736712e+01] [ 4.82060925e-01 -2.19715057e-02 8.75862157e-01 1.24879788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:41.61, Y:14.60, Z:12.51 [[ 6.09288598e-01 -7.28881485e-01 -3.12248595e-01 4.16105127e+01] [ 6.34483025e-01 6.84322873e-01 -3.59351494e-01 1.46048634e+01] [ 4.75603506e-01 2.08323346e-02 8.79413053e-01 1.25080302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.310371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:41.65, Y:14.61, Z:12.50 [[ 6.10993307e-01 -7.07812315e-01 -3.54526311e-01 4.16538911e+01] [ 6.34992692e-01 7.05629233e-01 -3.14438654e-01 1.46109313e+01] [ 4.72727680e-01 -3.30017038e-02 8.80590386e-01 1.25012544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340371743 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:41.67, Y:14.63, Z:12.52 [[ 6.08125861e-01 -7.10238585e-01 -3.54604130e-01 4.16691650e+01] [ 6.35259584e-01 7.03270076e-01 -3.19149590e-01 1.46303488e+01] [ 4.76054827e-01 -3.11825527e-02 8.78862589e-01 1.25183301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370371743 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:41.69, Y:14.65, Z:12.53 [[ 6.07288720e-01 -7.12655669e-01 -3.51172760e-01 4.16860933e+01] [ 6.36249089e-01 7.00965165e-01 -3.22234286e-01 1.46506305e+01] [ 4.75801962e-01 -2.77441013e-02 8.79114758e-01 1.25329110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400371743 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:41.71, Y:14.65, Z:12.54 [[ 0.59737612 -0.69809419 -0.39472304 41.7050569 ] [ 0.63989969 0.71160197 -0.29008795 14.65251469] [ 0.48339441 -0.07929154 0.87180428 12.53757833] [ 0. 0. 0. 1. ]] SLAMing on 50.430371743 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:41.70, Y:14.68, Z:12.57 [[ 5.95767070e-01 -7.22565019e-01 -3.50658512e-01 4.16961257e+01] [ 6.39601313e-01 6.90902975e-01 -3.36991453e-01 1.46821013e+01] [ 4.85769245e-01 -2.35132338e-02 8.73770776e-01 1.25711112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460371743 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:41.71, Y:14.71, Z:12.59 [[ 6.01872894e-01 -7.33308099e-01 -3.16240813e-01 4.17147449e+01] [ 6.38997821e-01 6.79739116e-01 -3.60050717e-01 1.47118027e+01] [ 4.78989358e-01 1.46275762e-02 8.77698826e-01 1.25907049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.490371743 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:41.75, Y:14.71, Z:12.58 [[ 0.5928336 -0.70572912 -0.3879365 41.75274229] [ 0.64416134 0.70465708 -0.29751397 14.70798167] [ 0.48332648 -0.07351742 0.87234781 12.58169749] [ 0. 0. 0. 1. ]] SLAMing on 50.520371743 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:41.75, Y:14.74, Z:12.61 [[ 5.91688908e-01 -7.26147548e-01 -3.50162784e-01 4.17461774e+01] [ 6.43638823e-01 6.87051870e-01 -3.37177689e-01 1.47353990e+01] [ 4.85420747e-01 -2.58740633e-02 8.73897723e-01 1.26117503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550371743 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:41.76, Y:14.77, Z:12.64 [[ 6.00395800e-01 -7.42281841e-01 -2.97561007e-01 4.17589938e+01] [ 6.43128974e-01 6.69324141e-01 -3.72008491e-01 1.47720697e+01] [ 4.75299913e-01 3.19822306e-02 8.79242361e-01 1.26361221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580371743 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:41.81, Y:14.77, Z:12.62 [[ 0.59958845 -0.71348746 -0.36253184 41.81256155] [ 0.64508459 0.69896938 -0.30871942 14.77316999] [ 0.47366609 -0.04875911 0.87935373 12.62388393] [ 0. 0. 0. 1. ]] SLAMing on 50.610371743 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:41.82, Y:14.78, Z:12.64 [[ 0.58917035 -0.70550506 -0.39387931 41.82379475] [ 0.64839737 0.70368339 -0.2905349 14.77896538] [ 0.48214017 -0.08421576 0.87203702 12.63518877] [ 0. 0. 0. 1. ]] SLAMing on 50.640371743 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:41.81, Y:14.81, Z:12.67 [[ 5.85982695e-01 -7.30824040e-01 -3.50029291e-01 4.18136058e+01] [ 6.48498624e-01 6.81957603e-01 -3.38206093e-01 1.48085526e+01] [ 4.85874280e-01 -2.88105959e-02 8.73553738e-01 1.26682979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.670371743 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:41.83, Y:14.84, Z:12.69 [[ 5.93847754e-01 -7.44664047e-01 -3.04664246e-01 4.18299508e+01] [ 6.47208469e-01 6.67079414e-01 -3.68952914e-01 1.48420291e+01] [ 4.77981217e-01 2.19205793e-02 8.78096489e-01 1.26899213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700371743 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:41.88, Y:14.85, Z:12.68 [[ 0.5945889 -0.72047377 -0.35690559 41.87789782] [ 0.64925091 0.69207469 -0.31544554 14.84588286] [ 0.47427556 -0.04416086 0.87926817 12.67908322] [ 0. 0. 0. 1. ]] SLAMing on 50.730371743 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:41.89, Y:14.87, Z:12.69 [[ 5.92599989e-01 -7.23579801e-01 -3.53917399e-01 4.18924120e+01] [ 6.50088379e-01 6.89064252e-01 -3.20274190e-01 1.48654804e+01] [ 4.75615762e-01 -4.02831066e-02 8.78730287e-01 1.26943079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760371743 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:41.91, Y:14.88, Z:12.71 [[ 0.58826398 -0.72435073 -0.35952957 41.90789534] [ 0.65093995 0.68794637 -0.32094698 14.88332922] [ 0.47981525 -0.04523061 0.8762029 12.71036528] [ 0. 0. 0. 1. ]] SLAMing on 50.790371743 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:41.92, Y:14.89, Z:12.72 [[ 0.57940062 -0.71465362 -0.39187387 41.92153556] [ 0.65359616 0.69465031 -0.30045467 14.88924781] [ 0.48693632 -0.08204364 0.86957568 12.71927402] [ 0. 0. 0. 1. ]] SLAMing on 50.820371743 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:41.91, Y:14.92, Z:12.75 [[ 5.78305049e-01 -7.35923805e-01 -3.52107120e-01 4.19148589e+01] [ 6.52132667e-01 6.76328680e-01 -3.42494529e-01 1.49171047e+01] [ 4.90190020e-01 -3.15542396e-02 8.71044243e-01 1.27515917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850371743000004 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:41.93, Y:14.95, Z:12.77 [[ 5.84907710e-01 -7.45263670e-01 -3.20101597e-01 4.19314766e+01] [ 6.50724377e-01 6.66756617e-01 -3.63308959e-01 1.49453287e+01] [ 4.84190826e-01 4.20429909e-03 8.74952323e-01 1.27709925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880371743 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:41.97, Y:14.94, Z:12.76 [[ 0.57911341 -0.71793807 -0.38625456 41.96717132] [ 0.6534588 0.69207384 -0.30663561 14.94494482] [ 0.48746205 -0.07482465 0.86993219 12.76418286] [ 0. 0. 0. 1. ]] SLAMing on 50.910371743 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:41.96, Y:14.97, Z:12.79 [[ 5.78736386e-01 -7.35775879e-01 -3.51707339e-01 4.19624463e+01] [ 6.51785648e-01 6.76521541e-01 -3.42774086e-01 1.49717645e+01] [ 4.90142495e-01 -3.08619600e-02 8.71095789e-01 1.27940132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940371743 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:41.98, Y:14.99, Z:12.81 [[ 5.79396999e-01 -7.35439611e-01 -3.51322780e-01 4.19783837e+01] [ 6.51461420e-01 6.76909866e-01 -3.42623775e-01 1.49892529e+01] [ 4.89792952e-01 -3.03580501e-02 8.71310079e-01 1.28071297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970371743 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:42.00, Y:15.02, Z:12.82 [[ 5.86142585e-01 -7.41794425e-01 -3.25849507e-01 4.19950896e+01] [ 6.49031351e-01 6.70626669e-01 -3.59191001e-01 1.50167479e+01] [ 4.84969252e-01 -9.49404043e-04 8.74530688e-01 1.28247799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000371743 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:42.03, Y:15.03, Z:12.83 [[ 5.86686572e-01 -7.29219173e-01 -3.52190663e-01 4.20282847e+01] [ 6.48826704e-01 6.83516610e-01 -3.34408360e-01 1.50302657e+01] [ 4.84585156e-01 -3.23178128e-02 8.74146890e-01 1.28274513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030371743 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:42.04, Y:15.05, Z:12.84 [[ 5.88604297e-01 -7.27247830e-01 -3.53065964e-01 4.20441028e+01] [ 6.46546937e-01 6.85655534e-01 -3.34445133e-01 1.50505146e+01] [ 4.85306130e-01 -3.14178750e-02 8.73779650e-01 1.28411843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:42.06, Y:15.07, Z:12.85 [[ 5.88775420e-01 -7.24149218e-01 -3.59098057e-01 4.20630327e+01] [ 6.45362318e-01 6.88643806e-01 -3.30571001e-01 1.50683259e+01] [ 4.86673385e-01 -3.71162748e-02 8.72795164e-01 1.28541577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090371743 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:42.08, Y:15.09, Z:12.87 [[ 5.90610951e-01 -7.24587771e-01 -3.55177796e-01 4.20777492e+01] [ 6.44088989e-01 6.88447280e-01 -3.33451220e-01 1.50877189e+01] [ 4.86135864e-01 -3.18261652e-02 8.73303508e-01 1.28684585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120371743 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:42.10, Y:15.10, Z:12.88 [[ 5.90667158e-01 -7.21552961e-01 -3.61211342e-01 4.20956949e+01] [ 6.42852141e-01 6.91348670e-01 -3.29815315e-01 1.51042995e+01] [ 4.87702197e-01 -3.73944098e-02 8.72208820e-01 1.28809836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150371743 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:42.11, Y:15.13, Z:12.90 [[ 5.92575454e-01 -7.23697142e-01 -3.53718500e-01 4.21076947e+01] [ 6.40706540e-01 6.89604667e-01 -3.37550785e-01 1.51266910e+01] [ 4.88210467e-01 -2.66054469e-02 8.72320291e-01 1.28980139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180371743 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:42.13, Y:15.14, Z:12.91 [[ 5.94094653e-01 -7.19709993e-01 -3.59261839e-01 4.21266189e+01] [ 6.40063532e-01 6.93469382e-01 -3.30785265e-01 1.51424895e+01] [ 4.87206547e-01 -3.34326441e-02 8.72646572e-01 1.29080622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210371743 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:42.14, Y:15.16, Z:12.93 [[ 5.96228813e-01 -7.20825679e-01 -3.53442418e-01 4.21394075e+01] [ 6.38210643e-01 6.92657314e-01 -3.36025328e-01 1.51636805e+01] [ 4.87030161e-01 -2.52227304e-02 8.73020868e-01 1.29254688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240371743 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:42.16, Y:15.18, Z:12.94 [[ 5.97943368e-01 -7.21672452e-01 -3.48787329e-01 4.21567665e+01] [ 6.37590038e-01 6.91948937e-01 -3.38652642e-01 1.51847683e+01] [ 4.85739304e-01 -1.98882251e-02 8.73877444e-01 1.29401539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270371743 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:42.18, Y:15.20, Z:12.95 [[ 6.00800312e-01 -7.15045266e-01 -3.57420273e-01 4.21787302e+01] [ 6.36079872e-01 6.98422792e-01 -3.28036584e-01 1.52000896e+01] [ 4.84191472e-01 -3.02633594e-02 8.74438533e-01 1.29481050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300371743 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:42.19, Y:15.22, Z:12.96 [[ 6.00033506e-01 -7.15958208e-01 -3.56880423e-01 4.21937544e+01] [ 6.35664430e-01 6.97563261e-01 -3.30660293e-01 1.52186680e+01] [ 4.85685623e-01 -2.84489356e-02 8.73670495e-01 1.29636992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330371743 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:42.21, Y:15.24, Z:12.98 [[ 6.00809484e-01 -7.16116041e-01 -3.55254528e-01 4.22101691e+01] [ 6.35110570e-01 6.97488251e-01 -3.31880556e-01 1.52368566e+01] [ 4.85450849e-01 -2.62289203e-02 8.73870423e-01 1.29772317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360371743 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:42.23, Y:15.25, Z:12.99 [[ 5.98674138e-01 -7.15562289e-01 -3.59944282e-01 4.22258077e+01] [ 6.34848483e-01 6.97902585e-01 -3.31510761e-01 1.52541039e+01] [ 4.88422644e-01 -3.00431621e-02 8.72089863e-01 1.29925084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390371743 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:42.24, Y:15.27, Z:13.01 [[ 5.98590940e-01 -7.18723585e-01 -3.53730540e-01 4.22406446e+01] [ 6.34746828e-01 6.94938756e-01 -3.37870670e-01 1.52742928e+01] [ 4.88656681e-01 -2.22830158e-02 8.72191559e-01 1.30096577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420371743 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:42.26, Y:15.28, Z:13.01 [[ 0.58969623 -0.70745128 -0.38957804 42.25826181] [ 0.63732101 0.70391492 -0.31356931 15.28001744] [ 0.4960648 -0.06337563 0.86596954 13.01468148] [ 0. 0. 0. 1. ]] SLAMing on 51.450371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:42.26, Y:15.31, Z:13.05 [[ 5.95938862e-01 -7.33747128e-01 -3.26300512e-01 4.22551108e+01] [ 6.34595368e-01 6.79306438e-01 -3.68553227e-01 1.53146215e+01] [ 4.92082911e-01 1.25663971e-02 8.70457635e-01 1.30528737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480371743 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:42.29, Y:15.33, Z:13.05 [[ 5.95316927e-01 -7.21595512e-01 -3.53408649e-01 4.22922376e+01] [ 6.36308891e-01 6.91969479e-01 -3.41012075e-01 1.53272119e+01] [ 4.90620782e-01 -2.18668050e-02 8.71098784e-01 1.30514380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510371743 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:42.31, Y:15.33, Z:13.06 [[ 0.58563925 -0.71056385 -0.39003292 42.31020279] [ 0.63986813 0.70065234 -0.31568192 15.33243899] [ 0.49758964 -0.06469391 0.86499667 13.05618276] [ 0. 0. 0. 1. ]] SLAMing on 51.540371743 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:42.31, Y:15.37, Z:13.10 [[ 5.91848162e-01 -7.40237379e-01 -3.19005292e-01 4.23057443e+01] [ 6.38807091e-01 6.72109414e-01 -3.74425475e-01 1.53683752e+01] [ 4.91570192e-01 1.78201863e-02 8.70655607e-01 1.30954681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570371743 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:42.35, Y:15.38, Z:13.09 [[ 5.91056257e-01 -7.23593702e-01 -3.56461294e-01 4.23470123e+01] [ 6.40423787e-01 6.89637615e-01 -3.38019724e-01 1.53783750e+01] [ 4.90418060e-01 -2.84976187e-02 8.71021247e-01 1.30917150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600371743000004 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:42.36, Y:15.40, Z:13.11 [[ 5.90004205e-01 -7.24712606e-01 -3.55930718e-01 4.23646385e+01] [ 6.41559294e-01 6.88450769e-01 -3.38285693e-01 1.53956887e+01] [ 4.90200683e-01 -2.87606787e-02 8.71134957e-01 1.31058065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.630371743 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:42.38, Y:15.41, Z:13.12 [[ 5.89044274e-01 -7.28471013e-01 -3.49795407e-01 4.23823550e+01] [ 6.43892707e-01 6.84654431e-01 -3.41541348e-01 1.54145325e+01] [ 4.88291947e-01 -2.40477356e-02 8.72348944e-01 1.31206241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:42.41, Y:15.43, Z:13.13 [[ 5.86843486e-01 -7.24032127e-01 -3.62480623e-01 4.24052043e+01] [ 6.45533750e-01 6.88597331e-01 -3.30333005e-01 1.54273087e+01] [ 4.88774898e-01 -4.01397037e-02 8.71486032e-01 1.31302526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:42.42, Y:15.43, Z:13.14 [[ 0.57594157 -0.71454361 -0.39713818 42.41854932] [ 0.64934879 0.69499508 -0.30875231 15.43100934] [ 0.49662607 -0.0800579 0.86426459 13.13879665] [ 0. 0. 0. 1. ]] SLAMing on 51.720371743 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:42.41, Y:15.47, Z:13.18 [[ 5.82661641e-01 -7.51308900e-01 -3.09903775e-01 4.24070435e+01] [ 6.47728260e-01 6.59602938e-01 -3.81276887e-01 1.54708628e+01] [ 4.90870159e-01 2.14219836e-02 8.70969337e-01 1.31834100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750371743 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:42.46, Y:15.47, Z:13.17 [[ 0.58148932 -0.72857253 -0.36201139 42.45543828] [ 0.65107548 0.68356323 -0.32991214 15.47362803] [ 0.4878226 -0.04385635 0.87184043 13.17232296] [ 0. 0. 0. 1. ]] SLAMing on 51.780371743 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:42.47, Y:15.49, Z:13.19 [[ 5.78342968e-01 -7.34899392e-01 -3.54178338e-01 4.24671979e+01] [ 6.51977560e-01 6.77332535e-01 -3.40801846e-01 1.54934943e+01] [ 4.90351581e-01 -3.38159773e-02 8.70868421e-01 1.31921566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.810371743 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:42.49, Y:15.51, Z:13.21 [[ 5.80917295e-01 -7.37002527e-01 -3.45488599e-01 4.24862852e+01] [ 6.52053890e-01 6.75420380e-01 -3.44431465e-01 1.55141906e+01] [ 4.87196901e-01 -2.51909904e-02 8.72928745e-01 1.32075556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840371743 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:42.51, Y:15.52, Z:13.21 [[ 0.58049678 -0.72417402 -0.37228414 42.51025579] [ 0.65114328 0.68737024 -0.32176791 15.52044964] [ 0.488913 -0.05562508 0.87055725 13.21012286] [ 0. 0. 0. 1. ]] SLAMing on 51.870371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:42.51, Y:15.55, Z:13.24 [[ 5.80101091e-01 -7.43341227e-01 -3.33056369e-01 4.25140361e+01] [ 6.50910268e-01 6.68858629e-01 -3.59087674e-01 1.55540332e+01] [ 4.89692298e-01 -8.48265932e-03 8.71854057e-01 1.32432433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900371743 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:42.55, Y:15.56, Z:13.24 [[ 0.57802642 -0.72561977 -0.37331141 42.54985328] [ 0.65134337 0.68585144 -0.32459144 15.56081028] [ 0.49156614 -0.05553149 0.86906788 13.2429619 ] [ 0. 0. 0. 1. ]] SLAMing on 51.930371743 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:42.56, Y:15.58, Z:13.26 [[ 5.80376177e-01 -7.32031838e-01 -3.56781280e-01 4.25579367e+01] [ 6.49443901e-01 6.80389024e-01 -3.39548811e-01 1.55817311e+01] [ 4.91310607e-01 -3.46433852e-02 8.70295193e-01 1.32624899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:42.58, Y:15.60, Z:13.28 [[ 5.80647490e-01 -7.31516595e-01 -3.57396089e-01 4.25750824e+01] [ 6.48756014e-01 6.80945712e-01 -3.39747807e-01 1.55996586e+01] [ 4.91898493e-01 -3.45891507e-02 8.69965208e-01 1.32765618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.990371743 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:42.59, Y:15.62, Z:13.29 [[ 5.81512104e-01 -7.32784880e-01 -3.53369486e-01 4.25900694e+01] [ 6.46069121e-01 6.79939215e-01 -3.46810258e-01 1.56212199e+01] [ 4.94407084e-01 -2.66267506e-02 8.68822566e-01 1.32948304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:42.61, Y:15.64, Z:13.31 [[ 5.82205756e-01 -7.28306953e-01 -3.61393747e-01 4.26116110e+01] [ 6.44787953e-01 6.84365677e-01 -3.40429310e-01 1.56382167e+01] [ 4.95262510e-01 -3.48224304e-02 8.68045186e-01 1.33064506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050371743 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:42.63, Y:15.65, Z:13.32 [[ 5.83423056e-01 -7.25883872e-01 -3.64294032e-01 4.26281184e+01] [ 6.43139655e-01 6.86834163e-01 -3.38570844e-01 1.56546498e+01] [ 4.95972702e-01 -3.67619014e-02 8.67559590e-01 1.33191750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080371743 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:42.64, Y:15.67, Z:13.34 [[ 5.84621457e-01 -7.27310451e-01 -3.59495841e-01 4.26421861e+01] [ 6.41242943e-01 6.85688946e-01 -3.44438901e-01 1.56743903e+01] [ 4.97016337e-01 -2.91577989e-02 8.67251165e-01 1.33361136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110371743 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:42.66, Y:15.69, Z:13.35 [[ 5.87774915e-01 -7.22340635e-01 -3.64341401e-01 4.26596978e+01] [ 6.38128944e-01 6.90767376e-01 -3.40046885e-01 1.56903840e+01] [ 4.97304837e-01 -3.26257643e-02 8.66962202e-01 1.33481288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140371743 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:42.67, Y:15.71, Z:13.37 [[ 5.88383578e-01 -7.23055034e-01 -3.61933947e-01 4.26744913e+01] [ 6.36550884e-01 6.90225263e-01 -3.44081470e-01 1.57092057e+01] [ 4.98605793e-01 -2.79374870e-02 8.66378532e-01 1.33650266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.170371743 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:42.69, Y:15.73, Z:13.38 [[ 5.90068433e-01 -7.22273210e-01 -3.60750128e-01 4.26903005e+01] [ 6.35683074e-01 6.91104338e-01 -3.43921245e-01 1.57260626e+01] [ 4.97721080e-01 -2.63856800e-02 8.66935708e-01 1.33784558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200371743 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:42.70, Y:15.75, Z:13.40 [[ 5.91122004e-01 -7.24608455e-01 -3.54284298e-01 4.27047651e+01] [ 6.34493798e-01 6.88934567e-01 -3.50409451e-01 1.57460407e+01] [ 4.97988350e-01 -1.76564523e-02 8.67003952e-01 1.33964761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230371743 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:42.73, Y:15.76, Z:13.41 [[ 5.88606924e-01 -7.20215748e-01 -3.67193634e-01 4.27260992e+01] [ 6.34805193e-01 6.93013012e-01 -3.41694793e-01 1.57603705e+01] [ 5.00563937e-01 -3.19725047e-02 8.65108955e-01 1.34089542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260371743 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:42.74, Y:15.77, Z:13.42 [[ 0.57946052 -0.71387691 -0.39319876 42.73729055] [ 0.63695159 0.69766107 -0.327966 15.7677149 ] [ 0.50844682 -0.06040522 0.85897208 13.41950796] [ 0. 0. 0. 1. ]] SLAMing on 52.290371743 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:42.73, Y:15.79, Z:13.45 [[ 5.78896210e-01 -7.34367624e-01 -3.54377440e-01 4.27299896e+01] [ 6.36692268e-01 6.78614955e-01 -3.66203085e-01 1.57920682e+01] [ 5.09413520e-01 -1.36357979e-02 8.60413814e-01 1.34510083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320371743 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:42.75, Y:15.81, Z:13.46 [[ 5.76839775e-01 -7.35956496e-01 -3.54434634e-01 4.27484796e+01] [ 6.38457624e-01 6.76863652e-01 -3.66370658e-01 1.58074629e+01] [ 5.09536787e-01 -1.49543262e-02 8.60318912e-01 1.34643155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350371743000004 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:42.77, Y:15.82, Z:13.48 [[ 5.75216889e-01 -7.37265200e-01 -3.54352305e-01 4.27651520e+01] [ 6.39897476e-01 6.75415981e-01 -3.66530316e-01 1.58235232e+01] [ 5.09565256e-01 -1.59147172e-02 8.60284820e-01 1.34773875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380371743 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:42.78, Y:15.86, Z:13.50 [[ 0.5844134 -0.75602084 -0.29477698 42.78058473] [ 0.64124286 0.65288702 -0.40317011 15.85889684] [ 0.49726107 0.04659438 0.86634889 13.504013 ] [ 0. 0. 0. 1. ]] SLAMing on 52.410371743 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:42.84, Y:15.84, Z:13.48 [[ 0.56988689 -0.70666768 -0.41934438 42.84132967] [ 0.64625456 0.70063465 -0.30243368 15.84209907] [ 0.50752732 -0.09865023 0.85596972 13.47656501] [ 0. 0. 0. 1. ]] SLAMing on 52.440371743 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:42.82, Y:15.89, Z:13.53 [[ 5.76691886e-01 -7.53222907e-01 -3.16356952e-01 4.28199414e+01] [ 6.44666511e-01 6.57428972e-01 -3.90118234e-01 1.58862191e+01] [ 5.01828216e-01 2.10332874e-02 8.64711537e-01 1.35282260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470371743 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:42.86, Y:15.88, Z:13.52 [[ 0.5647247 -0.7231276 -0.39770905 42.86329938] [ 0.65054296 0.68658736 -0.32464082 15.88014954] [ 0.50781874 -0.07539413 0.85815841 13.51548522] [ 0. 0. 0. 1. ]] SLAMing on 52.500371743 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:42.85, Y:15.92, Z:13.56 [[ 5.71948936e-01 -7.59614757e-01 -3.09612395e-01 4.28526290e+01] [ 6.49196677e-01 6.49891223e-01 -3.95202571e-01 1.59212279e+01] [ 5.01416083e-01 2.50363519e-02 8.64843970e-01 1.35591226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530371743 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:42.90, Y:15.93, Z:13.55 [[ 5.70319001e-01 -7.39586931e-01 -3.57417695e-01 4.28994134e+01] [ 6.50795774e-01 6.72327306e-01 -3.52761753e-01 1.59308150e+01] [ 5.01199658e-01 -3.14191943e-02 8.64761086e-01 1.35548923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560371743 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:42.92, Y:15.94, Z:13.56 [[ 0.56922441 -0.73407659 -0.3702906 42.92064322] [ 0.65237058 0.67736529 -0.33998365 15.94173099] [ 0.50039604 -0.0480397 0.86446283 13.56370205] [ 0. 0. 0. 1. ]] SLAMing on 52.590371743 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:42.93, Y:15.95, Z:13.58 [[ 0.56087556 -0.72906085 -0.39228673 42.9294539 ] [ 0.65381301 0.68073553 -0.3303448 15.95063156] [ 0.50788497 -0.07119985 0.85847739 13.5779856 ] [ 0. 0. 0. 1. ]] SLAMing on 52.620371743 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:42.92, Y:15.99, Z:13.62 [[ 5.67639397e-01 -7.57846779e-01 -3.21642308e-01 4.29247473e+01] [ 6.51664973e-01 6.52354835e-01 -3.86996036e-01 1.59864461e+01] [ 5.03108615e-01 1.00711704e-02 8.64164506e-01 1.36151389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650371743 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:42.96, Y:15.99, Z:13.61 [[ 0.56150212 -0.73024175 -0.38918165 42.9626359 ] [ 0.65266685 0.67995853 -0.33418915 15.98640439] [ 0.50866625 -0.06635804 0.85840274 13.60921984] [ 0. 0. 0. 1. ]] SLAMing on 52.680371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:42.96, Y:16.01, Z:13.64 [[ 5.62059442e-01 -7.47695958e-01 -3.53609866e-01 4.29573600e+01] [ 6.50704447e-01 6.63652945e-01 -3.68983049e-01 1.60107127e+01] [ 5.10561363e-01 -2.27051055e-02 8.59541490e-01 1.36391499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:42.97, Y:16.03, Z:13.65 [[ 5.61926205e-01 -7.47821347e-01 -3.53556464e-01 4.29742450e+01] [ 6.50820444e-01 6.63510738e-01 -3.69034213e-01 1.60285040e+01] [ 5.10560173e-01 -2.27317797e-02 8.59541492e-01 1.36535083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740371743 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:42.99, Y:16.05, Z:13.67 [[ 5.64391378e-01 -7.46026019e-01 -3.53422624e-01 4.29901412e+01] [ 6.48690729e-01 6.65586365e-01 -3.69046242e-01 1.60451061e+01] [ 5.10551378e-01 -2.09754624e-02 8.59591368e-01 1.36666913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:43.01, Y:16.06, Z:13.68 [[ 5.65424496e-01 -7.45171997e-01 -3.53572955e-01 4.30065667e+01] [ 6.47495812e-01 6.66569751e-01 -3.69369653e-01 1.60627368e+01] [ 5.10924958e-01 -2.00863574e-02 8.59390613e-01 1.36808644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800371743 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:43.02, Y:16.08, Z:13.69 [[ 5.66366919e-01 -7.44269226e-01 -3.53965863e-01 4.30229382e+01] [ 6.46055348e-01 6.67606133e-01 -3.70019646e-01 1.60798731e+01] [ 5.11704017e-01 -1.91146522e-02 8.58949142e-01 1.36947449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:43.04, Y:16.11, Z:13.72 [[ 5.78309973e-01 -7.56177986e-01 -3.06190185e-01 4.30377637e+01] [ 6.42469886e-01 6.53440787e-01 -4.00309359e-01 1.61135140e+01] [ 5.02782281e-01 3.47849218e-02 8.63712908e-01 1.37180220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860371743 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:43.09, Y:16.12, Z:13.71 [[ 5.78978917e-01 -7.29485897e-01 -3.64189154e-01 4.30888843e+01] [ 6.41445879e-01 6.83264128e-01 -3.48851423e-01 1.61203067e+01] [ 5.03319578e-01 -3.16300123e-02 8.63521247e-01 1.37086157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890371743 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:43.10, Y:16.14, Z:13.72 [[ 5.79934705e-01 -7.27525502e-01 -3.66582028e-01 4.31048562e+01] [ 6.40546603e-01 6.85247367e-01 -3.46606543e-01 1.61359431e+01] [ 5.03364469e-01 -3.38037091e-02 8.63412718e-01 1.37215936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920371743 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:43.12, Y:16.16, Z:13.74 [[ 5.79373078e-01 -7.33483848e-01 -3.55426900e-01 4.31161970e+01] [ 6.39144401e-01 6.79457562e-01 -3.60321880e-01 1.61580192e+01] [ 5.05787774e-01 -1.84083163e-02 8.62461513e-01 1.37433107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950371743 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:43.14, Y:16.17, Z:13.75 [[ 5.81404980e-01 -7.25426265e-01 -3.68408717e-01 4.31376301e+01] [ 6.36708848e-01 6.87573108e-01 -3.49063123e-01 1.61715137e+01] [ 5.06527485e-01 -3.16220518e-02 8.61643751e-01 1.37533583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:43.15, Y:16.18, Z:13.76 [[ 0.57341478 -0.71626531 -0.39769272 43.1488993 ] [ 0.63725835 0.69502157 -0.33293665 16.17780468] [ 0.51487599 -0.06252221 0.85498169 13.7640961 ] [ 0. 0. 0. 1. ]] SLAMing on 53.010371743 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:43.14, Y:16.21, Z:13.80 [[ 5.82649041e-01 -7.43994522e-01 -3.27096693e-01 4.31428650e+01] [ 6.34134623e-01 6.67898957e-01 -3.89594998e-01 1.62138650e+01] [ 5.08324084e-01 1.95738137e-02 8.60943373e-01 1.38031150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040371743 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:43.18, Y:16.21, Z:13.80 [[ 0.57802213 -0.71827833 -0.38725529 43.17706678] [ 0.63412849 0.69405893 -0.34082732 16.21422736] [ 0.51358687 -0.04856388 0.85666217 13.79787577] [ 0. 0. 0. 1. ]] SLAMing on 53.070371743 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:43.17, Y:16.24, Z:13.83 [[ 5.78755890e-01 -7.34917159e-01 -3.53466248e-01 4.31741256e+01] [ 6.33239734e-01 6.78110659e-01 -3.73059477e-01 1.62380417e+01] [ 5.13857041e-01 -7.91850367e-03 8.57839285e-01 1.38272244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100371743000004 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:43.19, Y:16.25, Z:13.84 [[ 5.79203313e-01 -7.34830230e-01 -3.52913666e-01 4.31908278e+01] [ 6.33333633e-01 6.78208167e-01 -3.72722674e-01 1.62540865e+01] [ 5.13236819e-01 -7.62988622e-03 8.58213116e-01 1.38405549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.130371743 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:43.21, Y:16.28, Z:13.86 [[ 5.88542328e-01 -7.45735784e-01 -3.12243605e-01 4.32102512e+01] [ 6.32890665e-01 6.65297692e-01 -3.96015639e-01 1.62832293e+01] [ 5.03057983e-01 3.54559038e-02 8.63525069e-01 1.38618767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160371743 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:43.26, Y:16.29, Z:13.86 [[ 5.87063630e-01 -7.23271162e-01 -3.63641473e-01 4.32579094e+01] [ 6.33142607e-01 6.90130422e-01 -3.50500271e-01 1.62900398e+01] [ 5.04466781e-01 -2.44709494e-02 8.63084260e-01 1.38567455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:43.27, Y:16.29, Z:13.87 [[ 0.57459544 -0.71654991 -0.39546972 43.27155761] [ 0.63684346 0.69494991 -0.33387876 16.29375556] [ 0.51407245 -0.06000709 0.85564518 13.86569324] [ 0. 0. 0. 1. ]] SLAMing on 53.220371743 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:43.26, Y:16.33, Z:13.91 [[ 5.83376632e-01 -7.52064268e-01 -3.06710028e-01 4.32630210e+01] [ 6.36341135e-01 6.57885912e-01 -4.02810237e-01 1.63346034e+01] [ 5.04719393e-01 3.98178726e-02 8.62364698e-01 1.39074865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250371743 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:43.31, Y:16.34, Z:13.90 [[ 5.81330445e-01 -7.28138793e-01 -3.63137456e-01 4.33141386e+01] [ 6.38151850e-01 6.84886509e-01 -3.51699710e-01 1.63399156e+01] [ 5.04794147e-01 -2.72830908e-02 8.62808497e-01 1.38993947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280371743 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:43.33, Y:16.36, Z:13.92 [[ 5.78332070e-01 -7.32071760e-01 -3.60004105e-01 4.33302914e+01] [ 6.39906030e-01 6.80796181e-01 -3.56422269e-01 1.63574043e+01] [ 5.06016097e-01 -2.42383688e-02 8.62183398e-01 1.39167603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.310371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:43.35, Y:16.36, Z:13.92 [[ 0.56341883 -0.72098319 -0.40341352 43.3495697 ] [ 0.64606978 0.6888389 -0.32877775 16.35649584] [ 0.51493015 -0.07539371 0.85391026 13.92283668] [ 0. 0. 0. 1. ]] SLAMing on 53.340371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:43.34, Y:16.39, Z:13.96 [[ 5.68967677e-01 -7.54370566e-01 -3.27415382e-01 4.33430917e+01] [ 6.45202247e-01 6.56352543e-01 -3.91043987e-01 1.63933342e+01] [ 5.09891992e-01 1.12422490e-02 8.60164966e-01 1.39635826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370371743 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:43.38, Y:16.40, Z:13.97 [[ 5.66118121e-01 -7.40192785e-01 -3.62801480e-01 4.33805720e+01] [ 6.47459197e-01 6.71676947e-01 -3.60064810e-01 1.64022166e+01] [ 5.10202766e-01 -3.10599412e-02 8.59493117e-01 1.39652022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400371743 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:43.40, Y:16.43, Z:13.98 [[ 5.65530552e-01 -7.51705525e-01 -3.39284539e-01 4.33958603e+01] [ 6.51255964e-01 6.59442778e-01 -3.75500856e-01 1.64267361e+01] [ 5.06004807e-01 -8.60387284e-03 8.62487744e-01 1.39842724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430371743 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:43.43, Y:16.42, Z:13.98 [[ 0.55257708 -0.72663926 -0.40823271 43.42582669] [ 0.65586064 0.68133956 -0.32499727 16.4210022 ] [ 0.51430088 -0.08815772 0.85306672 13.9809923 ] [ 0. 0. 0. 1. ]] SLAMing on 53.460371743 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:43.41, Y:16.45, Z:14.02 [[ 5.48221897e-01 -7.58427365e-01 -3.52477918e-01 4.34105783e+01] [ 6.57482109e-01 6.51313044e-01 -3.78825283e-01 1.64476974e+01] [ 5.16884927e-01 -2.40676100e-02 8.55716497e-01 1.40173034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.490371743 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:43.43, Y:16.46, Z:14.03 [[ 5.45955396e-01 -7.60153513e-01 -3.52277366e-01 4.34280076e+01] [ 6.59589822e-01 6.49239245e-01 -3.78721097e-01 1.64642876e+01] [ 5.16598463e-01 -2.55937392e-02 8.55845189e-01 1.40318481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520371743 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:43.44, Y:16.48, Z:14.05 [[ 5.44211927e-01 -7.61517251e-01 -3.52029622e-01 4.34445352e+01] [ 6.61210001e-01 6.47595813e-01 -3.78709648e-01 1.64800539e+01] [ 5.16366839e-01 -2.66671991e-02 8.55952188e-01 1.40456250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550371743 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:43.47, Y:16.51, Z:14.07 [[ 5.47882792e-01 -7.70396730e-01 -3.26057242e-01 4.34671215e+01] [ 6.62317356e-01 6.37564703e-01 -3.93505997e-01 1.65058870e+01] [ 5.11038322e-01 -3.58206038e-04 8.59557855e-01 1.40658200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580371743 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:43.51, Y:16.51, Z:14.07 [[ 0.54620405 -0.7530398 -0.36686809 43.50591473] [ 0.66418871 0.65621627 -0.35809714 16.5140394 ] [ 0.51040621 -0.04807554 0.85858852 14.06590708] [ 0. 0. 0. 1. ]] SLAMing on 53.610371743 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:43.52, Y:16.54, Z:14.08 [[ 5.44249414e-01 -7.59595261e-01 -3.56100569e-01 4.35185771e+01] [ 6.65210926e-01 6.49381088e-01 -3.68508651e-01 1.65355599e+01] [ 5.11162400e-01 -3.63213714e-02 8.58716344e-01 1.40841704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:43.53, Y:16.54, Z:14.09 [[ 0.5345637 -0.7520906 -0.3854885 43.53315863] [ 0.66849088 0.6553593 -0.35160224 16.54312997] [ 0.51707021 -0.06974175 0.853097 14.09045225] [ 0. 0. 0. 1. ]] SLAMing on 53.670371743 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:43.53, Y:16.58, Z:14.12 [[ 5.42000422e-01 -7.76500834e-01 -3.21375167e-01 4.35348125e+01] [ 6.65576417e-01 6.30109642e-01 -3.99962339e-01 1.65803192e+01] [ 5.13072681e-01 2.88002482e-03 8.58340334e-01 1.41242316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:43.57, Y:16.60, Z:14.13 [[ 5.44290929e-01 -7.63184253e-01 -3.48277449e-01 4.35719202e+01] [ 6.66822392e-01 6.45504787e-01 -3.72386182e-01 1.65955808e+01] [ 5.09014030e-01 -2.95527809e-02 8.60250748e-01 1.41252982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730371743 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:43.59, Y:16.59, Z:14.13 [[ 0.53384439 -0.74091724 -0.40749455 43.59477025] [ 0.66965151 0.66469571 -0.33128003 16.59389866] [ 0.51631097 -0.09602735 0.85100043 14.12638985] [ 0. 0. 0. 1. ]] SLAMing on 53.760371743 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:43.58, Y:16.64, Z:14.17 [[ 5.41787799e-01 -7.78721966e-01 -3.16319584e-01 4.35782339e+01] [ 6.65458407e-01 6.27309217e-01 -4.04534614e-01 1.66377889e+01] [ 5.13450181e-01 8.67439174e-03 8.58075560e-01 1.41695225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790371743 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:43.62, Y:16.65, Z:14.17 [[ 5.43694231e-01 -7.60481841e-01 -3.55054858e-01 4.36198020e+01] [ 6.66586611e-01 6.48323636e-01 -3.67884158e-01 1.66507333e+01] [ 5.09959678e-01 -3.66583196e-02 8.59416834e-01 1.41688042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820371743 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:43.64, Y:16.65, Z:14.17 [[ 0.53389591 -0.74320715 -0.40323477 43.63550154] [ 0.6689576 0.66294327 -0.33615763 16.65378069] [ 0.51715653 -0.09027378 0.85111677 14.17317686] [ 0. 0. 0. 1. ]] SLAMing on 53.850371743000004 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:43.62, Y:16.70, Z:14.22 [[ 5.42328956e-01 -7.78760474e-01 -3.15295778e-01 4.36220005e+01] [ 6.65259993e-01 6.27243753e-01 -4.04962240e-01 1.66960504e+01] [ 5.13135893e-01 9.86908119e-03 8.58250637e-01 1.42152688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880371743 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:43.66, Y:16.69, Z:14.21 [[ 0.53420913 -0.7463751 -0.39691917 43.66071453] [ 0.66825647 0.6604177 -0.34246423 16.6929983 ] [ 0.51773921 -0.08229628 0.85157115 14.20519144] [ 0. 0. 0. 1. ]] SLAMing on 53.910371743 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:43.64, Y:16.74, Z:14.25 [[ 5.46378965e-01 -7.86440550e-01 -2.88064729e-01 4.36441352e+01] [ 6.64172859e-01 6.16382007e-01 -4.23022027e-01 1.67446797e+01] [ 5.10239591e-01 3.98055627e-02 8.59110631e-01 1.42507752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940371743 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:43.71, Y:16.75, Z:14.24 [[ 0.54513084 -0.74829488 -0.37800415 43.70654891] [ 0.66504519 0.66051612 -0.34847288 16.7457238 ] [ 0.5104383 -0.06142653 0.85771762 14.23581049] [ 0. 0. 0. 1. ]] SLAMing on 53.970371743 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:43.71, Y:16.75, Z:14.25 [[ 0.53348934 -0.74211995 -0.4057673 43.70930763] [ 0.66681512 0.6641631 -0.33800145 16.75301954] [ 0.52033328 -0.0902516 0.84918074 14.24842258] [ 0. 0. 0. 1. ]] SLAMing on 54.000371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:43.69, Y:16.78, Z:14.28 [[ 5.32834559e-01 -7.69009721e-01 -3.53144988e-01 4.36907959e+01] [ 6.64754227e-01 6.38614717e-01 -3.87650695e-01 1.67846632e+01] [ 5.23630739e-01 -2.82009368e-02 8.51478453e-01 1.42835472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030371743 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:43.70, Y:16.80, Z:14.30 [[ 5.33189053e-01 -7.68727220e-01 -3.53224991e-01 4.37045129e+01] [ 6.64205061e-01 6.38975033e-01 -3.87998123e-01 1.68027590e+01] [ 5.23966669e-01 -2.77374754e-02 8.51287004e-01 1.42973125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060371743 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:43.72, Y:16.84, Z:14.32 [[ 5.43314776e-01 -7.80671381e-01 -3.08806166e-01 4.37201418e+01] [ 6.62524979e-01 6.24620971e-01 -4.13411774e-01 1.68362327e+01] [ 5.15625548e-01 2.00209269e-02 8.56580093e-01 1.43201765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090371743 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:43.76, Y:16.83, Z:14.31 [[ 0.53399406 -0.74249957 -0.40440664 43.76476618] [ 0.6654899 0.66414289 -0.34064265 16.83099371] [ 0.52151082 -0.08722738 0.84877432 14.30525064] [ 0. 0. 0. 1. ]] SLAMing on 54.120371743 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:43.75, Y:16.86, Z:14.34 [[ 5.33483448e-01 -7.68497257e-01 -3.53280874e-01 4.37467648e+01] [ 6.63438601e-01 6.39284743e-01 -3.88798458e-01 1.68612340e+01] [ 5.24637621e-01 -2.69626266e-02 8.50898574e-01 1.43411818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150371743 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:43.76, Y:16.88, Z:14.36 [[ 5.33866195e-01 -7.68340945e-01 -3.53042600e-01 4.37616929e+01] [ 6.63332352e-01 6.39483780e-01 -3.88652398e-01 1.68802358e+01] [ 5.24382567e-01 -2.66962015e-02 8.51064179e-01 1.43559626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:43.77, Y:16.90, Z:14.37 [[ 5.34289806e-01 -7.68054157e-01 -3.53025799e-01 4.37748931e+01] [ 6.62839970e-01 6.39847970e-01 -3.88892978e-01 1.69001563e+01] [ 5.24573710e-01 -2.62180563e-02 8.50961243e-01 1.43710884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210371743 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:43.79, Y:16.93, Z:14.39 [[ 5.43585604e-01 -7.76428405e-01 -3.18863017e-01 4.37926719e+01] [ 6.61185484e-01 6.30117947e-01 -4.07167200e-01 1.69299885e+01] [ 5.17057490e-01 1.05026298e-02 8.55886235e-01 1.43928106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240371743 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:43.83, Y:16.94, Z:14.39 [[ 5.45625570e-01 -7.54922307e-01 -3.63847561e-01 4.38343761e+01] [ 6.61347197e-01 6.54546530e-01 -3.66317792e-01 1.69401242e+01] [ 5.14696631e-01 -4.07572104e-02 8.56403076e-01 1.43884288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270371743 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:43.84, Y:16.96, Z:14.41 [[ 5.45648446e-01 -7.58868832e-01 -3.55507902e-01 4.38448332e+01] [ 6.60520354e-01 6.50538972e-01 -3.74849179e-01 1.69634287e+01] [ 5.15733104e-01 -3.02843335e-02 8.56213890e-01 1.44071745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300371743 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:43.86, Y:16.98, Z:14.42 [[ 5.47469417e-01 -7.57394523e-01 -3.55852180e-01 4.38624540e+01] [ 6.60354315e-01 6.52211410e-01 -3.72226350e-01 1.69823700e+01] [ 5.14013051e-01 -3.12059794e-02 8.57214542e-01 1.44194151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330371743 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:43.88, Y:17.00, Z:14.43 [[ 5.47700103e-01 -7.52156919e-01 -3.66448586e-01 4.38818195e+01] [ 6.60117456e-01 6.57577482e-01 -3.63093375e-01 1.69976624e+01] [ 5.14071533e-01 -4.30328293e-02 8.56667167e-01 1.44300864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360371743 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:43.89, Y:17.01, Z:14.44 [[ 0.53858228 -0.74463374 -0.39427112 43.88813289] [ 0.66128264 0.66354712 -0.34987211 17.00752382] [ 0.52214405 -0.07228973 0.84978808 14.44031844] [ 0. 0. 0. 1. ]] SLAMing on 54.390371743 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:43.88, Y:17.03, Z:14.47 [[ 5.38622552e-01 -7.65798964e-01 -3.51337008e-01 4.38764087e+01] [ 6.59585799e-01 6.42709348e-01 -3.89706643e-01 1.70333952e+01] [ 5.24244523e-01 -2.18321148e-02 8.51287871e-01 1.44727491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:43.89, Y:17.07, Z:14.50 [[ 5.49877245e-01 -7.78050468e-01 -3.03763863e-01 4.38921059e+01] [ 6.57519312e-01 6.27505007e-01 -4.17020167e-01 1.70675087e+01] [ 5.15076082e-01 2.95792941e-02 8.56633933e-01 1.44990874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450371743 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:43.94, Y:17.06, Z:14.48 [[ 0.53916611 -0.7364301 -0.40862039 43.94223591] [ 0.66070399 0.67073139 -0.33703063 17.06006093] [ 0.52227402 -0.08826163 0.84819793 14.4779649 ] [ 0. 0. 0. 1. ]] SLAMing on 54.480371743 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:43.93, Y:17.11, Z:14.53 [[ 5.48081500e-01 -7.77711454e-01 -3.07849904e-01 4.39253464e+01] [ 6.57524409e-01 6.28097981e-01 -4.16118466e-01 1.71052575e+01] [ 5.16980001e-01 2.56480065e-02 8.55613148e-01 1.45273061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510371743 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:43.97, Y:17.12, Z:14.52 [[ 5.49187505e-01 -7.57362434e-01 -3.53263681e-01 4.39732984e+01] [ 6.58622816e-01 6.52444945e-01 -3.74875419e-01 1.71184902e+01] [ 5.14401663e-01 -2.67906242e-02 8.57130790e-01 1.45213838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:43.99, Y:17.11, Z:14.52 [[ 0.53598135 -0.73437172 -0.41643987 43.99370227] [ 0.66193543 0.67172485 -0.33260669 17.11473065] [ 0.52398996 -0.09738532 0.84613865 14.51980048] [ 0. 0. 0. 1. ]] SLAMing on 54.570371743 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:43.97, Y:17.16, Z:14.57 [[ 5.43831674e-01 -7.77855725e-01 -3.14940599e-01 4.39709844e+01] [ 6.59139592e-01 6.28206797e-01 -4.13389911e-01 1.71571102e+01] [ 5.19405534e-01 1.72247097e-02 8.54354259e-01 1.45717650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600371743000004 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:44.02, Y:17.16, Z:14.56 [[ 0.54179538 -0.75361127 -0.37219326 44.01716137] [ 0.66151517 0.65550364 -0.36429748 17.16372392] [ 0.51851272 -0.0488368 0.85367413 14.56325319] [ 0. 0. 0. 1. ]] SLAMing on 54.630371743 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:44.03, Y:17.18, Z:14.58 [[ 5.40850265e-01 -7.59937829e-01 -3.60521132e-01 4.40256154e+01] [ 6.61582197e-01 6.49032292e-01 -3.75587648e-01 1.71842613e+01] [ 5.19413119e-01 -3.53776838e-02 8.53790625e-01 1.45834414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660371743 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:44.04, Y:17.20, Z:14.60 [[ 5.38119207e-01 -7.61635063e-01 -3.61025968e-01 4.40412968e+01] [ 6.62720586e-01 6.46986927e-01 -3.77106538e-01 1.72038581e+01] [ 5.20796643e-01 -3.63310698e-02 8.52907328e-01 1.46003708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690371743 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:44.06, Y:17.22, Z:14.61 [[ 5.37569733e-01 -7.60155018e-01 -3.64942642e-01 4.40572815e+01] [ 6.63384240e-01 6.48425228e-01 -3.73451569e-01 1.72197369e+01] [ 5.20519100e-01 -4.13409366e-02 8.52848635e-01 1.46121978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720371743 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:44.06, Y:17.23, Z:14.62 [[ 0.52758678 -0.75808217 -0.38335833 44.06309957] [ 0.66685297 0.64914969 -0.36593961 17.23081411] [ 0.52626923 -0.06257874 0.84801214 14.62264791] [ 0. 0. 0. 1. ]] SLAMing on 54.750371743 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:44.06, Y:17.26, Z:14.66 [[ 5.33424271e-01 -7.79879410e-01 -3.27485348e-01 4.40649986e+01] [ 6.65069675e-01 6.25929564e-01 -4.07301496e-01 1.72633530e+01] [ 5.22628811e-01 -5.36070138e-04 8.52560167e-01 1.46583798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780371743 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:44.10, Y:17.27, Z:14.66 [[ 5.30897009e-01 -7.65363130e-01 -3.63823645e-01 4.41011773e+01] [ 6.67443747e-01 6.42181406e-01 -3.76990565e-01 1.72749891e+01] [ 5.22175459e-01 -4.26886532e-02 8.51769023e-01 1.46580236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.810371743 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:44.11, Y:17.30, Z:14.68 [[ 5.29407297e-01 -7.71071798e-01 -3.53802481e-01 4.41134854e+01] [ 6.68947089e-01 6.35897240e-01 -3.84895430e-01 1.72965383e+01] [ 5.21764032e-01 -3.29086904e-02 8.52454874e-01 1.46753759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840371743 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:44.13, Y:17.31, Z:14.69 [[ 0.52491484 -0.76717134 -0.3686632 44.13475411] [ 0.67233113 0.63933088 -0.37313119 17.31074561] [ 0.52195332 -0.05200165 0.85138743 14.6856328 ] [ 0. 0. 0. 1. ]] SLAMing on 54.870371743 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:44.15, Y:17.33, Z:14.70 [[ 0.52359238 -0.77158011 -0.36126881 44.14504863] [ 0.67371878 0.63453354 -0.37877459 17.32921493] [ 0.52149212 -0.04507009 0.85206494 14.70226254] [ 0. 0. 0. 1. ]] SLAMing on 54.900371743 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:44.16, Y:17.35, Z:14.72 [[ 5.21050569e-01 -7.76604345e-01 -3.54107322e-01 4.41576093e+01] [ 6.75223840e-01 6.28828717e-01 -3.85547936e-01 1.73498659e+01] [ 5.22091056e-01 -3.82117343e-02 8.52033329e-01 1.47198409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:44.18, Y:17.37, Z:14.73 [[ 0.51569392 -0.77441392 -0.36652812 44.17748022] [ 0.6777396 0.63043453 -0.37844594 17.36609522] [ 0.52414579 -0.05324835 0.84996224 14.73148799] [ 0. 0. 0. 1. ]] SLAMing on 54.960371743 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:44.19, Y:17.38, Z:14.75 [[ 0.51405838 -0.77764071 -0.36196535 44.1882252 ] [ 0.67839329 0.62683139 -0.38322964 17.38464335] [ 0.52490621 -0.04855246 0.84977416 14.74723731] [ 0. 0. 0. 1. ]] SLAMing on 54.990371743 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:44.20, Y:17.41, Z:14.76 [[ 5.13076881e-01 -7.80435256e-01 -3.57313483e-01 4.42012821e+01] [ 6.78627680e-01 6.23722829e-01 -3.87858614e-01 1.74052832e+01] [ 5.25563114e-01 -4.34815318e-02 8.49642731e-01 1.47639150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020371743 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:44.22, Y:17.43, Z:14.78 [[ 5.12121537e-01 -7.81281624e-01 -3.56834073e-01 4.42161162e+01] [ 6.78949742e-01 6.22690150e-01 -3.88952730e-01 1.74257810e+01] [ 5.26078682e-01 -4.30813318e-02 8.49343993e-01 1.47784922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:44.23, Y:17.44, Z:14.79 [[ 0.51081234 -0.7782142 -0.36531275 44.23358515] [ 0.67928543 0.62581315 -0.38331346 17.44251787] [ 0.5269175 -0.05235038 0.84830265 14.79071229] [ 0. 0. 0. 1. ]] SLAMing on 55.080371743 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:44.24, Y:17.47, Z:14.81 [[ 5.15212784e-01 -7.87883083e-01 -3.37336678e-01 4.42411507e+01] [ 6.78498093e-01 6.15423771e-01 -4.01115844e-01 1.74696449e+01] [ 5.23637398e-01 -2.22222819e-02 8.51651364e-01 1.48120755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:44.27, Y:17.48, Z:14.81 [[ 0.51123642 -0.76906349 -0.38363871 44.27482555] [ 0.68000326 0.6349414 -0.36666742 17.47728882] [ 0.52557862 -0.07342183 0.84757085 14.81335562] [ 0. 0. 0. 1. ]] SLAMing on 55.140371743 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:44.27, Y:17.50, Z:14.84 [[ 5.10294563e-01 -7.84686806e-01 -3.51946125e-01 4.42718503e+01] [ 6.79238280e-01 6.18748399e-01 -3.94697070e-01 1.75038256e+01] [ 5.27479685e-01 -3.76435116e-02 8.48733261e-01 1.48421189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.170371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:44.29, Y:17.52, Z:14.85 [[ 0.5097405 -0.78014848 -0.36267475 44.29203005] [ 0.67958618 0.62362964 -0.38632719 17.51970204] [ 0.52756729 -0.04954213 0.84806741 14.85277077] [ 0. 0. 0. 1. ]] SLAMing on 55.200371743 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:44.31, Y:17.54, Z:14.87 [[ 0.50852 -0.77909398 -0.36663331 44.30643467] [ 0.67995392 0.62458121 -0.38413666 17.53561774] [ 0.52827084 -0.05395258 0.84736004 14.86651422] [ 0. 0. 0. 1. ]] SLAMing on 55.230371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:44.31, Y:17.56, Z:14.89 [[ 5.07874383e-01 -7.85047379e-01 -3.54632520e-01 4.43146975e+01] [ 6.79767046e-01 6.18106231e-01 -3.94792919e-01 1.75578274e+01] [ 5.29131717e-01 -4.05622901e-02 8.47569659e-01 1.48873148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260371743 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:44.33, Y:17.58, Z:14.90 [[ 0.50692871 -0.78280791 -0.36088094 44.3323785 ] [ 0.68016113 0.62044469 -0.39042185 17.5756509 ] [ 0.52953198 -0.04754114 0.84695674 14.90043058] [ 0. 0. 0. 1. ]] SLAMing on 55.290371743 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:44.35, Y:17.60, Z:14.92 [[ 5.07727134e-01 -7.85617645e-01 -3.53578950e-01 4.43453738e+01] [ 6.79791594e-01 6.17455380e-01 -3.95767915e-01 1.75968897e+01] [ 5.29241482e-01 -3.94178883e-02 8.47555121e-01 1.49178255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320371743 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:44.36, Y:17.61, Z:14.93 [[ 0.50755758 -0.7802211 -0.36556851 44.36423965] [ 0.6796331 0.62332511 -0.38673591 17.61182218] [ 0.52960755 -0.05216172 0.84663747 14.92838571] [ 0. 0. 0. 1. ]] SLAMing on 55.350371743000004 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:44.37, Y:17.64, Z:14.95 [[ 5.10113709e-01 -7.84400826e-01 -3.52844651e-01 4.43725590e+01] [ 6.77357303e-01 6.19187155e-01 -3.97233371e-01 1.76351576e+01] [ 5.30067060e-01 -3.63677125e-02 8.47175484e-01 1.49489135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380371743 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:44.39, Y:17.65, Z:14.96 [[ 0.51105007 -0.7793846 -0.36247409 44.39131799] [ 0.67603026 0.62489315 -0.39050179 17.65256391] [ 0.53085866 -0.04547748 0.84623926 14.96119637] [ 0. 0. 0. 1. ]] SLAMing on 55.410371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:44.40, Y:17.68, Z:14.98 [[ 5.14286158e-01 -7.82368802e-01 -3.51295895e-01 4.44025158e+01] [ 6.73726758e-01 6.22018953e-01 -3.98979545e-01 1.76758031e+01] [ 5.30661854e-01 -3.14877875e-02 8.46998534e-01 1.49806793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440371743 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:44.42, Y:17.69, Z:14.99 [[ 5.20717745e-01 -7.73427151e-01 -3.61474026e-01 4.44221529e+01] [ 6.69676600e-01 6.32651106e-01 -3.88954790e-01 1.76937580e+01] [ 5.29515137e-01 -3.95350351e-02 8.47378723e-01 1.49907142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:44.43, Y:17.70, Z:15.00 [[ 0.51503191 -0.76481737 -0.38703555 44.43164082] [ 0.66978269 0.64085318 -0.3750978 17.70290787] [ 0.53491428 -0.06604238 0.84232127 14.99933389] [ 0. 0. 0. 1. ]] SLAMing on 55.500371743 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:44.43, Y:17.74, Z:15.04 [[ 5.24534027e-01 -7.87433717e-01 -3.23747118e-01 4.44252280e+01] [ 6.65590980e-01 6.16377082e-01 -4.20794415e-01 1.77352422e+01] [ 5.30898014e-01 5.23782753e-03 8.47419532e-01 1.50384642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530371743 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:44.46, Y:17.75, Z:15.04 [[ 5.28621565e-01 -7.69172713e-01 -3.59071829e-01 4.44619631e+01] [ 6.63047432e-01 6.38272667e-01 -3.91121599e-01 1.77508795e+01] [ 5.30025795e-01 -3.13263421e-02 8.47402688e-01 1.50376636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560371743 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:44.48, Y:17.77, Z:15.05 [[ 5.29107794e-01 -7.64397126e-01 -3.68431778e-01 4.44793693e+01] [ 6.61150168e-01 6.43533079e-01 -3.85675552e-01 1.77669926e+01] [ 5.31907320e-01 -3.95247917e-02 8.45879657e-01 1.50507089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590371743 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:44.49, Y:17.79, Z:15.07 [[ 5.30107116e-01 -7.66267596e-01 -3.63070814e-01 4.44879556e+01] [ 6.59784045e-01 6.41710758e-01 -3.91014472e-01 1.77851657e+01] [ 5.32608167e-01 -3.22687762e-02 8.45746573e-01 1.50676263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620371743 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:44.50, Y:17.81, Z:15.08 [[ 5.35373651e-01 -7.67398058e-01 -3.52810537e-01 4.44987508e+01] [ 6.56655299e-01 6.40894447e-01 -3.97565249e-01 1.78066959e+01] [ 5.31205113e-01 -1.88289496e-02 8.47034001e-01 1.50839510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650371743 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:44.52, Y:17.83, Z:15.10 [[ 5.33472220e-01 -7.65682083e-01 -3.59358231e-01 4.45163759e+01] [ 6.55708926e-01 6.42759327e-01 -3.96113937e-01 1.78259407e+01] [ 5.34278199e-01 -2.43186180e-02 8.44958822e-01 1.51001325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680371743 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:44.53, Y:17.84, Z:15.11 [[ 5.35838507e-01 -7.61823417e-01 -3.64008482e-01 4.45333250e+01] [ 6.54864500e-01 6.47125994e-01 -3.90359366e-01 1.78417251e+01] [ 5.32944257e-01 -2.92066524e-02 8.45646138e-01 1.51102287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710371743 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:44.54, Y:17.87, Z:15.13 [[ 5.35427078e-01 -7.69043604e-01 -3.49127169e-01 4.45419279e+01] [ 6.54493421e-01 6.39080082e-01 -4.03998776e-01 1.78650197e+01] [ 5.33812895e-01 -1.21895515e-02 8.45514759e-01 1.51330872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740371743 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:44.56, Y:17.88, Z:15.14 [[ 5.35755475e-01 -7.63740106e-01 -3.60093213e-01 4.45644752e+01] [ 6.54616953e-01 6.45057271e-01 -3.94179859e-01 1.78822797e+01] [ 5.33331713e-01 -2.45391044e-02 8.45550186e-01 1.51418175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770371743 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:44.58, Y:17.90, Z:15.16 [[ 5.34760503e-01 -7.64257832e-01 -3.60473536e-01 4.45805357e+01] [ 6.55385984e-01 6.44403740e-01 -3.93970853e-01 1.79009130e+01] [ 5.33385804e-01 -2.55692515e-02 8.45485539e-01 1.51568321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:44.60, Y:17.92, Z:15.17 [[ 5.34211477e-01 -7.64921851e-01 -3.59878673e-01 4.45960609e+01] [ 6.56475197e-01 6.43596062e-01 -3.93477349e-01 1.79187963e+01] [ 5.32595919e-01 -2.60513073e-02 8.45968626e-01 1.51712316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830371743 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:44.61, Y:17.94, Z:15.19 [[ 5.30586858e-01 -7.65468108e-01 -3.64055163e-01 4.46128168e+01] [ 6.59263041e-01 6.42633298e-01 -3.90377621e-01 1.79350553e+01] [ 5.32775589e-01 -3.28788787e-02 8.45617615e-01 1.51863016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860371743 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:44.62, Y:17.95, Z:15.21 [[ 5.27174998e-01 -7.70923539e-01 -3.57440090e-01 4.46246198e+01] [ 6.61594607e-01 6.36340016e-01 -3.96691265e-01 1.79545211e+01] [ 5.33272067e-01 -2.73547186e-02 8.45501403e-01 1.52054358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890371743 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:44.64, Y:17.97, Z:15.22 [[ 5.25464981e-01 -7.68234807e-01 -3.65652616e-01 4.46444022e+01] [ 6.63388237e-01 6.39038625e-01 -3.89288688e-01 1.79697708e+01] [ 5.32731265e-01 -3.80120709e-02 8.45430353e-01 1.52173518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920371743 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:44.66, Y:17.98, Z:15.23 [[ 0.51800951 -0.77009881 -0.37230898 44.6596642 ] [ 0.66671982 0.63618368 -0.38827182 17.98447941] [ 0.53586457 -0.04709728 0.84298933 15.2335676 ] [ 0. 0. 0. 1. ]] SLAMing on 55.950371743 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:44.67, Y:18.00, Z:15.25 [[ 5.12141616e-01 -7.76255074e-01 -3.67612602e-01 4.46680631e+01] [ 6.68520836e-01 6.28982578e-01 -3.96813316e-01 1.80012755e+01] [ 5.39250272e-01 -4.25320709e-02 8.41070845e-01 1.52544559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980371743 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:44.68, Y:18.02, Z:15.28 [[ 5.10911987e-01 -7.86474623e-01 -3.47025373e-01 4.46756239e+01] [ 6.70575392e-01 6.17214799e-01 -4.11551377e-01 1.80235147e+01] [ 5.37863910e-01 -2.24401432e-02 8.42732968e-01 1.52755933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010371743 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:44.70, Y:18.04, Z:15.28 [[ 0.50610279 -0.77710369 -0.37412542 44.7015185 ] [ 0.67198493 0.6272103 -0.39375563 18.03535539] [ 0.54064427 -0.05212582 0.83963485 15.28238059] [ 0. 0. 0. 1. ]] SLAMing on 56.040371743 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:44.71, Y:18.06, Z:15.31 [[ 5.02700669e-01 -7.89657803e-01 -3.51756439e-01 4.47060190e+01] [ 6.74739467e-01 6.12786390e-01 -4.11362968e-01 1.80560948e+01] [ 5.40387536e-01 -3.05515126e-02 8.40861413e-01 1.53050590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070371743 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:44.73, Y:18.07, Z:15.32 [[ 5.01159954e-01 -7.87427179e-01 -3.58883182e-01 4.47250729e+01] [ 6.76213152e-01 6.15139658e-01 -4.05387436e-01 1.80720290e+01] [ 5.39976363e-01 -3.95175788e-02 8.40751978e-01 1.53163199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100371743000004 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:44.74, Y:18.09, Z:15.33 [[ 0.49834021 -0.78671557 -0.36432904 44.74042449] [ 0.67743516 0.61558824 -0.40265708 18.08756548] [ 0.54105327 -0.04614909 0.83972116 15.33056808] [ 0. 0. 0. 1. ]] SLAMing on 56.130371743 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:44.75, Y:18.11, Z:15.35 [[ 4.97134748e-01 -7.91364218e-01 -3.55808540e-01 4.47513655e+01] [ 6.78161202e-01 6.10183395e-01 -4.09601767e-01 1.81066465e+01] [ 5.41252645e-01 -3.76682758e-02 8.40015878e-01 1.53496542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160371743 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:44.77, Y:18.12, Z:15.36 [[ 4.95190488e-01 -7.92097941e-01 -3.56885461e-01 4.47665165e+01] [ 6.80041314e-01 6.09044195e-01 -4.08177633e-01 1.81231729e+01] [ 5.40675681e-01 -4.05711765e-02 8.40252216e-01 1.53634754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190371743 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:44.78, Y:18.14, Z:15.38 [[ 4.93814430e-01 -7.93322149e-01 -3.56072009e-01 4.47807011e+01] [ 6.80569611e-01 6.07482976e-01 -4.09621092e-01 1.81410835e+01] [ 5.41269169e-01 -4.00549826e-02 8.39894806e-01 1.53790018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220371743 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:44.80, Y:18.16, Z:15.39 [[ 4.92865140e-01 -7.94052015e-01 -3.55760245e-01 4.47952440e+01] [ 6.80763832e-01 6.06546948e-01 -4.10684069e-01 1.81593529e+01] [ 5.41889803e-01 -3.97768469e-02 8.39507739e-01 1.53946994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:44.81, Y:18.18, Z:15.41 [[ 4.92901755e-01 -7.93936158e-01 -3.55968029e-01 4.48087304e+01] [ 6.79882726e-01 6.06747911e-01 -4.11845180e-01 1.81770199e+01] [ 5.42961637e-01 -3.90173017e-02 8.38850589e-01 1.54087870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:44.82, Y:18.20, Z:15.42 [[ 4.93110874e-01 -7.94722359e-01 -3.53918124e-01 4.48228917e+01] [ 6.79337583e-01 6.05887923e-01 -4.14005161e-01 1.81963725e+01] [ 5.43453875e-01 -3.62794360e-02 8.38654690e-01 1.54246726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.310371743 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:44.84, Y:18.21, Z:15.44 [[ 4.93599793e-01 -7.93391063e-01 -3.56216038e-01 4.48388175e+01] [ 6.78751304e-01 6.07516606e-01 -4.12577557e-01 1.82147765e+01] [ 5.43742505e-01 -3.81339034e-02 8.38385290e-01 1.54389335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340371743 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:44.85, Y:18.23, Z:15.45 [[ 4.95542341e-01 -7.93001726e-01 -3.54381222e-01 4.48500812e+01] [ 6.76908236e-01 6.08243637e-01 -4.14529757e-01 1.82339543e+01] [ 5.44272936e-01 -3.44665218e-02 8.38199875e-01 1.54541003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370371743 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:44.86, Y:18.25, Z:15.47 [[ 4.96455718e-01 -7.92041410e-01 -3.55249383e-01 4.48638782e+01] [ 6.76053769e-01 6.09486822e-01 -4.14097954e-01 1.82520512e+01] [ 5.44502545e-01 -3.45863871e-02 8.38045798e-01 1.54687375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:44.88, Y:18.27, Z:15.48 [[ 4.97770681e-01 -7.91923037e-01 -3.53669693e-01 4.48781398e+01] [ 6.75014778e-01 6.09782864e-01 -4.15355160e-01 1.82715002e+01] [ 5.44591038e-01 -3.19806478e-02 8.38091785e-01 1.54837530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430371743 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:44.89, Y:18.29, Z:15.50 [[ 5.01232098e-01 -7.93167581e-01 -3.45906885e-01 4.48906646e+01] [ 6.73980644e-01 6.08560904e-01 -4.18812270e-01 1.82930632e+01] [ 5.42693722e-01 -2.32123925e-02 8.39609855e-01 1.54991301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460371743 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:44.91, Y:18.31, Z:15.51 [[ 5.02093591e-01 -7.89632589e-01 -3.52678892e-01 4.49096256e+01] [ 6.73675451e-01 6.12835741e-01 -4.13029953e-01 1.83114708e+01] [ 5.42276141e-01 -3.02114195e-02 8.39656987e-01 1.55105270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.490371743 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:44.93, Y:18.33, Z:15.53 [[ 5.01737215e-01 -7.89486005e-01 -3.53513246e-01 4.49252815e+01] [ 6.73927095e-01 6.12969172e-01 -4.12420979e-01 1.83299465e+01] [ 5.42293313e-01 -3.13152019e-02 8.39605455e-01 1.55252663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520371743 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:44.94, Y:18.35, Z:15.54 [[ 5.03037751e-01 -7.88960243e-01 -3.52838146e-01 4.49389101e+01] [ 6.73361026e-01 6.13701302e-01 -4.12256765e-01 1.83483355e+01] [ 5.41791427e-01 -3.02067399e-02 8.39970001e-01 1.55401497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550371743 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:44.95, Y:18.37, Z:15.56 [[ 5.07188791e-01 -7.91157224e-01 -3.41803711e-01 4.49502855e+01] [ 6.72008241e-01 6.11355628e-01 -4.17910542e-01 1.83719512e+01] [ 5.39596567e-01 -1.77353677e-02 8.41736896e-01 1.55585730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:44.97, Y:18.39, Z:15.57 [[ 5.07103082e-01 -7.82871842e-01 -3.60497079e-01 4.49732140e+01] [ 6.71854076e-01 6.21050373e-01 -4.03619295e-01 1.83880429e+01] [ 5.39869026e-01 -3.75248434e-02 8.40912196e-01 1.55670892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610371743 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:44.98, Y:18.41, Z:15.59 [[ 5.10875747e-01 -7.86741644e-01 -3.46473024e-01 4.49823835e+01] [ 6.70808106e-01 6.16886410e-01 -4.11664478e-01 1.84095526e+01] [ 5.37608088e-01 -2.21075154e-02 8.42904978e-01 1.55859901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640371743 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:45.00, Y:18.43, Z:15.60 [[ 5.09771381e-01 -7.82153477e-01 -3.58286306e-01 4.50001887e+01] [ 6.70337769e-01 6.22157295e-01 -4.04434885e-01 1.84260133e+01] [ 5.39240591e-01 -3.40035125e-02 8.41465000e-01 1.55980147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.670371743 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:45.01, Y:18.45, Z:15.62 [[ 5.12996985e-01 -7.85079580e-01 -3.47108263e-01 4.50097361e+01] [ 6.68432243e-01 6.19054803e-01 -4.12273560e-01 1.84480160e+01] [ 5.38546590e-01 -2.05232613e-02 8.42345752e-01 1.56175565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700371743 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:45.03, Y:18.47, Z:15.63 [[ 5.15885391e-01 -7.84462668e-01 -3.44210089e-01 4.50260066e+01] [ 6.67683710e-01 6.19937589e-01 -4.12159981e-01 1.84683868e+01] [ 5.36712891e-01 -1.71961561e-02 8.43589690e-01 1.56320704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730371743 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:45.04, Y:18.49, Z:15.64 [[ 5.18577729e-01 -7.78912455e-01 -3.52664893e-01 4.50445073e+01] [ 6.66483277e-01 6.26610906e-01 -4.03929219e-01 1.84857017e+01] [ 5.35609168e-01 -2.55765559e-02 8.44078586e-01 1.56417380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760371743 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:45.06, Y:18.51, Z:15.66 [[ 5.18793078e-01 -7.82852667e-01 -3.43504649e-01 4.50553180e+01] [ 6.66024778e-01 6.22021592e-01 -4.11703941e-01 1.85075728e+01] [ 5.35970837e-01 -1.51934529e-02 8.44099770e-01 1.56613602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790371743 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:45.08, Y:18.53, Z:15.67 [[ 5.20075137e-01 -7.78506916e-01 -3.51352862e-01 4.50765772e+01] [ 6.65235374e-01 6.27211717e-01 -4.05052292e-01 1.85261432e+01] [ 5.35708642e-01 -2.30747266e-02 8.44087559e-01 1.56730901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820371743 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:45.09, Y:18.54, Z:15.69 [[ 5.19055330e-01 -7.76311384e-01 -3.57662130e-01 4.50932402e+01] [ 6.64936197e-01 6.29667905e-01 -4.01719035e-01 1.85431860e+01] [ 5.37067425e-01 -2.93080904e-02 8.43030021e-01 1.56863342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850371743000004 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:45.11, Y:18.56, Z:15.70 [[ 5.18818257e-01 -7.74927465e-01 -3.60991745e-01 4.51073253e+01] [ 6.63570274e-01 6.31276557e-01 -4.01452861e-01 1.85595480e+01] [ 5.38982474e-01 -3.12623176e-02 8.41736634e-01 1.57016526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880371743 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:45.12, Y:18.58, Z:15.72 [[ 5.20314429e-01 -7.77674736e-01 -3.52838349e-01 4.51169893e+01] [ 6.62490352e-01 6.28297815e-01 -4.07858296e-01 1.85780352e+01] [ 5.38868656e-01 -2.15374462e-02 8.42114428e-01 1.57201558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910371743 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:45.13, Y:18.59, Z:15.74 [[ 5.17980607e-01 -7.73970160e-01 -3.64233828e-01 4.51323895e+01] [ 6.61156315e-01 6.32425714e-01 -4.03621164e-01 1.85929333e+01] [ 5.42741575e-01 -3.17475602e-02 8.39299514e-01 1.57355459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940371743 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:45.14, Y:18.61, Z:15.76 [[ 5.19134800e-01 -7.79657192e-01 -3.50190979e-01 4.51390705e+01] [ 6.60194489e-01 6.26008875e-01 -4.15037498e-01 1.86120361e+01] [ 5.42809631e-01 -1.57337454e-02 8.39708374e-01 1.57565752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970371743 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:45.15, Y:18.63, Z:15.77 [[ 5.15910630e-01 -7.79710008e-01 -3.54807730e-01 4.51479510e+01] [ 6.61325458e-01 6.25779332e-01 -4.13580544e-01 1.86268128e+01] [ 5.44504233e-01 -2.12727856e-02 8.38488288e-01 1.57687429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000371743 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:45.16, Y:18.65, Z:15.79 [[ 5.17101784e-01 -7.84166770e-01 -3.43057171e-01 4.51578297e+01] [ 6.60853966e-01 6.20493475e-01 -4.22208342e-01 1.86450725e+01] [ 5.43946488e-01 -8.38600511e-03 8.39078002e-01 1.57884569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030371743 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:45.18, Y:18.67, Z:15.81 [[ 5.22177915e-01 -7.86872333e-01 -3.28880154e-01 4.51764484e+01] [ 6.60204374e-01 6.17082013e-01 -4.28182173e-01 1.86671032e+01] [ 5.39870734e-01 6.45915811e-03 8.41723155e-01 1.58072951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060371743 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:45.20, Y:18.69, Z:15.82 [[ 5.24286679e-01 -7.81957537e-01 -3.37143720e-01 4.52022279e+01] [ 6.61092093e-01 6.23319403e-01 -4.17648377e-01 1.86858757e+01] [ 5.36731519e-01 -3.91556712e-03 8.43744005e-01 1.58151962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090371743 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:45.23, Y:18.70, Z:15.82 [[ 5.22635650e-01 -7.75293089e-01 -3.54644333e-01 4.52263467e+01] [ 6.61891038e-01 6.31168380e-01 -4.04384384e-01 1.86999989e+01] [ 5.37356707e-01 -2.33902105e-02 8.43030644e-01 1.58228884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120371743 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:45.24, Y:18.71, Z:15.84 [[ 5.14450743e-01 -7.74579757e-01 -3.67922049e-01 4.52372776e+01] [ 6.64688207e-01 6.31274083e-01 -3.99603079e-01 1.87101850e+01] [ 5.41784109e-01 -3.89773458e-02 8.39613450e-01 1.58362917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150371743 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:45.24, Y:18.74, Z:15.87 [[ 5.20707735e-01 -7.95295207e-01 -3.10433550e-01 4.52382449e+01] [ 6.65357195e-01 6.05873893e-01 -4.36138315e-01 1.87400091e+01] [ 5.34942295e-01 2.05513985e-02 8.44638610e-01 1.58702580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180371743 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:45.28, Y:18.74, Z:15.86 [[ 0.50973826 -0.77140451 -0.38092255 45.27798718] [ 0.66820532 0.63387653 -0.38948967 18.74275101] [ 0.54191195 -0.05599669 0.83856771 15.86011584] [ 0. 0. 0. 1. ]] SLAMing on 57.210371743 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:45.27, Y:18.77, Z:15.90 [[ 5.12161102e-01 -8.00950638e-01 -3.10111402e-01 4.52738300e+01] [ 6.70630484e-01 5.98503656e-01 -4.38232961e-01 1.87743594e+01] [ 5.36605777e-01 1.64757168e-02 8.43672206e-01 1.58997664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240371743 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:45.31, Y:18.79, Z:15.90 [[ 5.08698953e-01 -7.88214815e-01 -3.46327562e-01 4.53124729e+01] [ 6.73372335e-01 6.14915318e-01 -4.10425207e-01 1.87886242e+01] [ 5.36465351e-01 -2.44245264e-02 8.43568829e-01 1.58996289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270371743 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:45.33, Y:18.80, Z:15.91 [[ 5.05532804e-01 -7.87440669e-01 -3.52666666e-01 4.53319217e+01] [ 6.75243710e-01 6.15523647e-01 -4.06419206e-01 1.88047613e+01] [ 5.37105684e-01 -3.26777068e-02 8.42881754e-01 1.59130283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300371743 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:45.35, Y:18.82, Z:15.93 [[ 0.49673981 -0.7862897 -0.36742082 45.35068391] [ 0.67914331 0.61574382 -0.39952962 18.81601825] [ 0.54038313 -0.05106912 0.83986786 15.9255969 ] [ 0. 0. 0. 1. ]] SLAMing on 57.330371743 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:45.35, Y:18.84, Z:15.95 [[ 4.94773002e-01 -7.98815814e-01 -3.42188503e-01 4.53538297e+01] [ 6.80504304e-01 6.01035554e-01 -4.19130236e-01 1.88378145e+01] [ 5.40475317e-01 -2.54864241e-02 8.40973765e-01 1.59505113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360371743 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:45.37, Y:18.86, Z:15.97 [[ 4.94177135e-01 -8.02475935e-01 -3.34396970e-01 4.53715449e+01] [ 6.82680053e-01 5.96361935e-01 -4.22256306e-01 1.88593088e+01] [ 5.38272148e-01 -1.96167297e-02 8.42542746e-01 1.59672754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:45.40, Y:18.87, Z:15.97 [[ 0.48951731 -0.79074072 -0.36756211 45.40036234] [ 0.68516582 0.60952607 -0.39878036 18.86848639] [ 0.53937056 -0.05663111 0.84016208 15.97142771] [ 0. 0. 0. 1. ]] SLAMing on 57.420371743 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:45.40, Y:18.89, Z:16.00 [[ 4.86403747e-01 -8.04897380e-01 -3.39928820e-01 4.54031142e+01] [ 6.88500677e-01 5.92619459e-01 -4.18053817e-01 1.88890299e+01] [ 5.37938856e-01 -3.06982799e-02 8.42424717e-01 1.59974215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450371743 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:45.42, Y:18.91, Z:16.01 [[ 4.86964638e-01 -8.05335376e-01 -3.38083383e-01 4.54214637e+01] [ 6.90076465e-01 5.92029911e-01 -4.16287229e-01 1.89081772e+01] [ 5.35406307e-01 -3.05862260e-02 8.44040621e-01 1.60118734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480371743 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:45.44, Y:18.92, Z:16.02 [[ 4.85655632e-01 -8.02554105e-01 -3.46475852e-01 4.54415190e+01] [ 6.91211044e-01 5.95206176e-01 -4.09825452e-01 1.89244093e+01] [ 5.35131665e-01 -4.04538965e-02 8.43799492e-01 1.60245818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510371743 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:45.46, Y:18.93, Z:16.03 [[ 0.47780042 -0.79335982 -0.37720943 45.45796309] [ 0.69207146 0.60441886 -0.39460733 18.93173056] [ 0.54105809 -0.07251233 0.83785327 16.03424596] [ 0. 0. 0. 1. ]] SLAMing on 57.540371743 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:45.45, Y:18.96, Z:16.07 [[ 4.83749312e-01 -8.21786624e-01 -3.01086944e-01 4.54494435e+01] [ 6.91136235e-01 5.69752271e-01 -4.44649360e-01 1.89649556e+01] [ 5.36951867e-01 7.00672530e-03 8.43583783e-01 1.60733731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570371743 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:45.49, Y:18.98, Z:16.07 [[ 0.48370091 -0.8015852 -0.35141799 45.49346477] [ 0.69243202 0.59605396 -0.40651885 18.97605997] [ 0.53532357 -0.04669953 0.8433551 16.06882303] [ 0. 0. 0. 1. ]] SLAMing on 57.600371743 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:45.51, Y:18.99, Z:16.09 [[ 0.48060807 -0.80165078 -0.35548828 45.50775482] [ 0.69215363 0.5956822 -0.40753659 18.99261459] [ 0.53846007 -0.05018713 0.84115516 16.08651107] [ 0. 0. 0. 1. ]] SLAMing on 57.630371743 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:45.52, Y:19.01, Z:16.11 [[ 4.80265006e-01 -8.09165435e-01 -3.38521524e-01 4.55155577e+01] [ 6.91164750e-01 5.86744625e-01 -4.21926573e-01 1.90143869e+01] [ 5.40034084e-01 -3.13375759e-02 8.41059537e-01 1.61074746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660371743 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:45.54, Y:19.03, Z:16.12 [[ 0.48066686 -0.80197692 -0.35467223 45.53732021] [ 0.6904972 0.59546256 -0.41065551 19.02917495] [ 0.54053028 -0.04751169 0.83998194 16.11646372] [ 0. 0. 0. 1. ]] SLAMing on 57.690371743 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:45.55, Y:19.05, Z:16.14 [[ 4.80562061e-01 -8.04192138e-01 -3.49764364e-01 4.55486888e+01] [ 6.89157924e-01 5.92960776e-01 -4.16483943e-01 1.90487795e+01] [ 5.42329661e-01 -4.08965003e-02 8.39169837e-01 1.61352193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:45.56, Y:19.06, Z:16.15 [[ 0.47753193 -0.79651875 -0.37083842 45.5606484 ] [ 0.68641573 0.60167803 -0.40843236 19.05996941] [ 0.54844937 -0.05950983 0.83406347 16.14723073] [ 0. 0. 0. 1. ]] SLAMing on 57.750371743 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:45.55, Y:19.11, Z:16.19 [[ 0.49186115 -0.82824557 -0.26848068 45.54874196] [ 0.68455981 0.55841807 -0.46855855 19.10573991] [ 0.53800601 0.04667467 0.84164779 16.19089192] [ 0. 0. 0. 1. ]] SLAMing on 57.780371743 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:45.62, Y:19.09, Z:16.16 [[ 0.48150013 -0.76712898 -0.42387586 45.62138756] [ 0.68506754 0.63107148 -0.36391105 19.09068246] [ 0.54666268 -0.11516037 0.82939617 16.15917947] [ 0. 0. 0. 1. ]] SLAMing on 57.810371743 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:45.58, Y:19.12, Z:16.21 [[ 4.83010676e-01 -8.06337303e-01 -3.41351492e-01 4.55844718e+01] [ 6.80693215e-01 5.90997872e-01 -4.32872109e-01 1.91208418e+01] [ 5.50778934e-01 -2.32737942e-02 8.34326612e-01 1.62079473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:45.59, Y:19.16, Z:16.24 [[ 0.49965144 -0.82540974 -0.26276835 45.58825723] [ 0.68051594 0.56172324 -0.47049448 19.16397445] [ 0.53595382 0.05626519 0.84237031 16.24115279] [ 0. 0. 0. 1. ]] SLAMing on 57.870371743 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:45.65, Y:19.18, Z:16.22 [[ 5.07121724e-01 -7.88896532e-01 -3.47087625e-01 4.56539725e+01] [ 6.77283944e-01 6.13822829e-01 -4.05595850e-01 1.91765514e+01] [ 5.33023467e-01 -2.93904091e-02 8.45589846e-01 1.62242678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:45.67, Y:19.19, Z:16.24 [[ 5.09406283e-01 -7.82499214e-01 -3.58050581e-01 4.56735609e+01] [ 6.75425969e-01 6.21393379e-01 -3.97076856e-01 1.91926652e+01] [ 5.33202588e-01 -3.95632152e-02 8.45061981e-01 1.62361261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930371743 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:45.68, Y:19.22, Z:16.26 [[ 5.11822264e-01 -7.86904185e-01 -3.44702443e-01 4.56810485e+01] [ 6.72227945e-01 6.16681115e-01 -4.09651061e-01 1.92170542e+01] [ 5.34927621e-01 -2.20500813e-02 8.44610108e-01 1.62592267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960371743 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:45.70, Y:19.23, Z:16.27 [[ 5.11962638e-01 -7.79004031e-01 -3.62004112e-01 4.57030872e+01] [ 6.71083246e-01 6.25779588e-01 -3.97551486e-01 1.92322003e+01] [ 5.36228995e-01 -3.94033868e-02 8.43152322e-01 1.62693453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.990371743 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:45.71, Y:19.25, Z:16.29 [[ 5.11756528e-01 -7.84038445e-01 -3.51267666e-01 4.57111277e+01] [ 6.70571567e-01 6.20117009e-01 -4.07171546e-01 1.92538582e+01] [ 5.37065200e-01 -2.71774133e-02 8.43102816e-01 1.62889697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020371743 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:45.74, Y:19.24, Z:16.29 [[ 0.49338642 -0.75274788 -0.4358216 45.73648339] [ 0.67010453 0.64840058 -0.3612985 19.24479799] [ 0.55455366 -0.11378625 0.82433181 16.28795772] [ 0. 0. 0. 1. ]] SLAMing on 58.050371743 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:45.68, Y:19.30, Z:16.36 [[ 0.50924037 -0.82316366 -0.25114904 45.68287671] [ 0.67138467 0.56254827 -0.48247494 19.30290628] [ 0.53843929 0.0770781 0.83913175 16.36068897] [ 0. 0. 0. 1. ]] SLAMing on 58.080371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:45.76, Y:19.31, Z:16.33 [[ 0.50595205 -0.77870164 -0.37099363 45.76326566] [ 0.67138089 0.62555469 -0.39740286 19.30688912] [ 0.54153506 -0.04801124 0.83930608 16.33368737] [ 0. 0. 0. 1. ]] SLAMing on 58.110371743 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:45.77, Y:19.30, Z:16.34 [[ 0.48625332 -0.76629975 -0.41993142 45.7728038 ] [ 0.67463382 0.63465165 -0.37694362 19.30379644] [ 0.55536198 -0.10000985 0.8255732 16.34416477] [ 0. 0. 0. 1. ]] SLAMing on 58.140371743 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:45.73, Y:19.35, Z:16.41 [[ 0.49831844 -0.82583523 -0.26396005 45.73210242] [ 0.67678265 0.56081506 -0.47691898 19.35459347] [ 0.54188927 0.05901394 0.83837544 16.40699023] [ 0. 0. 0. 1. ]] SLAMing on 58.170371743 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:45.80, Y:19.36, Z:16.39 [[ 4.97241038e-01 -7.92933680e-01 -3.52147028e-01 4.58005298e+01] [ 6.78861794e-01 6.08325184e-01 -4.11202061e-01 1.93642320e+01] [ 5.40275869e-01 -3.45926240e-02 8.40776627e-01 1.63888276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200371743 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:45.82, Y:19.39, Z:16.41 [[ 4.91588164e-01 -7.98661325e-01 -3.47103969e-01 4.58170356e+01] [ 6.82515893e-01 6.00908538e-01 -4.16030029e-01 1.93852580e+01] [ 5.40844832e-01 -3.23885376e-02 8.40498572e-01 1.64076374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230371743 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:45.84, Y:19.40, Z:16.42 [[ 0.48662409 -0.79012346 -0.37269546 45.84113139] [ 0.68492009 0.60987808 -0.39866426 19.39559474] [ 0.54229278 -0.06126697 0.8379528 16.41504803] [ 0. 0. 0. 1. ]] SLAMing on 58.260371743 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:45.85, Y:19.39, Z:16.43 [[ 0.4689872 -0.77730832 -0.41933613 45.84868265] [ 0.68677346 0.61948804 -0.38023253 19.39297825] [ 0.55533163 -0.10966473 0.82436669 16.42630457] [ 0. 0. 0. 1. ]] SLAMing on 58.290371743 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:45.81, Y:19.44, Z:16.48 [[ 4.75006861e-01 -8.33822596e-01 -2.81262085e-01 4.58119717e+01] [ 6.88039397e-01 5.51178521e-01 -4.72021215e-01 1.94380238e+01] [ 5.48607575e-01 3.06939200e-02 8.35516375e-01 1.64839024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320371743 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:45.87, Y:19.45, Z:16.47 [[ 0.47485945 -0.80566613 -0.35413357 45.86923978] [ 0.69062665 0.59055492 -0.41746822 19.44822032] [ 0.54547533 -0.04633535 0.83684509 16.4716157 ] [ 0. 0. 0. 1. ]] SLAMing on 58.350371743 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:45.88, Y:19.47, Z:16.49 [[ 4.70894868e-01 -8.12250203e-01 -3.44249373e-01 4.58792866e+01] [ 6.92198786e-01 5.82109405e-01 -4.26625691e-01 1.94700731e+01] [ 5.46917602e-01 -3.73931498e-02 8.36350937e-01 1.64922242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380371743 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:45.90, Y:19.49, Z:16.50 [[ 0.46745613 -0.80597332 -0.36316907 45.90008467] [ 0.69301714 0.58915604 -0.41547851 19.48504907] [ 0.54882785 -0.05746442 0.83395793 16.50486308] [ 0. 0. 0. 1. ]] SLAMing on 58.410371743 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:45.91, Y:19.51, Z:16.53 [[ 4.66191535e-01 -8.12075797e-01 -3.50996229e-01 4.59065378e+01] [ 6.92809028e-01 5.81846724e-01 -4.25993005e-01 1.95056691e+01] [ 5.50164615e-01 -4.45790232e-02 8.33865461e-01 1.65258382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440371743 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:45.92, Y:19.52, Z:16.54 [[ 0.46524828 -0.80931785 -0.35853681 45.92212948] [ 0.69321736 0.58500329 -0.42097607 19.52140902] [ 0.55044866 -0.05268555 0.83320496 16.53979097] [ 0. 0. 0. 1. ]] SLAMing on 58.470371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:45.93, Y:19.54, Z:16.56 [[ 4.65422577e-01 -8.13916708e-01 -3.47737571e-01 4.59303982e+01] [ 6.93385612e-01 5.79476972e-01 -4.28278919e-01 1.95417417e+01] [ 5.50089283e-01 -4.17855502e-02 8.34059799e-01 1.65589767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500371743 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:45.95, Y:19.55, Z:16.57 [[ 0.4567562 -0.79782096 -0.39351682 45.94794735] [ 0.69338441 0.5964134 -0.4043626 19.54575554] [ 0.55730767 -0.0881633 0.82561214 16.5667161 ] [ 0. 0. 0. 1. ]] SLAMing on 58.530371743 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:45.92, Y:19.59, Z:16.61 [[ 4.67333328e-01 -8.40232185e-01 -2.74971700e-01 4.59237552e+01] [ 6.92213631e-01 5.41236088e-01 -4.77392696e-01 1.95901197e+01] [ 5.49945315e-01 3.27623593e-02 8.34557834e-01 1.66140434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560371743 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:45.99, Y:19.59, Z:16.60 [[ 0.46561575 -0.80188482 -0.37440982 45.98775295] [ 0.69306348 0.59348528 -0.40919217 19.5948799 ] [ 0.5503317 -0.06896346 0.83209318 16.59858545] [ 0. 0. 0. 1. ]] SLAMing on 58.590371743 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:45.99, Y:19.61, Z:16.62 [[ 0.45670044 -0.80180265 -0.38540527 45.98576972] [ 0.69131532 0.59253088 -0.41350971 19.60567831] [ 0.5599177 -0.0775865 0.82490757 16.61848267] [ 0. 0. 0. 1. ]] SLAMing on 58.620371743 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:45.97, Y:19.63, Z:16.65 [[ 4.56158712e-01 -8.22153314e-01 -3.40563001e-01 4.59723379e+01] [ 6.89089740e-01 5.68492157e-01 -4.49412948e-01 1.96295459e+01] [ 5.63093739e-01 -2.96748385e-02 8.25860064e-01 1.66505960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650371743 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:45.99, Y:19.65, Z:16.67 [[ 4.56786917e-01 -8.21517884e-01 -3.41253686e-01 4.59860031e+01] [ 6.87608618e-01 5.69450799e-01 -4.50466621e-01 1.96485937e+01] [ 5.64393569e-01 -2.88817161e-02 8.25000452e-01 1.66655251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680371743 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:46.00, Y:19.67, Z:16.68 [[ 4.57126735e-01 -8.21336284e-01 -3.41235779e-01 4.60001095e+01] [ 6.87180976e-01 5.69735093e-01 -4.50759614e-01 1.96678396e+01] [ 5.64639224e-01 -2.84364646e-02 8.24847812e-01 1.66807303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710371743 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:46.01, Y:19.69, Z:16.70 [[ 4.57846294e-01 -8.20999799e-01 -3.41080784e-01 4.60138863e+01] [ 6.86679753e-01 5.70252021e-01 -4.50869769e-01 1.96860978e+01] [ 5.64665996e-01 -2.77842156e-02 8.24851714e-01 1.66959832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740371743 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:46.03, Y:19.70, Z:16.71 [[ 4.59681073e-01 -8.20030920e-01 -3.40943692e-01 4.60274139e+01] [ 6.85372410e-01 5.71712186e-01 -4.51009796e-01 1.97047883e+01] [ 5.64763641e-01 -2.63527335e-02 8.24831839e-01 1.67121108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770371743 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:46.04, Y:19.72, Z:16.73 [[ 4.60697557e-01 -8.19612701e-01 -3.40577131e-01 4.60409625e+01] [ 6.84950094e-01 5.72346891e-01 -4.50846320e-01 1.97238129e+01] [ 5.64447632e-01 -2.55745399e-02 8.25072611e-01 1.67280374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800371743 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:46.05, Y:19.74, Z:16.74 [[ 4.61981831e-01 -8.19006556e-01 -3.40295533e-01 4.60543963e+01] [ 6.84221262e-01 5.73257526e-01 -4.50796044e-01 1.97426901e+01] [ 5.64281891e-01 -2.45778573e-02 8.25216260e-01 1.67437273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830371743 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:46.07, Y:19.76, Z:16.76 [[ 4.63533125e-01 -8.18268489e-01 -3.39961355e-01 4.60674267e+01] [ 6.83373667e-01 5.74359107e-01 -4.50679540e-01 1.97607612e+01] [ 5.64036766e-01 -2.34157425e-02 8.25417609e-01 1.67587328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:46.08, Y:19.78, Z:16.77 [[ 4.66320450e-01 -8.16665669e-01 -3.40003564e-01 4.60810884e+01] [ 6.81253286e-01 5.76715143e-01 -4.50880919e-01 1.97793939e+01] [ 5.64304172e-01 -2.13735525e-02 8.25290236e-01 1.67744020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890371743 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:46.09, Y:19.80, Z:16.79 [[ 4.68299308e-01 -8.15682090e-01 -3.39644648e-01 4.60947018e+01] [ 6.80131738e-01 5.78157083e-01 -4.50727419e-01 1.97974333e+01] [ 5.64018242e-01 -1.99277661e-02 8.25521839e-01 1.67892825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920371743 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:46.11, Y:19.82, Z:16.80 [[ 4.69654338e-01 -8.14926668e-01 -3.39586997e-01 4.61082671e+01] [ 6.79152016e-01 5.79255386e-01 -4.50794562e-01 1.98160001e+01] [ 5.64072107e-01 -1.89135721e-02 8.25508894e-01 1.68049204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950371743 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:46.12, Y:19.83, Z:16.82 [[ 4.72511341e-01 -8.13368825e-01 -3.39358493e-01 4.61211970e+01] [ 6.77215767e-01 5.81505561e-01 -4.50810479e-01 1.98337914e+01] [ 5.64014040e-01 -1.68058582e-02 8.25594165e-01 1.68202154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980371743 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:46.13, Y:19.85, Z:16.84 [[ 4.72831564e-01 -8.13150618e-01 -3.39435391e-01 4.61349908e+01] [ 6.76782179e-01 5.81820798e-01 -4.51054810e-01 1.98524303e+01] [ 5.64266067e-01 -1.64508722e-02 8.25429085e-01 1.68359354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010371743 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:46.14, Y:19.89, Z:16.87 [[ 0.48715638 -0.83197238 -0.26551953 46.13931099] [ 0.67823313 0.55195873 -0.48511997 19.89162096] [ 0.55016224 0.05624514 0.83316145 16.86535851] [ 0. 0. 0. 1. ]] SLAMing on 59.040371743 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:46.21, Y:19.88, Z:16.84 [[ 0.47394631 -0.77470288 -0.41858134 46.21257125] [ 0.67862507 0.62426412 -0.38699137 19.88054218] [ 0.56110864 -0.10064667 0.82160048 16.83710842] [ 0. 0. 0. 1. ]] SLAMing on 59.070371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:46.18, Y:19.91, Z:16.88 [[ 4.73362621e-01 -8.13276566e-01 -3.38391868e-01 4.61794086e+01] [ 6.77268917e-01 5.81659578e-01 -4.50531852e-01 1.99089577e+01] [ 5.63235868e-01 -1.59173558e-02 8.26142841e-01 1.68838309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100371743 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:46.19, Y:19.93, Z:16.90 [[ 4.72658103e-01 -8.13819636e-01 -3.38070876e-01 4.61931632e+01] [ 6.77996954e-01 5.80888590e-01 -4.50431544e-01 1.99261196e+01] [ 5.62951550e-01 -1.63109051e-02 8.26328934e-01 1.68988125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.130371743 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:46.20, Y:19.97, Z:16.93 [[ 0.48507893 -0.83574386 -0.25735312 46.19811997] [ 0.6815207 0.54570706 -0.48757906 19.96749988] [ 0.54793062 0.06112285 0.83428774 16.93141315] [ 0. 0. 0. 1. ]] SLAMing on 59.160371743 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:46.27, Y:19.97, Z:16.91 [[ 0.4838933 -0.79670701 -0.36208454 46.27108621] [ 0.68277566 0.60251633 -0.41326926 19.9738634 ] [ 0.54741636 -0.04724429 0.83552577 16.90989991] [ 0. 0. 0. 1. ]] SLAMing on 59.190371743 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:46.28, Y:19.99, Z:16.93 [[ 0.47683169 -0.80118474 -0.36157233 46.28079181] [ 0.68397311 0.59656099 -0.4198759 19.99155075] [ 0.55209811 -0.04709562 0.83244801 16.92976721] [ 0. 0. 0. 1. ]] SLAMing on 59.220371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:46.29, Y:20.02, Z:16.95 [[ 4.74677242e-01 -8.15407537e-01 -3.31348857e-01 4.62878645e+01] [ 6.87989636e-01 5.78541972e-01 -4.38131771e-01 2.00178389e+01] [ 5.48955169e-01 -1.99933988e-02 8.35612642e-01 1.69522171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250371743 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:46.32, Y:20.01, Z:16.94 [[ 0.45533698 -0.77886807 -0.43131516 46.32415519] [ 0.69125393 0.61458693 -0.38006698 20.00571861] [ 0.56110269 -0.12508975 0.81823977 16.94479748] [ 0. 0. 0. 1. ]] SLAMing on 59.280371743 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:46.28, Y:20.04, Z:17.00 [[ 4.51223746e-01 -8.25862650e-01 -3.38153832e-01 4.62830627e+01] [ 6.90490794e-01 5.63143106e-01 -4.53973904e-01 2.00361766e+01] [ 5.65349091e-01 -2.86483021e-02 8.24354099e-01 1.69951021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.310371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:46.30, Y:20.07, Z:17.02 [[ 4.54293578e-01 -8.38445169e-01 -3.01043258e-01 4.62975138e+01] [ 6.94159865e-01 5.44965964e-01 -4.70270326e-01 2.00653210e+01] [ 5.58354212e-01 4.66864139e-03 8.29589523e-01 1.70187039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340371743 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:46.34, Y:20.08, Z:17.02 [[ 0.45284157 -0.81961574 -0.35094808 46.34015286] [ 0.69726131 0.57086661 -0.43351813 20.0774397 ] [ 0.55566282 -0.04838749 0.82999848 17.01606113] [ 0. 0. 0. 1. ]] SLAMing on 59.370371743 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:46.35, Y:20.10, Z:17.03 [[ 4.48768455e-01 -8.23705826e-01 -3.46576955e-01 4.63505713e+01] [ 6.98636636e-01 5.65207966e-01 -4.38687595e-01 2.00971438e+01] [ 5.57237584e-01 -4.52622035e-02 8.29118573e-01 1.70349142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:46.37, Y:20.12, Z:17.05 [[ 0.44483033 -0.82524276 -0.34799479 46.36549797] [ 0.7005287 0.56268841 -0.43890921 20.11613869] [ 0.55801928 -0.04854021 0.8284071 17.0515071 ] [ 0. 0. 0. 1. ]] SLAMing on 59.430371743 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:46.38, Y:20.13, Z:17.07 [[ 0.44379284 -0.82405121 -0.35211861 46.38024887] [ 0.701131 0.56400462 -0.43625005 20.13319318] [ 0.55808891 -0.05327663 0.82806906 17.06542886] [ 0. 0. 0. 1. ]] SLAMing on 59.460371743 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:46.39, Y:20.15, Z:17.09 [[ 4.41297012e-01 -8.28543163e-01 -3.44634841e-01 4.63903844e+01] [ 7.01423162e-01 5.58027500e-01 -4.43408228e-01 2.01542017e+01] [ 5.59698575e-01 -4.60601339e-02 8.27415234e-01 1.70850216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.490371743 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:46.41, Y:20.17, Z:17.10 [[ 0.43992449 -0.82579666 -0.35288287 46.40618333] [ 0.70170192 0.56132015 -0.43878708 20.17082693] [ 0.56042917 -0.0545854 0.82640158 17.09783336] [ 0. 0. 0. 1. ]] SLAMing on 59.520371743 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:46.42, Y:20.19, Z:17.11 [[ 0.43920668 -0.82563352 -0.35415643 46.41785189] [ 0.7009776 0.56150647 -0.43970547 20.1879867 ] [ 0.5618967 -0.05513414 0.82536799 17.11443655] [ 0. 0. 0. 1. ]] SLAMing on 59.550371743 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:46.43, Y:20.20, Z:17.13 [[ 0.4442921 -0.82246925 -0.35517441 46.42866851] [ 0.70000919 0.56612267 -0.43530709 20.20410059] [ 0.55909898 -0.05522185 0.82725986 17.12878291] [ 0. 0. 0. 1. ]] SLAMing on 59.580371743 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:46.43, Y:20.23, Z:17.15 [[ 4.45374555e-01 -8.29393832e-01 -3.37264552e-01 4.64323589e+01] [ 6.98398059e-01 5.57524573e-01 -4.48783358e-01 2.02260253e+01] [ 5.60251424e-01 -3.56682201e-02 8.27554300e-01 1.71510655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:46.44, Y:20.26, Z:17.18 [[ 4.44354267e-01 -8.38162646e-01 -3.16279407e-01 4.64405868e+01] [ 6.95521695e-01 5.45286698e-01 -4.67880315e-01 2.02557426e+01] [ 5.64622757e-01 -1.20745750e-02 8.25260775e-01 1.71754046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640371743 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:46.48, Y:20.27, Z:17.18 [[ 0.44358442 -0.81636574 -0.36983758 46.47740177] [ 0.69494379 0.57388488 -0.43325429 20.26557685] [ 0.56593815 -0.06483148 0.82189469 17.17676649] [ 0. 0. 0. 1. ]] SLAMing on 59.670371743 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:46.47, Y:20.29, Z:17.20 [[ 4.45970082e-01 -8.28165217e-01 -3.39489410e-01 4.64742376e+01] [ 6.92711591e-01 5.59555993e-01 -4.55024990e-01 2.02900459e+01] [ 5.66799204e-01 -3.22407170e-02 8.23224877e-01 1.72030893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700371743 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:46.48, Y:20.32, Z:17.22 [[ 4.57880109e-01 -8.28343422e-01 -3.22789376e-01 4.64849419e+01] [ 6.89166026e-01 5.60093031e-01 -4.59723814e-01 2.03175216e+01] [ 5.61601277e-01 -1.19570811e-02 8.27321603e-01 1.72210094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:46.52, Y:20.32, Z:17.21 [[ 0.44943537 -0.7959473 -0.40555609 46.51751137] [ 0.68849323 0.59790606 -0.41046974 20.31588022] [ 0.56919673 -0.09474301 0.81672446 17.21431078] [ 0. 0. 0. 1. ]] SLAMing on 59.760371743 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:46.49, Y:20.36, Z:17.27 [[ 4.65941473e-01 -8.32541798e-01 -2.99620924e-01 4.64882293e+01] [ 6.81629524e-01 5.53647507e-01 -4.78388577e-01 2.03554042e+01] [ 5.64162863e-01 1.86706102e-02 8.25452404e-01 1.72651111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790371743 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:46.54, Y:20.36, Z:17.25 [[ 0.47385359 -0.80132398 -0.36516113 46.53658698] [ 0.68112424 0.59634701 -0.42478231 20.36366454] [ 0.558151 -0.04743547 0.82838236 17.25382865] [ 0. 0. 0. 1. ]] SLAMing on 59.820371743 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:46.53, Y:20.39, Z:17.28 [[ 4.78438988e-01 -8.08974758e-01 -3.41549375e-01 4.65339266e+01] [ 6.76455949e-01 5.87549504e-01 -4.44064106e-01 2.03859102e+01] [ 5.59913819e-01 -1.85855253e-02 8.28342377e-01 1.72784716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.850371743 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:46.54, Y:20.41, Z:17.30 [[ 4.76391122e-01 -8.15546194e-01 -3.28536001e-01 4.65411972e+01] [ 6.73405579e-01 5.78688259e-01 -4.60048721e-01 2.04111537e+01] [ 5.65310910e-01 -2.07484952e-03 8.24875306e-01 1.73020050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880371743 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:46.56, Y:20.44, Z:17.31 [[ 4.80487309e-01 -8.13432030e-01 -3.27811344e-01 4.65609171e+01] [ 6.72908369e-01 5.81659129e-01 -4.57019676e-01 2.04352722e+01] [ 5.62428904e-01 -9.94842416e-04 8.26845051e-01 1.73149455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910371743 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:46.59, Y:20.45, Z:17.32 [[ 4.77711436e-01 -7.95707472e-01 -3.72345810e-01 4.65934556e+01] [ 6.71222282e-01 6.04031346e-01 -4.29658911e-01 2.04456996e+01] [ 5.66791347e-01 -4.46738288e-02 8.22649268e-01 1.73189986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:46.59, Y:20.46, Z:17.34 [[ 0.46833481 -0.79940328 -0.37632021 46.59058898] [ 0.67260783 0.59875526 -0.43484578 20.45766884] [ 0.57294085 -0.0494625 0.81810283 17.33622166] [ 0. 0. 0. 1. ]] SLAMing on 59.970371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:46.58, Y:20.49, Z:17.38 [[ 4.77681579e-01 -8.27761420e-01 -2.94332023e-01 4.65798662e+01] [ 6.72862364e-01 5.60121300e-01 -4.83239452e-01 2.04916181e+01] [ 5.64868611e-01 3.27896436e-02 8.24529133e-01 1.73772241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000371743 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:46.62, Y:20.51, Z:17.38 [[ 4.76201530e-01 -8.09351080e-01 -3.43777445e-01 4.66248550e+01] [ 6.73921478e-01 5.87046975e-01 -4.48559574e-01 2.05073222e+01] [ 5.64855685e-01 -1.80742487e-02 8.24991744e-01 1.73751133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030371743 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:46.64, Y:20.52, Z:17.39 [[ 4.74468582e-01 -8.08723703e-01 -3.47628447e-01 4.66421755e+01] [ 6.76667455e-01 5.87667293e-01 -4.43585738e-01 2.05238630e+01] [ 5.63028169e-01 -2.47613608e-02 8.26066677e-01 1.73878433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060371743 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:46.66, Y:20.53, Z:17.39 [[ 0.46140689 -0.7947233 -0.39435841 46.65815761] [ 0.67831271 0.60251157 -0.42056113 20.52739199] [ 0.57183524 -0.07344852 0.81707391 17.39401665] [ 0. 0. 0. 1. ]] SLAMing on 60.090371743 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:46.63, Y:20.57, Z:17.44 [[ 4.71791760e-01 -8.37265767e-01 -2.76402914e-01 4.66330659e+01] [ 6.80342291e-01 5.45096190e-01 -4.89902552e-01 2.05673429e+01] [ 5.60844811e-01 4.30833955e-02 8.26799201e-01 1.74436916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120371743 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:46.69, Y:20.56, Z:17.42 [[ 0.45860647 -0.79221842 -0.40257929 46.69314651] [ 0.68159729 0.60426772 -0.41265683 20.56160284] [ 0.57018001 -0.08514987 0.81709501 17.42324451] [ 0. 0. 0. 1. ]] SLAMing on 60.150371743 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:46.67, Y:20.60, Z:17.47 [[ 4.69426351e-01 -8.37024247e-01 -2.81121525e-01 4.66652083e+01] [ 6.81991728e-01 5.45931442e-01 -4.86668412e-01 2.06030923e+01] [ 5.60826340e-01 3.67324218e-02 8.27118217e-01 1.74733962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180371743 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:46.72, Y:20.62, Z:17.47 [[ 4.64885820e-01 -8.16896098e-01 -3.41411684e-01 4.67161819e+01] [ 6.83997290e-01 5.76218279e-01 -4.47347966e-01 2.06174702e+01] [ 5.62164461e-01 -2.55589406e-02 8.26630425e-01 1.74708672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:46.74, Y:20.63, Z:17.49 [[ 4.61728746e-01 -8.13900375e-01 -3.52665203e-01 4.67361799e+01] [ 6.85099028e-01 5.79762386e-01 -4.41038432e-01 2.06347149e+01] [ 5.63423364e-01 -3.79704658e-02 8.25295315e-01 1.74850662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240371743 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:46.75, Y:20.65, Z:17.50 [[ 4.58434534e-01 -8.16310606e-01 -3.51389774e-01 4.67482782e+01] [ 6.86291847e-01 5.76375836e-01 -4.43615145e-01 2.06528175e+01] [ 5.64660322e-01 -3.77874346e-02 8.24457901e-01 1.75030339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:46.76, Y:20.67, Z:17.52 [[ 4.51719282e-01 -8.19908890e-01 -3.51708832e-01 4.67612103e+01] [ 6.88865268e-01 5.71053494e-01 -4.46500337e-01 2.06696980e+01] [ 5.66934153e-01 -4.05871875e-02 8.22762631e-01 1.75217034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:46.77, Y:20.69, Z:17.54 [[ 4.50749461e-01 -8.22952276e-01 -3.45795425e-01 4.67707448e+01] [ 6.88900684e-01 5.67050008e-01 -4.51519807e-01 2.06895034e+01] [ 5.67662551e-01 -3.46963950e-02 8.22529871e-01 1.75404462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330371743 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:46.78, Y:20.71, Z:17.56 [[ 4.47685416e-01 -8.23638001e-01 -3.48135335e-01 4.67843164e+01] [ 6.90498658e-01 5.65798136e-01 -4.50648502e-01 2.07063661e+01] [ 5.68145555e-01 -3.86382192e-02 8.22020509e-01 1.75554873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360371743 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:46.80, Y:20.73, Z:17.57 [[ 4.43372892e-01 -8.27603218e-01 -3.44228692e-01 4.67975189e+01] [ 6.93215402e-01 5.60059862e-01 -4.53635709e-01 2.07251545e+01] [ 5.68219046e-01 -3.74948545e-02 8.22022659e-01 1.75735130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390371743 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:46.81, Y:20.74, Z:17.59 [[ 4.40831561e-01 -8.29715853e-01 -3.42402011e-01 4.68103084e+01] [ 6.94744872e-01 5.56941988e-01 -4.55132053e-01 2.07435935e+01] [ 5.68328336e-01 -3.72454679e-02 8.21958440e-01 1.75898709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:46.83, Y:20.76, Z:17.61 [[ 4.35986124e-01 -8.29299212e-01 -3.49541009e-01 4.68266654e+01] [ 6.96738542e-01 5.56874706e-01 -4.52157014e-01 2.07605461e+01] [ 5.69624002e-01 -4.64045093e-02 8.20594369e-01 1.76054705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450371743 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:46.84, Y:20.77, Z:17.62 [[ 0.42653734 -0.82162422 -0.37815279 46.8380444 ] [ 0.69782695 0.56493122 -0.44032973 20.76824075] [ 0.57541589 -0.07606814 0.81431578 17.61755161] [ 0. 0. 0. 1. ]] SLAMing on 60.480371743 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:46.82, Y:20.80, Z:17.65 [[ 4.31519164e-01 -8.49039815e-01 -3.04832091e-01 4.68247784e+01] [ 6.96781077e-01 5.28320075e-01 -4.85153615e-01 2.07989779e+01] [ 5.72963648e-01 -3.04815010e-03 8.19575114e-01 1.76548029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510371743 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:46.86, Y:20.81, Z:17.66 [[ 4.30838955e-01 -8.35247353e-01 -3.41671851e-01 4.68582949e+01] [ 6.97747358e-01 5.48428361e-01 -4.60841575e-01 2.08140839e+01] [ 5.72299239e-01 -3.98521290e-02 8.19075936e-01 1.76592475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540371743 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:46.87, Y:20.83, Z:17.68 [[ 4.30940101e-01 -8.36989892e-01 -3.37251465e-01 4.68698923e+01] [ 6.97827982e-01 5.46059627e-01 -4.63524531e-01 2.08334116e+01] [ 5.72124756e-01 -3.55922009e-02 8.19393958e-01 1.76763816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570371743 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:46.88, Y:20.85, Z:17.69 [[ 4.32289226e-01 -8.34324028e-01 -3.42095660e-01 4.68835784e+01] [ 6.96616067e-01 5.49885753e-01 -4.60816356e-01 2.08491286e+01] [ 5.72583688e-01 -3.91033872e-02 8.18913210e-01 1.76887382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600371743 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:46.90, Y:20.87, Z:17.71 [[ 4.30168706e-01 -8.37734475e-01 -3.36386434e-01 4.68955731e+01] [ 6.96562088e-01 5.45043645e-01 -4.66614062e-01 2.08717809e+01] [ 5.74243975e-01 -3.35912696e-02 8.17994795e-01 1.77115072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.630371743 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:46.91, Y:20.89, Z:17.72 [[ 4.29314503e-01 -8.34016823e-01 -3.46561677e-01 4.69131529e+01] [ 6.96577866e-01 5.50012643e-01 -4.60722660e-01 2.08884800e+01] [ 5.74863753e-01 -4.36122736e-02 8.17086063e-01 1.77247429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660371743 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:46.92, Y:20.91, Z:17.74 [[ 4.31487827e-01 -8.38553860e-01 -3.32634453e-01 4.69227436e+01] [ 6.96068230e-01 5.44026521e-01 -4.68534058e-01 2.09110135e+01] [ 5.73853007e-01 -2.93695322e-02 8.18431522e-01 1.77438340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690371743 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:46.94, Y:20.93, Z:17.76 [[ 4.32186266e-01 -8.32847843e-01 -3.45802693e-01 4.69431188e+01] [ 6.95112325e-01 5.51958816e-01 -4.60608641e-01 2.09284473e+01] [ 5.74485758e-01 -4.13029856e-02 8.17471820e-01 1.77562045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720371743 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:46.96, Y:20.94, Z:17.77 [[ 0.42550688 -0.82416197 -0.37376588 46.95557105] [ 0.69514639 0.56211669 -0.44810304 20.93710608] [ 0.57940952 -0.06915108 0.81209774 17.76683318] [ 0. 0. 0. 1. ]] SLAMing on 60.750371743 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:46.95, Y:20.96, Z:17.80 [[ 4.26165946e-01 -8.41010785e-01 -3.33291834e-01 4.69451374e+01] [ 6.93058776e-01 5.40312907e-01 -4.77212211e-01 2.09590891e+01] [ 5.81422496e-01 -2.76192369e-02 8.13132867e-01 1.77965448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:46.96, Y:20.99, Z:17.82 [[ 4.33693533e-01 -8.46302556e-01 -3.09324915e-01 4.69587131e+01] [ 6.92031715e-01 5.32695258e-01 -4.87163081e-01 2.09858314e+01] [ 5.77063276e-01 -2.78317416e-03 8.16694698e-01 1.78175555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.810371743 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:46.99, Y:21.01, Z:17.82 [[ 4.40685929e-01 -8.35458244e-01 -3.28337380e-01 4.69893304e+01] [ 6.90883479e-01 5.49202616e-01 -4.70166466e-01 2.10072646e+01] [ 5.73128198e-01 -1.96471258e-02 8.19230163e-01 1.78246135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840371743 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:47.01, Y:21.02, Z:17.83 [[ 0.43749546 -0.82371621 -0.36067897 47.0137773 ] [ 0.68960372 0.5647577 -0.45331606 21.01980028] [ 0.57710002 -0.05040184 0.81511669 17.83468053] [ 0. 0. 0. 1. ]] SLAMing on 60.870371743 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:47.01, Y:21.05, Z:17.86 [[ 4.42396724e-01 -8.33889895e-01 -3.30019365e-01 4.70130490e+01] [ 6.87557713e-01 5.51636812e-01 -4.72187695e-01 2.10460846e+01] [ 5.75803378e-01 -1.80130705e-02 8.17389747e-01 1.78603634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:47.04, Y:21.06, Z:17.87 [[ 4.42389819e-01 -8.22174486e-01 -3.58218317e-01 4.70369390e+01] [ 6.86746561e-01 5.67451476e-01 -4.54288435e-01 2.10588905e+01] [ 5.76775873e-01 -4.50326185e-02 8.15660257e-01 1.78676567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930371743 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:47.04, Y:21.08, Z:17.89 [[ 4.43171010e-01 -8.30766827e-01 -3.36787671e-01 4.70388263e+01] [ 6.85451246e-01 5.56162031e-01 -4.69936575e-01 2.10821634e+01] [ 5.77716233e-01 -2.25892623e-02 8.15925045e-01 1.78921496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960371743 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:47.06, Y:21.09, Z:17.90 [[ 0.43759262 -0.81728289 -0.37491516 47.05565235] [ 0.68399837 0.57320814 -0.45119691 21.09026697] [ 0.58365994 -0.05900092 0.80985182 17.89942381] [ 0. 0. 0. 1. ]] SLAMing on 60.990371743 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:47.03, Y:21.13, Z:17.95 [[ 4.49948048e-01 -8.51554882e-01 -2.69074408e-01 4.70345002e+01] [ 6.83991392e-01 5.22322771e-01 -5.09249151e-01 2.11315124e+01] [ 5.74197291e-01 4.50910823e-02 8.17474321e-01 1.79456319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020371743 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:47.10, Y:21.14, Z:17.93 [[ 0.4484753 -0.8139218 -0.36932534 47.09814689] [ 0.68364624 0.57855394 -0.44486308 21.13852361] [ 0.57575839 -0.05297777 0.81590173 17.9310633 ] [ 0. 0. 0. 1. ]] SLAMing on 61.050371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:47.10, Y:21.16, Z:17.95 [[ 4.46663395e-01 -8.20391011e-01 -3.57001963e-01 4.70982164e+01] [ 6.83371624e-01 5.70373019e-01 -4.55716845e-01 2.11557427e+01] [ 5.77490291e-01 -4.04129783e-02 8.15396686e-01 1.79532910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080371743 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:47.10, Y:21.18, Z:17.98 [[ 4.48984858e-01 -8.36526098e-01 -3.14064778e-01 4.70954354e+01] [ 6.84639310e-01 5.47926508e-01 -4.80671985e-01 2.11848696e+01] [ 5.74179077e-01 7.93350425e-04 8.18729356e-01 1.79814880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110371743 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:47.13, Y:21.18, Z:17.98 [[ 0.43743623 -0.80649551 -0.39776191 47.13231206] [ 0.68529849 0.58537562 -0.43324516 21.18395573] [ 0.5822504 -0.08306851 0.80875466 17.97715035] [ 0. 0. 0. 1. ]] SLAMing on 61.140371743 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:47.11, Y:21.22, Z:18.02 [[ 4.43459142e-01 -8.45563541e-01 -2.97264676e-01 4.71051529e+01] [ 6.85870407e-01 5.33648967e-01 -4.94773246e-01 2.12179598e+01] [ 5.76997205e-01 1.55266750e-02 8.16598523e-01 1.80235001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.170371743 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:47.14, Y:21.24, Z:18.03 [[ 4.46169117e-01 -8.34904687e-01 -3.22284474e-01 4.71392771e+01] [ 6.87519546e-01 5.50300364e-01 -4.73799940e-01 2.12388038e+01] [ 5.72931055e-01 -1.01819744e-02 8.19540319e-01 1.80277524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200371743 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:47.17, Y:21.25, Z:18.04 [[ 4.40864241e-01 -8.23606800e-01 -3.56806054e-01 4.71668933e+01] [ 6.88399435e-01 5.65349770e-01 -4.54407148e-01 2.12521606e+01] [ 5.75973037e-01 -4.52932235e-02 8.16212953e-01 1.80361958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230371743 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:47.17, Y:21.26, Z:18.05 [[ 0.43053564 -0.81944125 -0.37835842 47.17320358] [ 0.68856542 0.56922328 -0.44929113 21.26075001] [ 0.58353811 -0.06708868 0.80930982 18.05096778] [ 0. 0. 0. 1. ]] SLAMing on 61.260371743 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:47.15, Y:21.30, Z:18.09 [[ 4.37868731e-01 -8.53404638e-01 -2.82792323e-01 4.71541242e+01] [ 6.89335346e-01 5.20617921e-01 -5.03759627e-01 2.12983955e+01] [ 5.77137554e-01 2.56418447e-02 8.16244289e-01 1.80938908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290371743 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:47.20, Y:21.31, Z:18.09 [[ 4.35582745e-01 -8.32877311e-01 -3.41442612e-01 4.72014112e+01] [ 6.92585764e-01 5.52386585e-01 -4.63890095e-01 2.13122339e+01] [ 5.74971853e-01 -3.44157710e-02 8.17449034e-01 1.80895497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:47.22, Y:21.33, Z:18.11 [[ 4.33652480e-01 -8.34137365e-01 -3.40823097e-01 4.72159346e+01] [ 6.94085769e-01 5.50422571e-01 -4.63982692e-01 2.13321929e+01] [ 5.74622025e-01 -3.53532160e-02 8.17654987e-01 1.81059911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.350371743 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:47.24, Y:21.34, Z:18.12 [[ 0.42472148 -0.82310448 -0.3769757 47.23805974] [ 0.6939772 0.56340734 -0.44829434 21.34116873] [ 0.58138396 -0.0712123 0.81050694 18.11875877] [ 0. 0. 0. 1. ]] SLAMing on 61.380371743 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:47.23, Y:21.36, Z:18.14 [[ 0.41508582 -0.83623308 -0.35835458 47.22748259] [ 0.6951932 0.54562168 -0.46797799 21.35685817] [ 0.5868647 -0.05487464 0.80782337 18.14296119] [ 0. 0. 0. 1. ]] SLAMing on 61.410371743 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:47.23, Y:21.38, Z:18.17 [[ 4.18264008e-01 -8.52312797e-01 -3.14035215e-01 4.72267252e+01] [ 6.94686310e-01 5.22904716e-01 -4.93944925e-01 2.13836810e+01] [ 5.85206075e-01 -1.15565809e-02 8.10802254e-01 1.81726091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440371743 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:47.25, Y:21.40, Z:18.18 [[ 4.18462403e-01 -8.46974656e-01 -3.27907226e-01 4.72508658e+01] [ 6.95518167e-01 5.31020265e-01 -4.84016485e-01 2.14048153e+01] [ 5.84075078e-01 -2.55227315e-02 8.11298277e-01 1.81838318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470371743 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:47.27, Y:21.42, Z:18.20 [[ 4.18193843e-01 -8.40812079e-01 -3.43728028e-01 4.72716711e+01] [ 6.95642587e-01 5.39782076e-01 -4.74042932e-01 2.14224540e+01] [ 5.84119252e-01 -4.08700191e-02 8.10638231e-01 1.81955151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500371743 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:47.28, Y:21.43, Z:18.21 [[ 0.41168276 -0.83518159 -0.3646766 47.28137073] [ 0.69525711 0.54653992 -0.46681009 21.4335683 ] [ 0.58918151 -0.06136633 0.805667 18.20809943] [ 0. 0. 0. 1. ]] SLAMing on 61.530371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:47.27, Y:21.46, Z:18.24 [[ 4.11631923e-01 -8.49358599e-01 -3.30377254e-01 4.72745623e+01] [ 6.94109857e-01 5.27099253e-01 -4.90283473e-01 2.14554852e+01] [ 5.90568088e-01 -2.75017802e-02 8.06519055e-01 1.82358845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560371743 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:47.29, Y:21.47, Z:18.25 [[ 4.11435740e-01 -8.49497189e-01 -3.30265285e-01 4.72867009e+01] [ 6.94133146e-01 5.26878876e-01 -4.90487335e-01 2.14740232e+01] [ 5.90677414e-01 -2.74440619e-02 8.06440956e-01 1.82517013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:47.30, Y:21.49, Z:18.27 [[ 4.10469533e-01 -8.50036552e-01 -3.30079721e-01 4.72990636e+01] [ 6.94866155e-01 5.25975794e-01 -4.90418690e-01 2.14930243e+01] [ 5.90487756e-01 -2.80592958e-02 8.06558669e-01 1.82682873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620371743 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:47.31, Y:21.51, Z:18.29 [[ 4.09153365e-01 -8.50647308e-01 -3.30140395e-01 4.73109020e+01] [ 6.95316382e-01 5.24952381e-01 -4.90876895e-01 2.15121214e+01] [ 5.90871096e-01 -2.87080917e-02 8.06255042e-01 1.82850674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650371743 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:47.32, Y:21.53, Z:18.30 [[ 4.07946386e-01 -8.51215192e-01 -3.30170325e-01 4.73232494e+01] [ 6.95739149e-01 5.23998860e-01 -4.91296481e-01 2.15311820e+01] [ 5.91207902e-01 -2.92897972e-02 8.05987174e-01 1.83014113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680371743 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:47.34, Y:21.55, Z:18.32 [[ 4.05913489e-01 -8.52108784e-01 -3.30370792e-01 4.73351353e+01] [ 6.96405088e-01 5.22482478e-01 -4.91967493e-01 2.15497291e+01] [ 5.91822772e-01 -3.03756590e-02 8.05495578e-01 1.83167564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:47.35, Y:21.57, Z:18.33 [[ 4.04889859e-01 -8.52603894e-01 -3.30349514e-01 4.73472515e+01] [ 6.96876756e-01 5.21641612e-01 -4.92191848e-01 2.15689473e+01] [ 5.91968739e-01 -3.09294098e-02 8.05367235e-01 1.83332226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740371743 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:47.36, Y:21.59, Z:18.35 [[ 4.04211260e-01 -8.52947100e-01 -3.30294567e-01 4.73587895e+01] [ 6.97102930e-01 5.21065155e-01 -4.92482090e-01 2.15872980e+01] [ 5.92166161e-01 -3.11825038e-02 8.05212326e-01 1.83488440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770371743 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:47.37, Y:21.61, Z:18.37 [[ 4.03349221e-01 -8.53428818e-01 -3.30104012e-01 4.73704665e+01] [ 6.97769201e-01 5.20243049e-01 -4.92407668e-01 2.16067001e+01] [ 5.91969212e-01 -3.17241631e-02 8.05335973e-01 1.83650006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:47.38, Y:21.64, Z:18.39 [[ 4.10903980e-01 -8.63399639e-01 -2.92743887e-01 4.73796423e+01] [ 6.99099479e-01 5.04508191e-01 -5.06686693e-01 2.16374103e+01] [ 5.85164796e-01 3.54247952e-03 8.10906661e-01 1.83890253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830371743 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:47.42, Y:21.65, Z:18.39 [[ 4.11460149e-01 -8.45615266e-01 -3.40052008e-01 4.74184449e+01] [ 7.00609380e-01 5.32088248e-01 -4.75424645e-01 2.16541195e+01] [ 5.82964015e-01 -4.26253316e-02 8.11379097e-01 1.83902671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860371743 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:47.43, Y:21.66, Z:18.40 [[ 0.40339283 -0.83338234 -0.37782019 47.43022903] [ 0.69971933 0.54702176 -0.45952155 21.6621452 ] [ 0.58963301 -0.07900039 0.80379839 18.40031156] [ 0. 0. 0. 1. ]] SLAMing on 61.890371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:47.41, Y:21.70, Z:18.44 [[ 4.14150533e-01 -8.67034344e-01 -2.77003218e-01 4.74093975e+01] [ 6.98715708e-01 4.97877794e-01 -5.13725668e-01 2.17016144e+01] [ 5.83331548e-01 1.92132592e-02 8.12006869e-01 1.84443507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920371743 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:47.46, Y:21.72, Z:18.44 [[ 0.41466015 -0.83929489 -0.35162631 47.46023779] [ 0.69922836 0.54116818 -0.4671367 21.7152821 ] [ 0.58235441 -0.05216412 0.81125967 18.43782584] [ 0. 0. 0. 1. ]] SLAMing on 61.950371743 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:47.47, Y:21.72, Z:18.45 [[ 0.40576892 -0.8293376 -0.38412332 47.46794814] [ 0.69764848 0.55255794 -0.45603325 21.72217456] [ 0.59045591 -0.08293894 0.80279695 18.45002534] [ 0. 0. 0. 1. ]] SLAMing on 61.980371743 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:47.44, Y:21.76, Z:18.49 [[ 4.17634918e-01 -8.62976660e-01 -2.84345493e-01 4.74433032e+01] [ 6.94856778e-01 5.04982104e-01 -5.12022590e-01 2.17604092e+01] [ 5.85452930e-01 1.62591190e-02 8.10543341e-01 1.84941805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010371743 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:47.49, Y:21.76, Z:18.48 [[ 0.40978685 -0.82698691 -0.38492518 47.48997263] [ 0.69423803 0.55647552 -0.45647405 21.76352252] [ 0.5916995 -0.08017263 0.80216211 18.48282892] [ 0. 0. 0. 1. ]] SLAMing on 62.040371743 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:47.47, Y:21.79, Z:18.52 [[ 4.12072316e-01 -8.49830669e-01 -3.28609557e-01 4.74683038e+01] [ 6.91382687e-01 5.26538992e-01 -4.94718778e-01 2.17884393e+01] [ 5.93452935e-01 -2.33350456e-02 8.04530354e-01 1.85191308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:47.48, Y:21.81, Z:18.53 [[ 4.12948257e-01 -8.49483596e-01 -3.28407303e-01 4.74789646e+01] [ 6.90879662e-01 5.27132180e-01 -4.94789812e-01 2.18070302e+01] [ 5.93429886e-01 -2.25673361e-02 8.04569255e-01 1.85348152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100371743 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:47.49, Y:21.84, Z:18.56 [[ 4.23651276e-01 -8.59350026e-01 -2.86421243e-01 4.74874685e+01] [ 6.91912620e-01 5.11075651e-01 -5.09959415e-01 2.18395715e+01] [ 5.84616560e-01 1.78664841e-02 8.11112980e-01 1.85579889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.130371743 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:47.52, Y:21.86, Z:18.56 [[ 4.27500143e-01 -8.46563648e-01 -3.17133437e-01 4.75248566e+01] [ 6.92899289e-01 5.32157682e-01 -4.86516985e-01 2.18627963e+01] [ 5.80632589e-01 -1.17554521e-02 8.14080835e-01 1.85595971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:47.55, Y:21.88, Z:18.57 [[ 4.25215076e-01 -8.39351617e-01 -3.38645835e-01 4.75487491e+01] [ 6.92136112e-01 5.42644544e-01 -4.75903878e-01 2.18825792e+01] [ 5.83215004e-01 -3.20275077e-02 8.11686207e-01 1.85714814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190371743 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:47.57, Y:21.88, Z:18.57 [[ 0.41053535 -0.81604274 -0.40685989 47.57083449] [ 0.69104518 0.56954571 -0.44505533 21.88311074] [ 0.59490948 -0.09844762 0.79774105 18.5745763 ] [ 0. 0. 0. 1. ]] SLAMing on 62.220371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:47.53, Y:21.93, Z:18.63 [[ 4.23350182e-01 -8.69057805e-01 -2.55955378e-01 4.75262449e+01] [ 6.91918189e-01 4.92531679e-01 -5.27884235e-01 2.19276324e+01] [ 5.84828046e-01 4.63797050e-02 8.09830278e-01 1.86337721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:47.59, Y:21.94, Z:18.62 [[ 4.24017146e-01 -8.38262855e-01 -3.42818969e-01 4.75893687e+01] [ 6.92598379e-01 5.44036224e-01 -4.73637068e-01 2.19439769e+01] [ 5.83538299e-01 -3.66056239e-02 8.11260182e-01 1.86213951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280371743 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:47.61, Y:21.94, Z:18.62 [[ 0.40763552 -0.81374286 -0.41431369 47.61147032] [ 0.69181346 0.57135728 -0.44152576 21.94112028] [ 0.59600958 -0.1066462 0.79586379 18.62383693] [ 0. 0. 0. 1. ]] SLAMing on 62.310371743 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:47.57, Y:21.98, Z:18.68 [[ 4.17461416e-01 -8.67055786e-01 -2.71919530e-01 4.75660188e+01] [ 6.91854964e-01 4.97282099e-01 -5.23495199e-01 2.19829097e+01] [ 5.89120256e-01 3.04101707e-02 8.07472938e-01 1.86824573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340371743 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:47.62, Y:22.00, Z:18.67 [[ 4.16407790e-01 -8.39806153e-01 -3.48324817e-01 4.76203984e+01] [ 6.93396410e-01 5.41147922e-01 -4.75773418e-01 2.19981743e+01] [ 5.88052695e-01 -4.34114200e-02 8.07656781e-01 1.86731608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370371743 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:47.63, Y:22.00, Z:18.68 [[ 0.40341057 -0.82673921 -0.39212523 47.63203549] [ 0.69323263 0.55585395 -0.45875366 22.00216115] [ 0.59723399 -0.08676793 0.79735995 18.68241627] [ 0. 0. 0. 1. ]] SLAMing on 62.400371743 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:47.60, Y:22.04, Z:18.73 [[ 4.11581407e-01 -8.64855450e-01 -2.87447031e-01 4.76029857e+01] [ 6.93105983e-01 5.01832714e-01 -5.17463065e-01 2.20371411e+01] [ 5.91781076e-01 1.37469198e-02 8.05981501e-01 1.87306331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430371743 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:47.65, Y:22.04, Z:18.72 [[ 0.40218029 -0.83321581 -0.37947652 47.64748212] [ 0.69409664 0.54776453 -0.46710156 22.04229796] [ 0.59706019 -0.07553434 0.79863239 18.72118302] [ 0. 0. 0. 1. ]] SLAMing on 62.460371743 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:47.62, Y:22.08, Z:18.77 [[ 4.12050893e-01 -8.68307221e-01 -2.76146034e-01 4.76234595e+01] [ 6.94327698e-01 4.95478032e-01 -5.21929658e-01 2.20790710e+01] [ 5.90019584e-01 2.33257418e-02 8.07051919e-01 1.87674388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.490371743 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:47.67, Y:22.10, Z:18.76 [[ 4.12069021e-01 -8.45893652e-01 -3.38619331e-01 4.76708199e+01] [ 6.95499513e-01 5.32098526e-01 -4.82857729e-01 2.20976124e+01] [ 5.88625135e-01 -3.65388681e-02 8.07579942e-01 1.87624622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520371743 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:47.68, Y:22.12, Z:18.78 [[ 4.11076053e-01 -8.44889278e-01 -3.42313580e-01 4.76835580e+01] [ 6.94910125e-01 5.33469096e-01 -4.82193572e-01 2.21170719e+01] [ 5.90013895e-01 -3.96589425e-02 8.06418484e-01 1.87785360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550371743 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:47.70, Y:22.13, Z:18.79 [[ 0.4074246 -0.83857967 -0.36164809 47.6983285 ] [ 0.69332262 0.54177372 -0.47516838 22.13227426] [ 0.59439797 -0.05714352 0.80213819 18.79256484] [ 0. 0. 0. 1. ]] SLAMing on 62.580371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:47.69, Y:22.16, Z:18.82 [[ 4.07676249e-01 -8.51043018e-01 -3.30946909e-01 4.76938870e+01] [ 6.92654143e-01 5.24383811e-01 -4.95229095e-01 2.21557466e+01] [ 5.95004466e-01 -2.73386076e-02 8.03257298e-01 1.88199479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610371743 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:47.71, Y:22.17, Z:18.83 [[ 4.07715960e-01 -8.45588231e-01 -3.44598664e-01 4.77113774e+01] [ 6.92633814e-01 5.32317133e-01 -4.86720525e-01 2.21729036e+01] [ 5.95000921e-01 -4.02369607e-02 8.02717193e-01 1.88320600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640371743 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:47.72, Y:22.18, Z:18.84 [[ 0.40038772 -0.83680563 -0.37342469 47.7203359 ] [ 0.69148043 0.54331163 -0.47609588 22.18230583] [ 0.60128569 -0.06759292 0.79617003 18.84436891] [ 0. 0. 0. 1. ]] SLAMing on 62.670371743 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:47.70, Y:22.20, Z:18.88 [[ 4.00951747e-01 -8.55795877e-01 -3.26880887e-01 4.77046821e+01] [ 6.89947355e-01 5.16831759e-01 -5.06811188e-01 2.22034518e+01] [ 6.02669349e-01 -2.23237723e-02 7.97678698e-01 1.88781534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700371743 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:47.72, Y:22.22, Z:18.89 [[ 4.01964029e-01 -8.55406288e-01 -3.26657315e-01 4.77155897e+01] [ 6.89398511e-01 5.17512999e-01 -5.06862890e-01 2.22217909e+01] [ 6.02623110e-01 -2.14564165e-02 7.97737431e-01 1.88945255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730371743 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:47.73, Y:22.24, Z:18.91 [[ 4.03828821e-01 -8.54589734e-01 -3.26494519e-01 4.77258391e+01] [ 6.88399869e-01 5.18914480e-01 -5.06787315e-01 2.22412184e+01] [ 6.02517970e-01 -2.01034598e-02 7.97852083e-01 1.89112672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760371743 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:47.74, Y:22.26, Z:18.93 [[ 4.06204520e-01 -8.53548599e-01 -3.26270865e-01 4.77366260e+01] [ 6.87020985e-01 5.20692580e-01 -5.06834690e-01 2.22609304e+01] [ 6.02494858e-01 -1.82763894e-02 7.97913479e-01 1.89280329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790371743 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:47.75, Y:22.28, Z:18.94 [[ 4.07049649e-01 -8.53149981e-01 -3.26260162e-01 4.77472689e+01] [ 6.86225020e-01 5.21374522e-01 -5.07211819e-01 2.22793817e+01] [ 6.02831490e-01 -1.74274930e-02 7.97678179e-01 1.89442398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820371743 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:47.75, Y:22.32, Z:18.98 [[ 0.42184196 -0.8701914 -0.25459043 47.74863707] [ 0.68886339 0.49018059 -0.53403204 22.31715172] [ 0.58950538 0.0498991 0.80622174 18.97540382] [ 0. 0. 0. 1. ]] SLAMing on 62.850371743 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:47.82, Y:22.31, Z:18.95 [[ 0.40856554 -0.81533881 -0.41023996 47.82074102] [ 0.686892 0.57064445 -0.45004921 22.31389984] [ 0.60104374 -0.09791595 0.79319537 18.94663243] [ 0. 0. 0. 1. ]] SLAMing on 62.880371743 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:47.78, Y:22.34, Z:18.99 [[ 4.09782145e-01 -8.51990846e-01 -3.25868366e-01 4.77824736e+01] [ 6.84344269e-01 5.23343207e-01 -5.07725132e-01 2.23365103e+01] [ 6.03118160e-01 -1.49494548e-02 7.97511755e-01 1.89935346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910371743 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:47.79, Y:22.37, Z:19.02 [[ 4.21323123e-01 -8.65058345e-01 -2.72324963e-01 4.77894616e+01] [ 6.86785449e-01 5.00443997e-01 -5.27144718e-01 2.23696704e+01] [ 5.92294330e-01 3.50694364e-02 8.04958111e-01 1.90204187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940371743 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:47.84, Y:22.39, Z:19.02 [[ 4.23444874e-01 -8.46000157e-01 -3.24003352e-01 4.78370569e+01] [ 6.87940527e-01 5.32990730e-01 -4.92604013e-01 2.23916500e+01] [ 5.89433855e-01 -1.43043923e-02 8.07689987e-01 1.90170537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970371743 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:47.87, Y:22.39, Z:19.02 [[ 0.40806679 -0.81714227 -0.40713634 47.86818354] [ 0.68671901 0.56859161 -0.45290239 22.39005564] [ 0.60158 -0.09477385 0.79317049 19.01531813] [ 0. 0. 0. 1. ]] SLAMing on 63.000371743 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:47.82, Y:22.43, Z:19.08 [[ 0.42107332 -0.87281918 -0.24674672 47.82002969] [ 0.68951262 0.48476774 -0.53811948 22.43228721] [ 0.58929586 0.05645278 0.8059426 19.07962098] [ 0. 0. 0. 1. ]] SLAMing on 63.030371743 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:47.90, Y:22.43, Z:19.05 [[ 0.40382349 -0.81487756 -0.41581384 47.90039305] [ 0.68954899 0.56981991 -0.44702064 22.42637073] [ 0.60120609 -0.10620658 0.79200467 19.04763569] [ 0. 0. 0. 1. ]] SLAMing on 63.060371743 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:47.85, Y:22.47, Z:19.11 [[ 4.16064212e-01 -8.73056826e-01 -2.54287929e-01 4.78491020e+01] [ 6.91423135e-01 4.85365088e-01 -5.35121277e-01 2.24678452e+01] [ 5.90613766e-01 4.68242551e-02 8.05594730e-01 1.91124717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090371743 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:47.92, Y:22.46, Z:19.09 [[ 0.39726733 -0.82194338 -0.40815162 47.9226429 ] [ 0.69299409 0.56025336 -0.4537349 22.46414971] [ 0.60161272 -0.10259261 0.79217226 19.08549029] [ 0. 0. 0. 1. ]] SLAMing on 63.120371743 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:47.89, Y:22.49, Z:19.13 [[ 3.96711197e-01 -8.58574392e-01 -3.24761821e-01 4.78855776e+01] [ 6.90743065e-01 5.12223260e-01 -5.10393328e-01 2.24879934e+01] [ 6.04561200e-01 -2.18482273e-02 7.96259009e-01 1.91328625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150371743 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:47.89, Y:22.53, Z:19.17 [[ 0.4094245 -0.87795103 -0.24814024 47.88681856] [ 0.69501783 0.47633395 -0.53856865 22.52617108] [ 0.59103452 0.04804131 0.8052144 19.16564713] [ 0. 0. 0. 1. ]] SLAMing on 63.180371743 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:47.96, Y:22.52, Z:19.14 [[ 0.39381271 -0.82077226 -0.41381692 47.96424624] [ 0.69563196 0.56039821 -0.44949975 22.52124684] [ 0.60083919 -0.11084556 0.79164735 19.13562451] [ 0. 0. 0. 1. ]] SLAMing on 63.210371743 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:47.92, Y:22.54, Z:19.18 [[ 3.91395843e-01 -8.61273413e-01 -3.24063886e-01 4.79233004e+01] [ 6.94112904e-01 5.07520453e-01 -5.10519605e-01 2.25437124e+01] [ 6.04166013e-01 -2.51216740e-02 7.96462385e-01 1.91843065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240371743 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:47.92, Y:22.58, Z:19.22 [[ 0.40381795 -0.88287925 -0.23969832 47.92343364] [ 0.69875937 0.46677734 -0.54208326 22.58422715] [ 0.59047981 0.0514115 0.80541322 19.21885402] [ 0. 0. 0. 1. ]] SLAMing on 63.270371743 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:48.01, Y:22.58, Z:19.18 [[ 0.38753097 -0.81953959 -0.42210735 48.00708831] [ 0.69996649 0.55955953 -0.44377927 22.57512247] [ 0.59988887 -0.12348279 0.79049689 19.18462736] [ 0. 0. 0. 1. ]] SLAMing on 63.300371743 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:47.96, Y:22.60, Z:19.24 [[ 3.81644144e-01 -8.65738859e-01 -3.23796193e-01 4.79625784e+01] [ 6.99072273e-01 4.99529101e-01 -5.11633300e-01 2.25986935e+01] [ 6.04686451e-01 -3.10950871e-02 7.95856389e-01 1.92356476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330371743 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:47.97, Y:22.62, Z:19.25 [[ 3.79076165e-01 -8.66841832e-01 -3.23861853e-01 4.79749621e+01] [ 7.00273321e-01 4.97508424e-01 -5.11959612e-01 2.26162054e+01] [ 6.04912008e-01 -3.27201293e-02 7.95619793e-01 1.92513976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360371743 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:47.99, Y:22.63, Z:19.27 [[ 3.75280518e-01 -8.68393409e-01 -3.24125624e-01 4.79891992e+01] [ 7.01804215e-01 4.94633087e-01 -5.12648956e-01 2.26340375e+01] [ 6.05504233e-01 -3.50855635e-02 7.95068316e-01 1.92678641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390371743 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:47.99, Y:22.67, Z:19.30 [[ 3.86664499e-01 -8.86519639e-01 -2.54113152e-01 4.79924204e+01] [ 7.04667447e-01 4.61766289e-01 -5.38716700e-01 2.26720360e+01] [ 5.94923822e-01 2.92373568e-02 8.03250162e-01 1.92994261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:48.06, Y:22.69, Z:19.29 [[ 0.38576629 -0.85477795 -0.3471873 48.0565976 ] [ 0.70643731 0.51571302 -0.48475396 22.68710317] [ 0.59340601 -0.05826432 0.80279174 19.28746755] [ 0. 0. 0. 1. ]] SLAMing on 63.450371743 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:48.07, Y:22.70, Z:19.30 [[ 0.38952203 -0.84958752 -0.35563131 48.07169216] [ 0.70726136 0.52325722 -0.47537696 22.70144526] [ 0.58996098 -0.06635448 0.80470064 19.30075973] [ 0. 0. 0. 1. ]] SLAMing on 63.480371743 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:48.06, Y:22.73, Z:19.33 [[ 3.87304876e-01 -8.65445216e-01 -3.17804201e-01 4.80637650e+01] [ 7.03823967e-01 5.00202634e-01 -5.04409702e-01 2.27276893e+01] [ 5.95505462e-01 -2.83178761e-02 8.02852005e-01 1.93325754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510371743 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:48.09, Y:22.75, Z:19.34 [[ 3.94731753e-01 -8.53374568e-01 -3.40497708e-01 4.80887859e+01] [ 7.02195960e-01 5.19194557e-01 -4.87193848e-01 2.27454879e+01] [ 5.92543397e-01 -4.67852340e-02 8.04178752e-01 1.93399661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540371743 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:48.11, Y:22.74, Z:19.34 [[ 0.38393898 -0.8274545 -0.40976812 48.10880265] [ 0.69926101 0.55037563 -0.45620248 22.74246845] [ 0.60301318 -0.11138096 0.78991733 19.34275238] [ 0. 0. 0. 1. ]] SLAMing on 63.570371743 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:48.06, Y:22.78, Z:19.40 [[ 3.99048645e-01 -8.79476969e-01 -2.59384731e-01 4.80627431e+01] [ 6.96633734e-01 4.74728953e-01 -5.37897632e-01 2.27839093e+01] [ 5.96206021e-01 3.39511674e-02 8.02113271e-01 1.94024978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600371743 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:48.12, Y:22.81, Z:19.40 [[ 4.06639567e-01 -8.56432325e-01 -3.18069074e-01 4.81152995e+01] [ 6.95795822e-01 5.15941063e-01 -4.99672886e-01 2.28076916e+01] [ 5.92040908e-01 -1.81243670e-02 8.05704084e-01 1.93981025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.630371743 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:48.14, Y:22.83, Z:19.41 [[ 4.15620018e-01 -8.42507673e-01 -3.42696399e-01 4.81411216e+01] [ 6.91360420e-01 5.37463894e-01 -4.82859537e-01 2.28257982e+01] [ 5.90999806e-01 -3.62406369e-02 8.05857211e-01 1.94063274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660371743 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:48.16, Y:22.82, Z:19.41 [[ 0.40216408 -0.81158145 -0.42379194 48.16183131] [ 0.68677894 0.57350905 -0.44656697 22.81889643] [ 0.60547398 -0.11145819 0.78802178 19.40765282] [ 0. 0. 0. 1. ]] SLAMing on 63.690371743 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:48.10, Y:22.87, Z:19.48 [[ 0.42090809 -0.87474381 -0.24012422 48.10085866] [ 0.68665383 0.48022732 -0.54579139 22.86516622] [ 0.59274185 0.0648458 0.80277775 19.47716299] [ 0. 0. 0. 1. ]] SLAMing on 63.720371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:48.18, Y:22.86, Z:19.44 [[ 0.41009556 -0.81057289 -0.41808279 48.18117585] [ 0.67976485 0.57726699 -0.45241859 22.859839 ] [ 0.60806363 -0.09866313 0.78773359 19.44493263] [ 0. 0. 0. 1. ]] SLAMing on 63.750371743 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:48.14, Y:22.88, Z:19.49 [[ 4.13111702e-01 -8.51904512e-01 -3.21865538e-01 4.81363291e+01] [ 6.76959436e-01 5.23680042e-01 -5.17189652e-01 2.28830664e+01] [ 6.09150757e-01 -4.23281504e-03 7.93043151e-01 1.94946378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780371743 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:48.15, Y:22.90, Z:19.51 [[ 4.15367366e-01 -8.50692525e-01 -3.22167935e-01 4.81492940e+01] [ 6.74911460e-01 5.25658428e-01 -5.17858800e-01 2.29016792e+01] [ 6.09888901e-01 -2.33318598e-03 7.92483491e-01 1.95103813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.810371743 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:48.16, Y:22.92, Z:19.53 [[ 4.15518722e-01 -8.50618077e-01 -3.22169332e-01 4.81618791e+01] [ 6.74493178e-01 5.25780468e-01 -5.18279705e-01 2.29206274e+01] [ 6.10248428e-01 -1.94609631e-03 7.92207718e-01 1.95269637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:48.17, Y:22.94, Z:19.54 [[ 4.15325363e-01 -8.50776952e-01 -3.21999100e-01 4.81736447e+01] [ 6.74582384e-01 5.25523517e-01 -5.18424190e-01 2.29388378e+01] [ 6.10281451e-01 -1.90020520e-03 7.92182390e-01 1.95436271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:48.19, Y:22.96, Z:19.56 [[ 4.14541097e-01 -8.51231061e-01 -3.21809509e-01 4.81854651e+01] [ 6.75249994e-01 5.24785392e-01 -5.18302748e-01 2.29571248e+01] [ 6.10076328e-01 -2.44407949e-03 7.92338880e-01 1.95601498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900371743 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:48.19, Y:22.99, Z:19.59 [[ 4.22665666e-01 -8.63515606e-01 -2.75126393e-01 4.81945854e+01] [ 6.79256946e-01 5.02806059e-01 -5.34598980e-01 2.29873096e+01] [ 5.99969779e-01 3.90751205e-02 7.99067831e-01 1.95872851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930371743 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:48.25, Y:22.99, Z:19.57 [[ 0.40997067 -0.82946272 -0.37936215 48.24616724] [ 0.67981608 0.55517288 -0.47920056 22.99110928] [ 0.60809058 -0.06143831 0.79148669 19.57493981] [ 0. 0. 0. 1. ]] SLAMing on 63.960371743 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:48.23, Y:23.01, Z:19.61 [[ 4.08327662e-01 -8.54779044e-01 -3.20345605e-01 4.82251730e+01] [ 6.80626520e-01 5.18946616e-01 -5.17147900e-01 2.30109698e+01] [ 6.08289455e-01 -6.86992075e-03 7.93685544e-01 1.96116346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.990371743 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:48.24, Y:23.03, Z:19.63 [[ 4.03152801e-01 -8.57408527e-01 -3.19872533e-01 4.82400189e+01] [ 6.84413441e-01 5.14525779e-01 -5.16566999e-01 2.30278959e+01] [ 6.07491614e-01 -1.06696290e-02 7.94254429e-01 1.96289113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020371743 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:48.25, Y:23.05, Z:19.65 [[ 4.00143929e-01 -8.58972813e-01 -3.19453506e-01 4.82526851e+01] [ 6.86604087e-01 5.11862637e-01 -5.16305596e-01 2.30455550e+01] [ 6.07008784e-01 -1.27415332e-02 7.94592971e-01 1.96451709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:48.26, Y:23.08, Z:19.67 [[ 4.04110962e-01 -8.73529449e-01 -2.71368074e-01 4.82627929e+01] [ 6.92529824e-01 4.85993451e-01 -5.33116130e-01 2.30759384e+01] [ 5.97575747e-01 2.75075875e-02 8.01340477e-01 1.96720007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080371743 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:48.31, Y:23.08, Z:19.66 [[ 0.39163269 -0.83896183 -0.37784505 48.31462653] [ 0.69478756 0.5388611 -0.47633911 23.07851354] [ 0.60323633 -0.07597207 0.79393587 19.6598601 ] [ 0. 0. 0. 1. ]] SLAMing on 64.110371743 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:48.29, Y:23.10, Z:19.70 [[ 3.90959757e-01 -8.63704124e-01 -3.18065489e-01 4.82924864e+01] [ 6.93599695e-01 5.03631552e-01 -5.15048272e-01 2.31011148e+01] [ 6.05037132e-01 -1.92469795e-02 7.95964586e-01 1.96969959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:48.30, Y:23.13, Z:19.72 [[ 3.96814591e-01 -8.75697892e-01 -2.75120669e-01 4.83016590e+01] [ 6.96920962e-01 4.82493300e-01 -5.30567044e-01 2.31314913e+01] [ 5.97360321e-01 1.87993834e-02 8.01752599e-01 1.97226438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170371743 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:48.35, Y:23.15, Z:19.72 [[ 3.93690695e-01 -8.56592231e-01 -3.33552675e-01 4.83467834e+01] [ 6.99361433e-01 5.14594608e-01 -4.96070535e-01 2.31475893e+01] [ 5.96574574e-01 -3.79755230e-02 8.01658679e-01 1.97219346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200371743 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:48.36, Y:23.16, Z:19.74 [[ 3.90081582e-01 -8.58540962e-01 -3.32781874e-01 4.83586837e+01] [ 7.01321596e-01 5.11213876e-01 -4.96798140e-01 2.31648988e+01] [ 5.96644265e-01 -3.95953103e-02 8.01528435e-01 1.97385175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.230371743 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:48.37, Y:23.18, Z:19.75 [[ 0.38194906 -0.85810914 -0.34316704 48.37415904] [ 0.704762 0.51064698 -0.49249385 23.17854704] [ 0.59785069 -0.05374353 0.79980384 19.75302484] [ 0. 0. 0. 1. ]] SLAMing on 64.260371743 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:48.38, Y:23.20, Z:19.78 [[ 3.74459332e-01 -8.69226944e-01 -3.22838548e-01 4.83771912e+01] [ 7.07130384e-01 4.92915479e-01 -5.06952611e-01 2.31994421e+01] [ 5.99788987e-01 -3.84558102e-02 7.99233584e-01 1.97772563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:48.39, Y:23.21, Z:19.78 [[ 0.3641296 -0.8584244 -0.36127162 48.3945698 ] [ 0.70863 0.50707382 -0.4906319 23.20839718] [ 0.60436177 -0.07735431 0.79294587 19.78499713] [ 0. 0. 0. 1. ]] SLAMing on 64.320371743 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:48.38, Y:23.24, Z:19.83 [[ 3.70343311e-01 -8.87864793e-01 -2.73023701e-01 4.83779956e+01] [ 7.08278148e-01 4.60078245e-01 -5.35415795e-01 2.32432112e+01] [ 6.00989099e-01 4.91093697e-03 7.99242132e-01 1.98264032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350371743 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:48.43, Y:23.25, Z:19.81 [[ 0.35994498 -0.85283401 -0.3783038 48.42743408] [ 0.7109321 0.51329815 -0.48072919 23.24564386] [ 0.60416485 -0.09591225 0.79106617 19.81470144] [ 0. 0. 0. 1. ]] SLAMing on 64.380371743 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:48.40, Y:23.28, Z:19.86 [[ 3.66389583e-01 -8.89814114e-01 -2.72010139e-01 4.84017003e+01] [ 7.09333778e-01 4.56306560e-01 -5.37242883e-01 2.32835919e+01] [ 6.02166311e-01 3.89421634e-03 7.98361177e-01 1.98612962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410371743 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:48.45, Y:23.28, Z:19.85 [[ 0.35626691 -0.85268195 -0.38210914 48.45144588] [ 0.71192892 0.51257122 -0.48002912 23.28466133] [ 0.60517031 -0.10101606 0.7896611 19.84727137] [ 0. 0. 0. 1. ]] SLAMing on 64.440371743 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:48.43, Y:23.31, Z:19.88 [[ 3.54671041e-01 -8.79323473e-01 -3.17802900e-01 4.84260211e+01] [ 7.08976196e-01 4.74518607e-01 -5.21713375e-01 2.33081524e+01] [ 6.09558206e-01 -4.02780655e-02 7.91717418e-01 1.98844229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470371743 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:48.43, Y:23.34, Z:19.91 [[ 3.64756125e-01 -8.89545569e-01 -2.75066628e-01 4.84345269e+01] [ 7.09064203e-01 4.56845594e-01 -5.37140632e-01 2.33407869e+01] [ 6.03474046e-01 8.85436238e-04 7.97382149e-01 1.99110156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500371743 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:48.48, Y:23.34, Z:19.90 [[ 0.35590187 -0.85503425 -0.37716083 48.48019327] [ 0.71109432 0.50964369 -0.48436369 23.34395696] [ 0.60636518 -0.09581098 0.78939314 19.89929856] [ 0. 0. 0. 1. ]] SLAMing on 64.530371743 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:48.46, Y:23.37, Z:19.94 [[ 3.57338778e-01 -8.78527509e-01 -3.17014850e-01 4.84555876e+01] [ 7.07535800e-01 4.76200206e-01 -5.22136434e-01 2.33672158e+01] [ 6.09673757e-01 -3.77197601e-02 7.91754463e-01 1.99359146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:48.47, Y:23.40, Z:19.96 [[ 3.66169738e-01 -8.83954734e-01 -2.90764080e-01 4.84684590e+01] [ 7.06965196e-01 4.67438006e-01 -5.30755991e-01 2.33958173e+01] [ 6.05078453e-01 -1.12133025e-02 7.96086884e-01 1.99600702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.590371743 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:48.50, Y:23.41, Z:19.96 [[ 0.36844122 -0.86779247 -0.33344759 48.50285751] [ 0.70762305 0.4944086 -0.50480666 23.41367095] [ 0.60292677 -0.04996362 0.79623046 19.96311422] [ 0. 0. 0. 1. ]] SLAMing on 64.620371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:48.51, Y:23.44, Z:19.98 [[ 3.70096896e-01 -8.70169154e-01 -3.25321273e-01 4.85083770e+01] [ 7.05690259e-01 4.91081137e-01 -5.10725539e-01 2.34359334e+01] [ 6.04176750e-01 -4.05581166e-02 7.95817500e-01 1.99839376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:48.52, Y:23.46, Z:20.00 [[ 3.71330062e-01 -8.68580711e-01 -3.28148646e-01 4.85209416e+01] [ 7.04892695e-01 4.93746930e-01 -5.09254611e-01 2.34564925e+01] [ 6.04351118e-01 -4.22080376e-02 7.95599276e-01 1.99995383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680371743 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:48.53, Y:23.48, Z:20.02 [[ 3.71114371e-01 -8.67435886e-01 -3.31404750e-01 4.85325758e+01] [ 7.03858956e-01 4.95564388e-01 -5.08918960e-01 2.34763481e+01] [ 6.05686961e-01 -4.43950617e-02 7.94463583e-01 2.00165891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:48.55, Y:23.49, Z:20.03 [[ 0.37590705 -0.86204744 -0.33995309 48.54687552] [ 0.70462684 0.50416899 -0.49931417 23.49276538] [ 0.60182631 -0.05184435 0.79694244 20.02823348] [ 0. 0. 0. 1. ]] SLAMing on 64.740371743 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:48.54, Y:23.52, Z:20.06 [[ 3.76738253e-01 -8.76252405e-01 -3.00416395e-01 4.85411838e+01] [ 7.02125858e-01 4.81667107e-01 -5.24419754e-01 2.35205982e+01] [ 6.04224766e-01 -1.33611370e-02 7.96701896e-01 2.00561535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:48.57, Y:23.54, Z:20.06 [[ 0.37708709 -0.8595339 -0.34497361 48.57387846] [ 0.70172421 0.50823854 -0.49927619 23.53635885] [ 0.6044737 -0.05380573 0.79480594 20.06085298] [ 0. 0. 0. 1. ]] SLAMing on 64.800371743 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:48.58, Y:23.56, Z:20.08 [[ 3.79124927e-01 -8.64555857e-01 -3.29859759e-01 4.85755995e+01] [ 7.00143751e-01 5.01089342e-01 -5.08633659e-01 2.35584267e+01] [ 6.05031419e-01 -3.81135505e-02 7.95288840e-01 2.00824378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830371743 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:48.59, Y:23.56, Z:20.09 [[ 0.36900804 -0.84902706 -0.37813504 48.58928151] [ 0.69890889 0.52167145 -0.48927013 23.56356373] [ 0.61266584 -0.08373733 0.78589352 20.08899316] [ 0. 0. 0. 1. ]] SLAMing on 64.860371743 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:48.56, Y:23.60, Z:20.13 [[ 3.83921027e-01 -8.80788680e-01 -2.77156897e-01 4.85640520e+01] [ 6.99621128e-01 4.73368067e-01 -5.35212995e-01 2.35955914e+01] [ 6.02606772e-01 1.15747023e-02 7.97954325e-01 2.01325180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:48.60, Y:23.62, Z:20.14 [[ 3.82119434e-01 -8.68166500e-01 -3.16657017e-01 4.85971759e+01] [ 6.98205880e-01 4.95705725e-01 -5.16511745e-01 2.36171623e+01] [ 6.05386890e-01 -2.37226153e-02 7.95577747e-01 2.01390750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920371743 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:48.62, Y:23.64, Z:20.15 [[ 3.83233143e-01 -8.60500027e-01 -3.35666593e-01 4.86160554e+01] [ 6.98225288e-01 5.07798612e-01 -5.04600849e-01 2.36352076e+01] [ 6.04660075e-01 -4.09911344e-02 7.95428137e-01 2.01500446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.950371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:48.62, Y:23.66, Z:20.17 [[ 3.82609089e-01 -8.62761588e-01 -3.30534004e-01 4.86234231e+01] [ 6.98032944e-01 5.04311654e-01 -5.08350042e-01 2.36552019e+01] [ 6.05277039e-01 -3.62242768e-02 7.95190233e-01 2.01702257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980371743 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:48.63, Y:23.68, Z:20.19 [[ 3.84789680e-01 -8.67088407e-01 -3.16377301e-01 4.86286245e+01] [ 6.98726349e-01 4.97609538e-01 -5.13971048e-01 2.36783038e+01] [ 6.03090700e-01 -2.32904017e-02 7.97332531e-01 2.01910643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010371743 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:48.65, Y:23.69, Z:20.20 [[ 0.38156962 -0.85619489 -0.34833166 48.65239056] [ 0.698412 0.51390542 -0.49811836 23.69445283] [ 0.60549592 -0.05321218 0.79406748 20.20198523] [ 0. 0. 0. 1. ]] SLAMing on 65.040371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:48.65, Y:23.72, Z:20.23 [[ 3.80540071e-01 -8.68117767e-01 -3.18686048e-01 4.86483854e+01] [ 6.98876979e-01 4.95650669e-01 -5.15656263e-01 2.37177415e+01] [ 6.05607317e-01 -2.64944718e-02 7.95322463e-01 2.02287192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070371743 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:48.67, Y:23.74, Z:20.24 [[ 3.82295179e-01 -8.60338410e-01 -3.37147174e-01 4.86695847e+01] [ 7.01385623e-01 5.07714028e-01 -5.00284593e-01 2.37351937e+01] [ 6.01588401e-01 -4.52137923e-02 7.97525616e-01 2.02385033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:48.68, Y:23.75, Z:20.25 [[ 0.3741064 -0.86098542 -0.34459905 48.67756461] [ 0.70219107 0.50570393 -0.50118982 23.74909513] [ 0.60578222 -0.05447606 0.79376335 20.2540244 ] [ 0. 0. 0. 1. ]] SLAMing on 65.130371743 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:48.67, Y:23.77, Z:20.29 [[ 3.65663461e-01 -8.76448102e-01 -3.13255421e-01 4.86715047e+01] [ 7.00966377e-01 4.80741829e-01 -5.26814418e-01 2.37727765e+01] [ 6.12320481e-01 -2.69447338e-02 7.90150372e-01 2.02862431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160371743 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:48.69, Y:23.79, Z:20.30 [[ 0.36038315 -0.87002552 -0.33642171 48.69358204] [ 0.70247616 0.49041818 -0.51576861 23.79019873] [ 0.61371918 -0.05045391 0.78791064 20.29750218] [ 0. 0. 0. 1. ]] SLAMing on 65.190371743 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:48.70, Y:23.81, Z:20.31 [[ 0.35800171 -0.87271474 -0.3319695 48.70244996] [ 0.70696258 0.48560051 -0.51419456 23.80887336] [ 0.60994974 -0.05060748 0.79082248 20.31457319] [ 0. 0. 0. 1. ]] SLAMing on 65.220371743 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:48.70, Y:23.83, Z:20.34 [[ 3.51805940e-01 -8.82845807e-01 -3.11152474e-01 4.87024039e+01] [ 7.06313996e-01 4.68497109e-01 -5.30689173e-01 2.38322196e+01] [ 6.14290746e-01 -3.30717436e-02 7.88386415e-01 2.03416267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250371743 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:48.72, Y:23.85, Z:20.35 [[ 0.34872599 -0.87838732 -0.32684233 48.72205742] [ 0.70947563 0.47528141 -0.52033826 23.85175463] [ 0.61240061 -0.05043119 0.78893738 20.35168423] [ 0. 0. 0. 1. ]] SLAMing on 65.280371743 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:48.73, Y:23.87, Z:20.37 [[ 0.34579261 -0.87815404 -0.3305646 48.73393025] [ 0.71021926 0.47518656 -0.5194096 23.87120781] [ 0.6132015 -0.05516535 0.78799791 20.36907357] [ 0. 0. 0. 1. ]] SLAMing on 65.310371743 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:48.74, Y:23.89, Z:20.39 [[ 0.34410925 -0.87966202 -0.32830405 48.74412975] [ 0.7104094 0.47255112 -0.52154954 23.89225865] [ 0.61392777 -0.05376026 0.78752938 20.38850122] [ 0. 0. 0. 1. ]] SLAMing on 65.340371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:48.76, Y:23.91, Z:20.41 [[ 0.34141338 -0.87975175 -0.33086818 48.75505819] [ 0.71140508 0.4719325 -0.52075189 23.91208659] [ 0.61427983 -0.05758964 0.78698394 20.40509172] [ 0. 0. 0. 1. ]] SLAMing on 65.370371743 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:48.76, Y:23.93, Z:20.42 [[ 0.33988046 -0.88078942 -0.32968359 48.76423152] [ 0.71196702 0.47001589 -0.52171642 23.93173457] [ 0.61447883 -0.05740263 0.78684224 20.422671 ] [ 0. 0. 0. 1. ]] SLAMing on 65.400371743 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:48.77, Y:23.95, Z:20.44 [[ 0.34011911 -0.88149136 -0.32755453 48.77352352] [ 0.71217213 0.46891673 -0.52242508 23.95136826] [ 0.61410899 -0.05558846 0.78726112 20.43975025] [ 0. 0. 0. 1. ]] SLAMing on 65.430371743 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:48.79, Y:23.97, Z:20.45 [[ 0.34023343 -0.87979369 -0.33197029 48.78501463] [ 0.71241994 0.47159286 -0.51967104 23.97016838] [ 0.61375813 -0.0596928 0.78723423 20.45469731] [ 0. 0. 0. 1. ]] SLAMing on 65.460371743 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:48.79, Y:23.99, Z:20.47 [[ 0.34175269 -0.88087357 -0.32751618 48.79243493] [ 0.7115455 0.4701918 -0.52213281 23.99219668] [ 0.61392841 -0.05460237 0.78747094 20.4744057 ] [ 0. 0. 0. 1. ]] SLAMing on 65.490371743 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:48.81, Y:24.01, Z:20.49 [[ 0.34059204 -0.87730289 -0.33813712 48.8057975 ] [ 0.71051198 0.47569905 -0.51853943 24.01068815] [ 0.61576764 -0.06364007 0.78535352 20.49061393] [ 0. 0. 0. 1. ]] SLAMing on 65.520371743 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:48.81, Y:24.03, Z:20.51 [[ 0.341131 -0.87959109 -0.33158582 48.81081074] [ 0.70921319 0.47234778 -0.5233586 24.03024038] [ 0.61696539 -0.05663119 0.78495007 20.51031488] [ 0. 0. 0. 1. ]] SLAMing on 65.550371743 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:48.81, Y:24.06, Z:20.53 [[ 3.48235569e-01 -8.85947216e-01 -3.06316044e-01 4.88112333e+01] [ 7.07109024e-01 4.62787172e-01 -5.34625908e-01 2.40566883e+01] [ 6.15409471e-01 -3.04230812e-02 7.87620225e-01 2.05339874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580371743 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:48.84, Y:24.07, Z:20.54 [[ 0.34799229 -0.87140091 -0.34577712 48.8386524 ] [ 0.70535879 0.48632178 -0.5157132 24.07380621] [ 0.6175519 -0.06443271 0.78388652 20.54228047] [ 0. 0. 0. 1. ]] SLAMing on 65.610371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:48.84, Y:24.10, Z:20.56 [[ 3.56410003e-01 -8.76234156e-01 -3.24323317e-01 4.88354592e+01] [ 7.01365455e-01 4.80244564e-01 -5.26736801e-01 2.40956323e+01] [ 6.17299286e-01 -3.97349057e-02 7.85724334e-01 2.05646800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640371743 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:48.84, Y:24.12, Z:20.58 [[ 3.61732667e-01 -8.77867185e-01 -3.13844998e-01 4.88434762e+01] [ 6.99870938e-01 4.78102731e-01 -5.30658505e-01 2.41198681e+01] [ 6.15897839e-01 -2.76944768e-02 7.87339106e-01 2.05841209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670371743 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:48.87, Y:24.12, Z:20.58 [[ 0.35115013 -0.84975889 -0.3931964 48.8696589 ] [ 0.69641168 0.51773091 -0.49695621 24.12218422] [ 0.62586289 -0.09932032 0.77358329 20.58150704] [ 0. 0. 0. 1. ]] SLAMing on 65.700371743 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:48.83, Y:24.14, Z:20.63 [[ 3.58291972e-01 -8.80762743e-01 -3.09651181e-01 4.88295180e+01] [ 6.89996420e-01 4.73236946e-01 -5.47678494e-01 2.41426498e+01] [ 6.28913192e-01 -1.74293985e-02 7.77280138e-01 2.06295722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.730371743 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:48.84, Y:24.16, Z:20.65 [[ 3.61262160e-01 -8.79644910e-01 -3.09377574e-01 4.88389651e+01] [ 6.88538259e-01 4.75388903e-01 -5.47649939e-01 2.41619169e+01] [ 6.28812147e-01 -1.51730963e-02 7.77409198e-01 2.06471980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760371743 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:48.85, Y:24.18, Z:20.66 [[ 3.63509487e-01 -8.78845701e-01 -3.09016322e-01 4.88484207e+01] [ 6.87630960e-01 4.76915597e-01 -5.47462488e-01 2.41812339e+01] [ 6.28509757e-01 -1.34813818e-02 7.77684857e-01 2.06645164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790371743 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:48.85, Y:24.22, Z:20.70 [[ 3.80309500e-01 -8.91456535e-01 -2.46312668e-01 4.88509000e+01] [ 6.89417546e-01 4.50782870e-01 -5.67008158e-01 2.42152505e+01] [ 6.16496659e-01 4.58263135e-02 7.86022785e-01 2.06957680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820371743 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:48.91, Y:24.24, Z:20.68 [[ 3.79529856e-01 -8.64106399e-01 -3.30571051e-01 4.89080967e+01] [ 6.88735532e-01 5.02455157e-01 -5.22668330e-01 2.42363564e+01] [ 6.17738177e-01 -2.93077922e-02 7.85837513e-01 2.06846063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850371743 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:48.92, Y:24.26, Z:20.71 [[ 3.80338676e-01 -8.69181479e-01 -3.16015897e-01 4.89159775e+01] [ 6.89638701e-01 4.94213647e-01 -5.29293240e-01 2.42595135e+01] [ 6.16231250e-01 -1.66261026e-02 7.87389751e-01 2.07066029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880371743 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:48.94, Y:24.28, Z:20.72 [[ 3.78389736e-01 -8.64834631e-01 -3.29973133e-01 4.89355696e+01] [ 6.90384557e-01 5.01136787e-01 -5.21757686e-01 2.42788349e+01] [ 6.16595792e-01 -3.03806023e-02 7.86693491e-01 2.07193939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910371743 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:48.95, Y:24.29, Z:20.73 [[ 3.75281676e-01 -8.60907310e-01 -3.43514581e-01 4.89509442e+01] [ 6.90870578e-01 5.06868503e-01 -5.15540653e-01 2.42942486e+01] [ 6.17949439e-01 -4.38511565e-02 7.84993992e-01 2.07331120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940371743 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:48.96, Y:24.29, Z:20.74 [[ 0.35558596 -0.84885375 -0.39115973 48.96021814] [ 0.69132668 0.52052053 -0.50112453 24.29432796] [ 0.62898811 -0.09222631 0.77192504 20.74202349] [ 0. 0. 0. 1. ]] SLAMing on 65.970371743 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:48.92, Y:24.31, Z:20.79 [[ 3.52640263e-01 -8.83572182e-01 -3.08131536e-01 4.89236300e+01] [ 6.90809394e-01 4.67930056e-01 -5.51202181e-01 2.43127994e+01] [ 6.31210921e-01 -1.84840777e-02 7.75390942e-01 2.07888854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000371743 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:48.94, Y:24.33, Z:20.81 [[ 3.49521252e-01 -8.84904322e-01 -3.07862365e-01 4.89353739e+01] [ 6.92584063e-01 4.65318433e-01 -5.51186059e-01 2.43311610e+01] [ 6.31000959e-01 -2.05693261e-02 7.75509312e-01 2.08061074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030371743 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:48.95, Y:24.35, Z:20.82 [[ 3.43182150e-01 -8.87498182e-01 -3.07527217e-01 4.89487659e+01] [ 6.96145377e-01 4.60134061e-01 -5.51051958e-01 2.43488080e+01] [ 6.30561358e-01 -2.49724542e-02 7.75737552e-01 2.08235177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060371743 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:48.96, Y:24.37, Z:20.84 [[ 3.42945087e-01 -8.87658892e-01 -3.07327771e-01 4.89594443e+01] [ 6.96261836e-01 4.59824527e-01 -5.51163188e-01 2.43683076e+01] [ 6.30561752e-01 -2.49618908e-02 7.75737573e-01 2.08411519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.090371743 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:48.97, Y:24.39, Z:20.86 [[ 3.40272286e-01 -8.88845224e-01 -3.06869581e-01 4.89706198e+01] [ 6.98146336e-01 4.57421664e-01 -5.50778644e-01 2.43860804e+01] [ 6.29925762e-01 -2.68251651e-02 7.76191951e-01 2.08579393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120371743 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:48.97, Y:24.42, Z:20.89 [[ 3.51970566e-01 -9.06722538e-01 -2.32316509e-01 4.89711268e+01] [ 7.02770088e-01 4.19933860e-01 -5.74255829e-01 2.44224102e+01] [ 6.18248271e-01 3.88560555e-02 7.85021836e-01 2.08918521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150371743 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:49.05, Y:24.42, Z:20.86 [[ 0.33494665 -0.85381707 -0.39850615 49.04601716] [ 0.70469005 0.50775045 -0.49558189 24.4228684 ] [ 0.62547795 -0.11482983 0.77174571 20.86265176] [ 0. 0. 0. 1. ]] SLAMing on 66.180371743 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:49.00, Y:24.45, Z:20.92 [[ 3.44904709e-01 -9.00863282e-01 -2.63602141e-01 4.90025180e+01] [ 7.04188598e-01 4.34025866e-01 -5.61907436e-01 2.44527094e+01] [ 6.20611924e-01 8.17889814e-03 7.84075216e-01 2.09177573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210371743 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:49.04, Y:24.46, Z:20.91 [[ 0.33234223 -0.87281769 -0.35740444 49.04470122] [ 0.70358651 0.48179427 -0.52234118 24.46202166] [ 0.62810403 -0.07786891 0.77422333 20.91265362] [ 0. 0. 0. 1. ]] SLAMing on 66.240371743 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:49.02, Y:24.49, Z:20.96 [[ 3.41474392e-01 -9.02785435e-01 -2.61483648e-01 4.90235402e+01] [ 7.03712264e-01 4.29994394e-01 -5.65591612e-01 2.44914073e+01] [ 6.23044372e-01 9.12580229e-03 7.82133256e-01 2.09574794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270371743 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:49.07, Y:24.51, Z:20.95 [[ 3.41819443e-01 -8.82327372e-01 -3.23508698e-01 4.90682225e+01] [ 7.05091231e-01 4.68371879e-01 -5.32422895e-01 2.45106672e+01] [ 6.21293670e-01 -4.61106490e-02 7.82219907e-01 2.09539363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300371743 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:49.08, Y:24.52, Z:20.97 [[ 0.33195483 -0.87176276 -0.36032719 49.07919209] [ 0.70344852 0.48327443 -0.52115833 24.51859777] [ 0.62846334 -0.0804706 0.7736655 20.9650728 ] [ 0. 0. 0. 1. ]] SLAMing on 66.330371743 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:49.06, Y:24.54, Z:21.00 [[ 3.33464362e-01 -8.91833749e-01 -3.05669892e-01 4.90591201e+01] [ 7.00184442e-01 4.51396012e-01 -5.53157652e-01 2.45363766e+01] [ 6.31302833e-01 -2.95669395e-02 7.74972599e-01 2.10008989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360371743 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:49.07, Y:24.57, Z:21.03 [[ 3.43698902e-01 -9.00857740e-01 -2.65191247e-01 4.90673620e+01] [ 7.00696542e-01 4.34025156e-01 -5.66256585e-01 2.45665049e+01] [ 6.25216300e-01 8.80317675e-03 7.80401873e-01 2.10271148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390371743 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:49.11, Y:24.58, Z:21.02 [[ 3.43219054e-01 -8.78498868e-01 -3.32325774e-01 4.91112464e+01] [ 6.98989708e-01 4.75237033e-01 -5.34381091e-01 2.45847007e+01] [ 6.27386698e-01 -4.88825230e-02 7.77172072e-01 2.10248103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420371743 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:49.11, Y:24.61, Z:21.05 [[ 3.45642927e-01 -8.84184780e-01 -3.14242331e-01 4.91126099e+01] [ 6.97993120e-01 4.66079206e-01 -5.43668812e-01 2.46051277e+01] [ 6.27165505e-01 -3.14237054e-02 7.78251874e-01 2.10468276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.450371743 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:49.13, Y:24.62, Z:21.06 [[ 3.47162758e-01 -8.80411947e-01 -3.23036875e-01 4.91266784e+01] [ 6.96642599e-01 4.72709435e-01 -5.39661820e-01 2.46238950e+01] [ 6.27827292e-01 -3.76907620e-02 7.77439578e-01 2.10618124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.480371743 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:49.14, Y:24.64, Z:21.08 [[ 3.50415341e-01 -8.78954996e-01 -3.23492202e-01 4.91350259e+01] [ 6.93374442e-01 4.75646069e-01 -5.41288001e-01 2.46429890e+01] [ 6.29635587e-01 -3.46256055e-02 7.76118609e-01 2.10810246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510371743 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:49.14, Y:24.66, Z:21.10 [[ 3.56663013e-01 -8.80377117e-01 -3.12614183e-01 4.91404976e+01] [ 6.91449272e-01 4.73780238e-01 -5.45371608e-01 2.46640732e+01] [ 6.28243106e-01 -2.16429683e-02 7.77716003e-01 2.11011403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540371743 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:49.16, Y:24.68, Z:21.12 [[ 3.56169830e-01 -8.74529486e-01 -3.29152290e-01 4.91583034e+01] [ 6.89986660e-01 4.83684619e-01 -5.38486396e-01 2.46830159e+01] [ 6.30128131e-01 -3.53180815e-02 7.75687548e-01 2.11160816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570371743 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:49.16, Y:24.70, Z:21.14 [[ 3.57890028e-01 -8.77378404e-01 -3.19565118e-01 4.91628453e+01] [ 6.89693267e-01 4.79089462e-01 -5.42951641e-01 2.47012781e+01] [ 6.29474325e-01 -2.60849327e-02 7.76583319e-01 2.11353877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600371743 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:49.17, Y:24.72, Z:21.15 [[ 3.61036863e-01 -8.77971505e-01 -3.14353973e-01 4.91717018e+01] [ 6.89546695e-01 4.78277572e-01 -5.43852848e-01 2.47205763e+01] [ 6.27835758e-01 -2.04108165e-02 7.78078183e-01 2.11531621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630371743 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:49.19, Y:24.73, Z:21.16 [[ 0.35200428 -0.86607116 -0.35498413 49.18612533] [ 0.68860285 0.49649706 -0.52850429 24.72904208] [ 0.6339709 -0.05840732 0.77114816 21.16024665] [ 0. 0. 0. 1. ]] SLAMing on 66.660371743 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:49.17, Y:24.76, Z:21.21 [[ 3.63418223e-01 -8.94726009e-01 -2.59600778e-01 4.91659280e+01] [ 6.89948485e-01 4.45726528e-01 -5.70349849e-01 2.47580423e+01] [ 6.26017797e-01 2.81643653e-02 7.79299997e-01 2.12052127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690371743 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:49.21, Y:24.78, Z:21.20 [[ 3.64640111e-01 -8.75240779e-01 -3.17791076e-01 4.92103907e+01] [ 6.91759490e-01 4.83085926e-01 -5.36746492e-01 2.47785459e+01] [ 6.23302813e-01 -2.41156922e-02 7.81608621e-01 2.12010077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720371743 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:49.23, Y:24.78, Z:21.21 [[ 0.35259774 -0.86099223 -0.36656133 49.22534079] [ 0.69084067 0.50372784 -0.51864962 24.78371919] [ 0.63120044 -0.07036079 0.77242175 21.20800687] [ 0. 0. 0. 1. ]] SLAMing on 66.750371743 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:49.20, Y:24.80, Z:21.25 [[ 3.51098584e-01 -8.86343627e-01 -3.01868779e-01 4.92017539e+01] [ 6.91082589e-01 4.62825272e-01 -5.55155494e-01 2.48004159e+01] [ 6.31771034e-01 -1.37019492e-02 7.75033946e-01 2.12470148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780371743 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:49.21, Y:24.82, Z:21.26 [[ 3.49646360e-01 -8.86963486e-01 -3.01733653e-01 4.92133837e+01] [ 6.91838206e-01 4.61608170e-01 -5.55227696e-01 2.48186510e+01] [ 6.31749412e-01 -1.46175270e-02 7.75034843e-01 2.12641665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.810371743 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:49.23, Y:24.84, Z:21.28 [[ 3.46400417e-01 -8.88281622e-01 -3.01599920e-01 4.92268038e+01] [ 6.93404253e-01 4.58994565e-01 -5.55440843e-01 2.48365334e+01] [ 6.31820617e-01 -1.67257276e-02 7.74934163e-01 2.12811726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.840371743 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:49.23, Y:24.87, Z:21.31 [[ 3.57195732e-01 -9.01806103e-01 -2.43222041e-01 4.92320528e+01] [ 6.97505119e-01 4.30728557e-01 -5.72677501e-01 2.48696335e+01] [ 6.21206744e-01 3.49093403e-02 7.82868775e-01 2.13103158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.870371743 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:49.29, Y:24.87, Z:21.29 [[ 0.34297509 -0.86076657 -0.37609705 49.29167708] [ 0.69698136 0.50161719 -0.51244237 24.87362281] [ 0.62975001 -0.08637767 0.77198045 21.29228723] [ 0. 0. 0. 1. ]] SLAMing on 66.900371743 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:49.26, Y:24.91, Z:21.35 [[ 3.52634717e-01 -9.02274756e-01 -2.48090752e-01 4.92587535e+01] [ 6.99686561e-01 4.30281167e-01 -5.70347994e-01 2.49055580e+01] [ 6.21359375e-01 2.75387382e-02 7.83041599e-01 2.13455346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930371743 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:49.31, Y:24.91, Z:21.33 [[ 0.34030639 -0.86462043 -0.36962558 49.31405661] [ 0.69958972 0.49546002 -0.5148724 24.91019929] [ 0.62830389 -0.08337189 0.77348778 21.33039351] [ 0. 0. 0. 1. ]] SLAMing on 66.960371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:49.28, Y:24.93, Z:21.37 [[ 3.39768236e-01 -8.92298220e-01 -2.97256510e-01 4.92846003e+01] [ 6.97234204e-01 4.51088823e-01 -5.57120578e-01 2.49278012e+01] [ 6.31206789e-01 -1.79655301e-02 7.75406493e-01 2.13705184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990371743 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:49.29, Y:24.96, Z:21.40 [[ 3.44247502e-01 -9.04028583e-01 -2.53428449e-01 4.92922500e+01] [ 7.00687298e-01 4.27041435e-01 -5.71553081e-01 2.49568533e+01] [ 6.24924770e-01 1.91816250e-02 7.80449292e-01 2.14005670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020371743 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:49.34, Y:24.97, Z:21.40 [[ 0.34101614 -0.87891847 -0.33348211 49.34294263] [ 0.70158303 0.4740695 -0.53201444 24.97192887] [ 0.62569101 -0.05253988 0.77829964 21.39563401] [ 0. 0. 0. 1. ]] SLAMing on 67.050371743 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:49.34, Y:24.98, Z:21.41 [[ 0.32970657 -0.87941692 -0.34339403 49.34494119] [ 0.70169294 0.4716109 -0.53405073 24.98068247] [ 0.63160162 -0.06487713 0.77257385 21.41332271] [ 0. 0. 0. 1. ]] SLAMing on 67.080371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:49.33, Y:25.00, Z:21.44 [[ 3.27891770e-01 -8.95942661e-01 -2.99622655e-01 4.93329719e+01] [ 7.01028179e-01 4.43354737e-01 -5.58566083e-01 2.49988650e+01] [ 6.33282307e-01 -2.68947029e-02 7.73453421e-01 2.14445858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:49.34, Y:25.03, Z:21.47 [[ 3.35650680e-01 -9.07006909e-01 -2.54316905e-01 4.93398148e+01] [ 7.03900147e-01 4.20914142e-01 -5.72150215e-01 2.50292433e+01] [ 6.25989780e-01 1.30289027e-02 7.79722414e-01 2.14704138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140371743 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:49.39, Y:25.05, Z:21.47 [[ 3.35032204e-01 -8.89935295e-01 -3.09465012e-01 4.93852794e+01] [ 7.06156061e-01 4.54610855e-01 -5.42837534e-01 2.50505230e+01] [ 6.23776434e-01 -3.66625381e-02 7.80742479e-01 2.14718171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:49.41, Y:25.05, Z:21.48 [[ 0.32378526 -0.87231439 -0.36637508 49.4071648 ] [ 0.70506491 0.48068311 -0.52137052 25.05356929] [ 0.63090932 -0.08950613 0.77067638 21.47782211] [ 0. 0. 0. 1. ]] SLAMing on 67.200371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:49.38, Y:25.07, Z:21.52 [[ 3.23758129e-01 -8.97765763e-01 -2.98659186e-01 4.93810669e+01] [ 7.02655298e-01 4.39537224e-01 -5.59537810e-01 2.50733943e+01] [ 6.33605718e-01 -2.86995450e-02 7.73123619e-01 2.15165084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.230371743 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:49.39, Y:25.11, Z:21.54 [[ 3.34745038e-01 -9.10584421e-01 -2.42449525e-01 4.93858783e+01] [ 7.04852759e-01 4.12724838e-01 -5.76923561e-01 2.51082712e+01] [ 6.25402548e-01 2.22310833e-02 7.79985533e-01 2.15447568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260371743 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:49.44, Y:25.12, Z:21.54 [[ 0.32944486 -0.88143144 -0.33844454 49.44016835] [ 0.70285627 0.46829347 -0.53543841 25.12287421] [ 0.63044362 -0.06148044 0.77379649 21.54118878] [ 0. 0. 0. 1. ]] SLAMing on 67.290371743 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:49.44, Y:25.13, Z:21.56 [[ 0.32343325 -0.88322592 -0.33956281 49.43732364] [ 0.7000068 0.46478622 -0.5421847 25.132822 ] [ 0.63669569 -0.06233572 0.76859147 21.56043873] [ 0. 0. 0. 1. ]] SLAMing on 67.320371743 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:49.42, Y:25.17, Z:21.60 [[ 3.36086290e-01 -9.12066011e-01 -2.34907637e-01 4.94168087e+01] [ 7.02141787e-01 4.08871392e-01 -5.82941760e-01 2.51687836e+01] [ 6.27728378e-01 3.09802651e-02 7.77815728e-01 2.16026231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:49.47, Y:25.19, Z:21.60 [[ 3.40113923e-01 -8.88027413e-01 -3.09402380e-01 4.94715879e+01] [ 7.03917668e-01 4.58582005e-01 -5.42404334e-01 2.51909248e+01] [ 6.23556282e-01 -3.33145359e-02 7.81068310e-01 2.15972364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:49.50, Y:25.19, Z:21.60 [[ 0.32493113 -0.86049847 -0.39238009 49.49750102] [ 0.70153286 0.49754835 -0.51019339 25.18709672] [ 0.63424869 -0.10948981 0.7653369 21.59871772] [ 0. 0. 0. 1. ]] SLAMing on 67.410371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:49.46, Y:25.21, Z:21.64 [[ 3.24047751e-01 -8.98355102e-01 -2.96565620e-01 4.94550245e+01] [ 6.99046469e-01 4.38597315e-01 -5.64771130e-01 2.52071622e+01] [ 6.37437910e-01 -2.43003352e-02 7.70118435e-01 2.16441834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440371743 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:49.45, Y:25.25, Z:21.68 [[ 0.33948997 -0.91923958 -0.19936187 49.44924375] [ 0.70460981 0.38894153 -0.5935061 25.25097697] [ 0.62311441 0.06101704 0.77974698 21.6805642 ] [ 0. 0. 0. 1. ]] SLAMing on 67.470371743 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:49.54, Y:25.24, Z:21.65 [[ 0.32212686 -0.85101624 -0.41473563 49.54297982] [ 0.70251047 0.50854204 -0.49785944 25.24369874] [ 0.63459697 -0.13098222 0.76166288 21.64705437] [ 0. 0. 0. 1. ]] SLAMing on 67.500371743 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:49.47, Y:25.29, Z:21.72 [[ 0.33628754 -0.92194954 -0.19214509 49.46997834] [ 0.70485779 0.38170927 -0.5978909 25.2918013 ] [ 0.6245688 0.06562829 0.77820739 21.71773797] [ 0. 0. 0. 1. ]] SLAMing on 67.530371743 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:49.54, Y:25.32, Z:21.71 [[ 3.34659830e-01 -8.93372193e-01 -2.99814816e-01 4.95414360e+01] [ 7.04564552e-01 4.48493740e-01 -5.49947413e-01 2.53190839e+01] [ 6.25772794e-01 -2.71935838e-02 7.79531217e-01 2.17119213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.560371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:49.59, Y:25.30, Z:21.70 [[ 0.31247518 -0.84331692 -0.43723659 49.58631201] [ 0.70177853 0.51515171 -0.49206261 25.30442504] [ 0.6402079 -0.1530859 0.75279383 21.70258421] [ 0. 0. 0. 1. ]] SLAMing on 67.590371743 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:49.52, Y:25.33, Z:21.76 [[ 3.10313662e-01 -9.03425061e-01 -2.95852311e-01 4.95166008e+01] [ 6.97772318e-01 4.27820690e-01 -5.74528719e-01 2.53261857e+01] [ 6.45615383e-01 -2.81534423e-02 7.63143604e-01 2.17598470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.620371743 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:49.53, Y:25.34, Z:21.78 [[ 3.07679083e-01 -9.04298688e-01 -2.95934900e-01 4.95267220e+01] [ 6.98595271e-01 4.25857046e-01 -5.74987325e-01 2.53448658e+01] [ 6.45986246e-01 -2.98271487e-02 7.62766092e-01 2.17782694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:49.53, Y:25.38, Z:21.81 [[ 3.21106201e-01 -9.21335008e-01 -2.19163436e-01 4.95271239e+01] [ 7.03877896e-01 3.87005076e-01 -5.95636617e-01 2.53846551e+01] [ 6.33598229e-01 3.69983131e-02 7.72777076e-01 2.18103001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680371743 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:49.60, Y:25.38, Z:21.79 [[ 0.30457036 -0.86657291 -0.39533313 49.60013372] [ 0.70359202 0.48445363 -0.5198682 25.38191622] [ 0.64202427 -0.11981679 0.75726401 21.78717499] [ 0. 0. 0. 1. ]] SLAMing on 67.710371743 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:49.55, Y:25.42, Z:21.85 [[ 3.18043075e-01 -9.22703622e-01 -2.17868374e-01 4.95461272e+01] [ 7.05293812e-01 3.83835208e-01 -5.96012729e-01 2.54234038e+01] [ 6.33568656e-01 3.58965052e-02 7.72853284e-01 2.18480817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740371743 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:49.60, Y:25.45, Z:21.85 [[ 3.21669842e-01 -9.01509488e-01 -2.89498111e-01 4.96024938e+01] [ 7.08054686e-01 4.32019141e-01 -5.58585735e-01 2.54531592e+01] [ 6.28639065e-01 -2.53003091e-02 7.77285546e-01 2.18464034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:49.65, Y:25.44, Z:21.84 [[ 0.29900288 -0.85055977 -0.432603 49.64933459] [ 0.70629978 0.50210293 -0.49903233 25.43944442] [ 0.64166806 -0.1563353 0.7508804 21.83519361] [ 0. 0. 0. 1. ]] SLAMing on 67.800371743 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:49.58, Y:25.48, Z:21.90 [[ 3.09724765e-01 -9.22189131e-01 -2.31598310e-01 4.95773391e+01] [ 7.05229283e-01 3.86178138e-01 -5.94573884e-01 2.54791632e+01] [ 6.37747777e-01 2.08243467e-02 7.69963713e-01 2.19032193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830371743 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:49.64, Y:25.48, Z:21.89 [[ 0.29586483 -0.87620756 -0.38042649 49.63824991] [ 0.7051158 0.4690021 -0.53183526 25.48015852] [ 0.64441889 -0.11089338 0.75658902 21.88566228] [ 0. 0. 0. 1. ]] SLAMing on 67.860371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:49.60, Y:25.50, Z:21.93 [[ 2.93993147e-01 -9.09681472e-01 -2.93338794e-01 4.96005447e+01] [ 7.01955533e-01 4.13787779e-01 -5.79687936e-01 2.54995738e+01] [ 6.48711383e-01 -3.54865089e-02 7.60206714e-01 2.19282613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:49.61, Y:25.52, Z:21.95 [[ 2.92229850e-01 -9.10253015e-01 -2.93327741e-01 4.96092611e+01] [ 7.02333766e-01 4.12443560e-01 -5.80187548e-01 2.55192656e+01] [ 6.49098603e-01 -3.64658573e-02 7.59829748e-01 2.19464880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920371743 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:49.60, Y:25.56, Z:21.98 [[ 0.30964028 -0.93193735 -0.18872116 49.60197974] [ 0.70793528 0.35844986 -0.60855676 25.56437761] [ 0.63478385 0.05483132 0.77074184 21.98392949] [ 0. 0. 0. 1. ]] SLAMing on 67.950371743 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:49.68, Y:25.59, Z:21.97 [[ 0.31202683 -0.89487034 -0.31913373 49.68314798] [ 0.71011459 0.44282208 -0.54739919 25.58848048] [ 0.63117077 -0.05581829 0.77363285 21.96884081] [ 0. 0. 0. 1. ]] SLAMing on 67.980371743 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:49.71, Y:25.58, Z:21.97 [[ 0.2906349 -0.85818312 -0.42314664 49.7078113 ] [ 0.70795354 0.49037139 -0.5082693 25.57841414] [ 0.64368714 -0.15184736 0.75007283 21.96684578] [ 0. 0. 0. 1. ]] SLAMing on 68.010371743 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:49.62, Y:25.62, Z:22.04 [[ 0.30728277 -0.93408659 -0.18182282 49.6249321 ] [ 0.70859571 0.35212874 -0.61147156 25.62394354] [ 0.63519242 0.05905581 0.77009285 22.04203803] [ 0. 0. 0. 1. ]] SLAMing on 68.040371743 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:49.72, Y:25.64, Z:22.02 [[ 0.30687355 -0.88255767 -0.35625915 49.71926429] [ 0.71034731 0.46151296 -0.53142496 25.6384364 ] [ 0.63343139 -0.08998746 0.76854859 22.01641245] [ 0. 0. 0. 1. ]] SLAMing on 68.070371743 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:49.70, Y:25.66, Z:22.04 [[ 0.30542812 -0.89761832 -0.31779714 49.70452973] [ 0.70874016 0.43718537 -0.5536753 25.65910444] [ 0.63592535 -0.05612759 0.76970686 22.04495892] [ 0. 0. 0. 1. ]] SLAMing on 68.100371743 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:49.71, Y:25.68, Z:22.07 [[ 0.30378237 -0.90042851 -0.31135957 49.70938706] [ 0.70777679 0.43205279 -0.55891181 25.68049476] [ 0.63778389 -0.05058552 0.76855241 22.06633962] [ 0. 0. 0. 1. ]] SLAMing on 68.130371743 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:49.72, Y:25.69, Z:22.07 [[ 0.30777748 -0.89517241 -0.32239629 49.71913775] [ 0.70623825 0.44199919 -0.55304995 25.69206367] [ 0.63757396 -0.05747227 0.7682424 22.07292408] [ 0. 0. 0. 1. ]] SLAMing on 68.160371743 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:49.73, Y:25.69, Z:22.08 [[ 0.29618348 -0.87898474 -0.37371267 49.72503461] [ 0.70481066 0.46519781 -0.53556787 25.69481773] [ 0.6446063 -0.10477032 0.75730172 22.08486924] [ 0. 0. 0. 1. ]] SLAMing on 68.190371743 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:49.69, Y:25.72, Z:22.13 [[ 2.96237673e-01 -9.09796927e-01 -2.90710840e-01 4.96898845e+01] [ 7.02244444e-01 4.13777238e-01 -5.79345440e-01 2.57164672e+01] [ 6.47376230e-01 -3.25261273e-02 7.61476243e-01 2.21297215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220371743 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:49.70, Y:25.74, Z:22.15 [[ 2.97645387e-01 -9.09519532e-01 -2.90140387e-01 4.96981861e+01] [ 7.02140399e-01 4.14474188e-01 -5.78973236e-01 2.57353025e+01] [ 6.46843168e-01 -3.13905743e-02 7.61976737e-01 2.21467791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250371743 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:49.69, Y:25.78, Z:22.18 [[ 0.31730433 -0.92896121 -0.19065423 49.68708822] [ 0.70766403 0.36577936 -0.60449738 25.77704665] [ 0.631292 0.0568905 0.77345581 22.18353103] [ 0. 0. 0. 1. ]] SLAMing on 68.280371743 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:49.78, Y:25.78, Z:22.15 [[ 0.30156019 -0.86283688 -0.40567718 49.77820981] [ 0.70538611 0.48816484 -0.51393145 25.77744147] [ 0.64147634 -0.13117778 0.75584423 22.14995716] [ 0. 0. 0. 1. ]] SLAMing on 68.310371743 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:49.71, Y:25.82, Z:22.22 [[ 0.31789472 -0.92858281 -0.19151215 49.70529373] [ 0.70724549 0.36677071 -0.60438652 25.8182542 ] [ 0.63146399 0.05668518 0.77333048 22.22059098] [ 0. 0. 0. 1. ]] SLAMing on 68.340371743 meters Centerline goodness : 0.992069 Centerline is valid? [True, True] Translation: X:49.79, Y:25.84, Z:22.20 [[ 0.32021557 -0.88656704 -0.33385756 49.78748685] [ 0.70899389 0.4580121 -0.5362393 25.83784024] [ 0.62832289 -0.0649908 0.77523322 22.19630153] [ 0. 0. 0. 1. ]] SLAMing on 68.370371743 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:49.78, Y:25.86, Z:22.23 [[ 3.17390613e-01 -9.00884264e-01 -2.96092455e-01 4.97768538e+01] [ 7.07517227e-01 4.32863966e-01 -5.58612710e-01 2.58618234e+01] [ 6.31413155e-01 -3.21920820e-02 7.74778096e-01 2.22278937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400371743 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:49.80, Y:25.88, Z:22.23 [[ 0.31805536 -0.8871215 -0.33444915 49.80172104] [ 0.70755884 0.45690903 -0.5390683 25.87579251] [ 0.63103191 -0.06518889 0.77301303 22.23351791] [ 0. 0. 0. 1. ]] SLAMing on 68.430371743 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:49.79, Y:25.90, Z:22.27 [[ 3.13777156e-01 -9.02532414e-01 -2.94922259e-01 4.97896988e+01] [ 7.06736500e-01 4.29430225e-01 -5.62239451e-01 2.58997026e+01] [ 6.34087861e-01 -3.20144293e-02 7.72597994e-01 2.22668050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460371743 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:49.80, Y:25.93, Z:22.29 [[ 3.16977159e-01 -9.09358134e-01 -2.69431374e-01 4.97957601e+01] [ 7.08443446e-01 4.15890754e-01 -5.70212913e-01 2.59308157e+01] [ 6.30581767e-01 -1.01324219e-02 7.76056679e-01 2.22918078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490371743 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:49.85, Y:25.94, Z:22.29 [[ 0.31337547 -0.87679842 -0.36471955 49.84648699] [ 0.70757605 0.47174058 -0.52611496 25.94070492] [ 0.63334978 -0.0931953 0.76823349 22.28610525] [ 0. 0. 0. 1. ]] SLAMing on 68.520371743 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:49.82, Y:25.96, Z:22.32 [[ 3.10123296e-01 -8.98193854e-01 -3.11562742e-01 4.98249590e+01] [ 7.07188928e-01 4.36975462e-01 -5.55820354e-01 2.59628358e+01] [ 6.35379699e-01 -4.79608807e-02 7.70709019e-01 2.23187488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550371743 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:49.84, Y:25.98, Z:22.33 [[ 0.30980283 -0.89551239 -0.31949924 49.83780709] [ 0.70763171 0.44159935 -0.55158624 25.98189996] [ 0.63504297 -0.05520481 0.77050169 22.33377904] [ 0. 0. 0. 1. ]] SLAMing on 68.580371743 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:49.84, Y:26.00, Z:22.35 [[ 0.30651915 -0.89792281 -0.31588073 49.84318837] [ 0.70738002 0.43693307 -0.55561047 26.00161919] [ 0.63691405 -0.05314247 0.76910101 22.35467855] [ 0. 0. 0. 1. ]] SLAMing on 68.610371743 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:49.85, Y:26.02, Z:22.37 [[ 0.30625859 -0.89425036 -0.32637705 49.85343906] [ 0.70889027 0.44306882 -0.54878466 26.01747644] [ 0.63535838 -0.0632955 0.76961901 22.36780955] [ 0. 0. 0. 1. ]] SLAMing on 68.640371743 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:49.86, Y:26.02, Z:22.38 [[ 0.28890433 -0.87862289 -0.38020535 49.8598781 ] [ 0.70511839 0.46391505 -0.536275 26.0170796 ] [ 0.64756648 -0.11315762 0.75356023 22.38036851] [ 0. 0. 0. 1. ]] SLAMing on 68.670371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:49.81, Y:26.03, Z:22.43 [[ 2.86931801e-01 -9.14627220e-01 -2.84828351e-01 4.98144645e+01] [ 7.03084936e-01 4.03017686e-01 -5.85873977e-01 2.60339369e+01] [ 6.50647150e-01 -3.21526471e-02 7.58699211e-01 2.24280117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.700371743 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:49.81, Y:26.07, Z:22.46 [[ 2.97899696e-01 -9.29778330e-01 -2.16259167e-01 4.98116965e+01] [ 7.07436601e-01 3.67133934e-01 -6.03942158e-01 2.60681826e+01] [ 6.40928410e-01 2.69245353e-02 7.67128309e-01 2.24598648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.730371743 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:49.88, Y:26.07, Z:22.44 [[ 0.28671521 -0.88234278 -0.37318307 49.88045388] [ 0.70714917 0.45771959 -0.53891821 26.07451258] [ 0.64632379 -0.10938005 0.75518313 22.43590384] [ 0. 0. 0. 1. ]] SLAMing on 68.760371743 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:49.84, Y:26.09, Z:22.49 [[ 2.82384359e-01 -9.18005719e-01 -2.78432349e-01 4.98373023e+01] [ 7.04589245e-01 3.95446285e-01 -5.89216626e-01 2.60930716e+01] [ 6.51009270e-01 -2.97948791e-02 7.58484802e-01 2.24850551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790371743 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:49.84, Y:26.13, Z:22.51 [[ 2.91821173e-01 -9.28866314e-01 -2.28139811e-01 4.98421266e+01] [ 7.07826954e-01 3.70147126e-01 -6.01641179e-01 2.61272189e+01] [ 6.43289520e-01 1.40881272e-02 7.65493382e-01 2.25132678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820371743 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:49.90, Y:26.15, Z:22.51 [[ 0.28990334 -0.90278757 -0.31769585 49.89520241] [ 0.70899212 0.42556238 -0.56234051 26.14760829] [ 0.64287342 -0.06221946 0.76344123 22.50594816] [ 0. 0. 0. 1. ]] SLAMing on 68.850371743 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:49.90, Y:26.16, Z:22.52 [[ 0.29385427 -0.90488838 -0.30793943 49.89693167] [ 0.70859322 0.42244571 -0.56518606 26.16398491] [ 0.64151798 -0.05212145 0.76533524 22.52130842] [ 0. 0. 0. 1. ]] SLAMing on 68.880371743 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:49.89, Y:26.19, Z:22.55 [[ 2.88903630e-01 -9.15017969e-01 -2.81561378e-01 4.98913488e+01] [ 7.06403408e-01 4.02247957e-01 -5.82400899e-01 2.61876252e+01] [ 6.46164776e-01 -3.06381829e-02 7.62582706e-01 2.25544513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910371743 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:49.91, Y:26.21, Z:22.57 [[ 2.89742214e-01 -9.08147978e-01 -3.02186531e-01 4.99111374e+01] [ 7.05911975e-01 4.15978514e-01 -5.73280175e-01 2.62091672e+01] [ 6.46326336e-01 -4.72136233e-02 7.61599069e-01 2.25676243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940371743 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:49.92, Y:26.23, Z:22.58 [[ 2.93458990e-01 -9.05617713e-01 -3.06167239e-01 4.99197354e+01] [ 7.04403191e-01 4.21365086e-01 -5.71198397e-01 2.62295714e+01] [ 6.46295571e-01 -4.80418754e-02 7.61573380e-01 2.25832648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970371743 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:49.93, Y:26.25, Z:22.60 [[ 2.95212322e-01 -9.07059174e-01 -3.00155526e-01 4.99256128e+01] [ 7.03640869e-01 4.18925741e-01 -5.73925737e-01 2.62517372e+01] [ 6.46327481e-01 -4.17717457e-02 7.61915946e-01 2.26035672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000371743 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:49.94, Y:26.27, Z:22.62 [[ 2.97332331e-01 -9.04634012e-01 -3.05337174e-01 4.99365374e+01] [ 7.02972625e-01 4.23825450e-01 -5.71140505e-01 2.62723033e+01] [ 6.46082791e-01 -4.48251368e-02 7.61949955e-01 2.26203446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030371743 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:49.94, Y:26.30, Z:22.64 [[ 2.98873118e-01 -9.06983210e-01 -2.96742845e-01 4.99387452e+01] [ 7.01652452e-01 4.19616477e-01 -5.75852280e-01 2.62954037e+01] [ 6.46806537e-01 -3.61035782e-02 7.61799078e-01 2.26439204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.060371743 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:49.96, Y:26.30, Z:22.65 [[ 0.28680754 -0.88774572 -0.360068 49.95637557] [ 0.69940225 0.45088729 -0.55456032 26.29946404] [ 0.65465864 -0.09278029 0.75020923 22.6459738 ] [ 0. 0. 0. 1. ]] SLAMing on 69.090371743 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:49.92, Y:26.31, Z:22.69 [[ 2.88197059e-01 -9.15684763e-01 -2.80114030e-01 4.99196700e+01] [ 6.97224084e-01 4.01174717e-01 -5.94085367e-01 2.63149708e+01] [ 6.56369585e-01 -2.40885922e-02 7.54054844e-01 2.26905045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.120371743 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:49.92, Y:26.35, Z:22.72 [[ 3.05255934e-01 -9.23142554e-01 -2.33723425e-01 4.99243489e+01] [ 7.02364303e-01 3.83997967e-01 -5.99357946e-01 2.63457276e+01] [ 6.43042145e-01 1.87985789e-02 7.65600035e-01 2.27162261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150371743 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:49.96, Y:26.38, Z:22.73 [[ 3.02959096e-01 -9.14194849e-01 -2.69190571e-01 4.99565198e+01] [ 7.00619758e-01 4.05134914e-01 -5.87365012e-01 2.63770280e+01] [ 6.46024567e-01 -1.06526597e-02 7.63242281e-01 2.27268259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180371743 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:49.99, Y:26.40, Z:22.73 [[ 0.30196425 -0.89800985 -0.31999358 49.98893266] [ 0.69979125 0.43674315 -0.56528544 26.3958897 ] [ 0.6473869 -0.05323271 0.76030026 22.73018301] [ 0. 0. 0. 1. ]] SLAMing on 69.210371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:49.99, Y:26.40, Z:22.74 [[ 0.28862737 -0.88681839 -0.36089803 49.9929546 ] [ 0.69634748 0.45313592 -0.55656808 26.39966052] [ 0.65711067 -0.09066965 0.74832118 22.73864403] [ 0. 0. 0. 1. ]] SLAMing on 69.240371743 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:49.95, Y:26.43, Z:22.79 [[ 2.98595466e-01 -9.24418625e-01 -2.37257146e-01 4.99530119e+01] [ 6.97212669e-01 3.81048191e-01 -6.07204060e-01 2.64254068e+01] [ 6.51717149e-01 1.58896917e-02 7.58295639e-01 2.27948683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270371743 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:50.00, Y:26.45, Z:22.79 [[ 2.99068408e-01 -9.05516891e-01 -3.00993766e-01 4.99955648e+01] [ 6.98050279e-01 4.22671993e-01 -5.77991517e-01 2.64497582e+01] [ 6.50602717e-01 -3.72497801e-02 7.58504159e-01 2.27925965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300371743 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:50.00, Y:26.47, Z:22.81 [[ 2.99695944e-01 -9.07070864e-01 -2.95643010e-01 5.00022565e+01] [ 6.98594284e-01 4.19693548e-01 -5.79502676e-01 2.64701874e+01] [ 6.49729457e-01 -3.28599150e-02 7.59454975e-01 2.28124759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330371743 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:50.02, Y:26.48, Z:22.82 [[ 0.28832398 -0.89326371 -0.34489016 50.01581781] [ 0.69642373 0.4428249 -0.5647124 26.47722637] [ 0.65716304 -0.07736957 0.74976709 22.81679713] [ 0. 0. 0. 1. ]] SLAMing on 69.360371743 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:49.99, Y:26.50, Z:22.87 [[ 2.96690723e-01 -9.23984581e-01 -2.41302943e-01 4.99859760e+01] [ 6.97611108e-01 3.82258147e-01 -6.05984695e-01 2.65017026e+01] [ 6.52160530e-01 1.14544237e-02 7.57994353e-01 2.28679911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390371743 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:50.02, Y:26.53, Z:22.87 [[ 2.97103456e-01 -9.10375648e-01 -2.88002981e-01 5.00223257e+01] [ 6.99281596e-01 4.12833680e-01 -5.83586842e-01 2.65280982e+01] [ 6.50180580e-01 -2.80095165e-02 7.59263249e-01 2.28699842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420371743 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:50.03, Y:26.56, Z:22.89 [[ 3.00277106e-01 -9.15299988e-01 -2.68439178e-01 5.00286974e+01] [ 7.00836103e-01 4.02613779e-01 -5.88838604e-01 2.65557390e+01] [ 6.47041279e-01 -1.13171156e-02 7.62370977e-01 2.28928047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.450371743 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:50.07, Y:26.57, Z:22.89 [[ 0.29975743 -0.89214655 -0.33796453 50.06920546] [ 0.70005824 0.44636554 -0.55738341 26.57015457] [ 0.64812341 -0.06951504 0.75835593 22.88914367] [ 0. 0. 0. 1. ]] SLAMing on 69.480371743 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:50.05, Y:26.59, Z:22.93 [[ 2.96959341e-01 -9.13286021e-01 -2.78789875e-01 5.00466681e+01] [ 6.99538364e-01 4.06799639e-01 -5.87503303e-01 2.65915904e+01] [ 6.49970174e-01 -2.05596196e-02 7.59681561e-01 2.29285363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510371743 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:50.07, Y:26.61, Z:22.94 [[ 0.29549749 -0.90215221 -0.31432885 50.07103057] [ 0.69923605 0.4284308 -0.57229013 26.61018663] [ 0.65096096 -0.05067977 0.75741758 22.93685129] [ 0. 0. 0. 1. ]] SLAMing on 69.540371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:50.07, Y:26.63, Z:22.97 [[ 2.96216176e-01 -9.13188172e-01 -2.79898803e-01 5.00652410e+01] [ 7.00374169e-01 4.06926115e-01 -5.86418930e-01 2.66328211e+01] [ 6.49408963e-01 -2.23271183e-02 7.60111504e-01 2.29650079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570371743 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:50.10, Y:26.64, Z:22.96 [[ 0.27955842 -0.88587765 -0.3702268 50.09527857] [ 0.69693608 0.45245779 -0.556383 26.63632589] [ 0.66039926 -0.10248286 0.74388848 22.96032595] [ 0. 0. 0. 1. ]] SLAMing on 69.600371743 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:50.04, Y:26.66, Z:23.02 [[ 2.89553778e-01 -9.31276278e-01 -2.21095239e-01 5.00436500e+01] [ 6.98593180e-01 3.63522691e-01 -6.16294428e-01 2.66612594e+01] [ 6.54313517e-01 2.39947543e-02 7.55842625e-01 2.30241945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630371743 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:50.10, Y:26.69, Z:23.02 [[ 2.89296498e-01 -9.08176407e-01 -3.02527934e-01 5.00960628e+01] [ 6.99693182e-01 4.16299828e-01 -5.80623720e-01 2.66858400e+01] [ 6.53251090e-01 -4.37043238e-02 7.55878922e-01 2.30164106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660371743 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:50.10, Y:26.71, Z:23.04 [[ 2.85684169e-01 -9.12874386e-01 -2.91624605e-01 5.00981289e+01] [ 6.99389168e-01 4.06646819e-01 -5.87786659e-01 2.67050217e+01] [ 6.55163603e-01 -3.60377464e-02 7.54627016e-01 2.30401581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690371743 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:50.11, Y:26.72, Z:23.06 [[ 2.83166728e-01 -9.10304661e-01 -3.01930501e-01 5.01103563e+01] [ 6.98887014e-01 4.11446952e-01 -5.85037048e-01 2.67237586e+01] [ 6.56790336e-01 -4.53522798e-02 7.52708194e-01 2.30568125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720371743 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:50.12, Y:26.73, Z:23.07 [[ 0.27115671 -0.90247084 -0.33469453 50.11798804] [ 0.69640432 0.4239794 -0.57901855 26.73201844] [ 0.66445094 -0.07607795 0.74344945 23.06781782] [ 0. 0. 0. 1. ]] SLAMing on 69.750371743 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:50.09, Y:26.76, Z:23.12 [[ 2.80321389e-01 -9.32614984e-01 -2.27264625e-01 5.00882448e+01] [ 6.98255310e-01 3.60574919e-01 -6.18405410e-01 2.67572576e+01] [ 6.58680075e-01 1.46635322e-02 7.52280227e-01 2.31183921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780371743 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:50.13, Y:26.78, Z:23.12 [[ 2.77624581e-01 -9.14018960e-01 -2.95793733e-01 5.01327960e+01] [ 6.98958422e-01 4.03407020e-01 -5.90525105e-01 2.67819285e+01] [ 6.59076411e-01 -4.28032359e-02 7.50856955e-01 2.31169981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.810371743 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:50.14, Y:26.80, Z:23.13 [[ 2.78841863e-01 -9.13509520e-01 -2.96222168e-01 5.01419099e+01] [ 6.99644494e-01 4.04535318e-01 -5.88938671e-01 2.68006719e+01] [ 6.57833411e-01 -4.30294526e-02 7.51933288e-01 2.31343001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.840371743 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:50.15, Y:26.82, Z:23.16 [[ 2.76918380e-01 -9.17930473e-01 -2.84112404e-01 5.01459634e+01] [ 7.00759932e-01 3.95227078e-01 -5.93911672e-01 2.68217523e+01] [ 6.57458537e-01 -3.46295308e-02 7.52694538e-01 2.31575855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87037174299999 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:50.16, Y:26.84, Z:23.17 [[ 2.76218610e-01 -9.14261186e-01 -2.96360867e-01 5.01611977e+01] [ 7.00838827e-01 4.02612287e-01 -5.88836382e-01 2.68425675e+01] [ 6.57668775e-01 -4.50536354e-02 7.51958744e-01 2.31734456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900371743 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:50.17, Y:26.86, Z:23.19 [[ 2.76755453e-01 -9.15064553e-01 -2.93365443e-01 5.01685477e+01] [ 7.01756778e-01 4.01018301e-01 -5.88830831e-01 2.68616831e+01] [ 6.56463132e-01 -4.29090448e-02 7.53136754e-01 2.31920511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930371743 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:50.18, Y:26.87, Z:23.20 [[ 0.26435837 -0.89974535 -0.34723616 50.1826047 ] [ 0.69909892 0.42680162 -0.57367332 26.86613317] [ 0.66436086 -0.09109708 0.74183959 23.19682365] [ 0. 0. 0. 1. ]] SLAMing on 69.960371743 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:50.14, Y:26.89, Z:23.25 [[ 2.73818533e-01 -9.35224539e-01 -2.24451493e-01 5.01436098e+01] [ 6.99624644e-01 3.53818526e-01 -6.20755836e-01 2.68899640e+01] [ 6.59961187e-01 1.29426563e-02 7.51188205e-01 2.32521140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990371743 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:50.19, Y:26.92, Z:23.25 [[ 2.74651340e-01 -9.16265327e-01 -2.91589595e-01 5.01891117e+01] [ 7.00440827e-01 3.98405601e-01 -5.92161823e-01 2.69165591e+01] [ 6.58748274e-01 -4.16032188e-02 7.51212276e-01 2.32490258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020371743 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:50.20, Y:26.94, Z:23.27 [[ 2.75165608e-01 -9.15339136e-01 -2.94003664e-01 5.01981326e+01] [ 6.99271200e-01 4.00419984e-01 -5.92185465e-01 2.69370837e+01] [ 6.59775475e-01 -4.26392216e-02 7.50252104e-01 2.32674652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050371743 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:50.21, Y:26.96, Z:23.29 [[ 2.76283015e-01 -9.16032542e-01 -2.90778400e-01 5.02061308e+01] [ 6.99120253e-01 3.99164634e-01 -5.93210305e-01 2.69581333e+01] [ 6.59468397e-01 -3.93951370e-02 7.50699311e-01 2.32873533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080371743 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:50.21, Y:26.98, Z:23.31 [[ 2.76397831e-01 -9.17085505e-01 -2.87329804e-01 5.02146766e+01] [ 6.98552548e-01 3.97045927e-01 -5.95297295e-01 2.69807401e+01] [ 6.60021649e-01 -3.61760856e-02 7.50375049e-01 2.33083963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110371743 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:50.23, Y:27.00, Z:23.32 [[ 2.79791107e-01 -9.15913577e-01 -2.87783350e-01 5.02260189e+01] [ 6.99904435e-01 3.99774011e-01 -5.91873738e-01 2.70023706e+01] [ 6.57153497e-01 -3.58198348e-02 7.52905187e-01 2.33240955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140371743 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:50.25, Y:27.00, Z:23.32 [[ 0.26358264 -0.88702208 -0.37909896 50.25348649] [ 0.69491549 0.44717454 -0.56314066 27.00259775] [ 0.6690416 -0.11500763 0.73427283 23.31906786] [ 0. 0. 0. 1. ]] SLAMing on 70.170371743 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:50.21, Y:27.01, Z:23.37 [[ 2.65377855e-01 -9.17901392e-01 -2.95011234e-01 5.02113686e+01] [ 6.96479176e-01 3.94094662e-01 -5.99671705e-01 2.70122783e+01] [ 6.66701846e-01 -4.63295908e-02 7.43883202e-01 2.33656997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.200371743 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:50.19, Y:27.03, Z:23.40 [[ 2.63596402e-01 -9.36180473e-01 -2.32557648e-01 5.01873462e+01] [ 6.90403160e-01 3.51466526e-01 -6.32309069e-01 2.70288496e+01] [ 6.73691632e-01 6.11586046e-03 7.38987268e-01 2.34046271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.230371743 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:50.20, Y:27.07, Z:23.43 [[ 0.28016533 -0.94370752 -0.17585082 50.19556213] [ 0.69880238 0.32609428 -0.63666141 27.06857421] [ 0.65816611 0.05548549 0.75082537 23.4339321 ] [ 0. 0. 0. 1. ]] SLAMing on 70.260371743 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:50.28, Y:27.09, Z:23.41 [[ 0.27790134 -0.90259463 -0.32877617 50.28044292] [ 0.69849947 0.42482531 -0.57586626 27.09473908] [ 0.65944624 -0.06961598 0.74852139 23.40671655] [ 0. 0. 0. 1. ]] SLAMing on 70.290371743 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:50.27, Y:27.10, Z:23.42 [[ 0.26355979 -0.89924472 -0.34913489 50.27412697] [ 0.69441271 0.42808672 -0.57838806 27.09717949] [ 0.66957242 -0.09000387 0.73727341 23.42330716] [ 0. 0. 0. 1. ]] SLAMing on 70.320371743 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:50.22, Y:27.13, Z:23.49 [[ 2.76596300e-01 -9.43152092e-01 -1.84278641e-01 5.02221620e+01] [ 6.99256488e-01 3.29067276e-01 -6.34629885e-01 2.71253125e+01] [ 6.59192575e-01 4.66782424e-02 7.50524011e-01 2.34886079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350371743 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:50.30, Y:27.15, Z:23.46 [[ 0.27991455 -0.90693296 -0.31483402 50.30080028] [ 0.70464892 0.41681853 -0.57422313 27.1524849 ] [ 0.65201054 -0.06111404 0.7557429 23.46469905] [ 0. 0. 0. 1. ]] SLAMing on 70.380371743 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:50.29, Y:27.17, Z:23.49 [[ 2.74686799e-01 -9.16182608e-01 -2.91816023e-01 5.02936071e+01] [ 7.03626411e-01 3.98370844e-01 -5.88396587e-01 2.71694407e+01] [ 6.55329715e-01 -4.37046859e-02 7.54077492e-01 2.34931847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410371743 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:50.29, Y:27.19, Z:23.51 [[ 2.67668555e-01 -9.19847479e-01 -2.86764991e-01 5.02949841e+01] [ 6.99222669e-01 3.90213549e-01 -5.99016732e-01 2.71868811e+01] [ 6.62903615e-01 -4.01746394e-02 7.47626107e-01 2.35147561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440371743 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:50.31, Y:27.19, Z:23.52 [[ 0.25317073 -0.90198013 -0.34976625 50.31399835] [ 0.69607075 0.42092289 -0.58164373 27.19176806] [ 0.67185571 -0.09620688 0.73440734 23.5189175 ] [ 0. 0. 0. 1. ]] SLAMing on 70.470371743 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:50.27, Y:27.22, Z:23.57 [[ 2.67611255e-01 -9.38015135e-01 -2.20253995e-01 5.02743321e+01] [ 7.03785784e-01 3.46420731e-01 -6.20224353e-01 2.72155215e+01] [ 6.58080380e-01 1.09673872e-02 7.52867804e-01 2.35725372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500371743 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:50.32, Y:27.24, Z:23.57 [[ 2.68085987e-01 -9.16995886e-01 -2.95378484e-01 5.03191420e+01] [ 7.03843992e-01 3.95780713e-01 -5.89882415e-01 2.72379375e+01] [ 6.57824854e-01 -4.97611619e-02 7.51525308e-01 2.35678523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530371743 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:50.31, Y:27.26, Z:23.60 [[ 2.64151523e-01 -9.26729870e-01 -2.67199776e-01 5.03072098e+01] [ 6.97606231e-01 3.74887941e-01 -6.10577251e-01 2.72552956e+01] [ 6.66010150e-01 -2.51153181e-02 7.45519752e-01 2.35992114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.560371743 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:50.32, Y:27.28, Z:23.62 [[ 2.66756085e-01 -9.24452685e-01 -2.72448940e-01 5.03209709e+01] [ 6.97746319e-01 3.80255809e-01 -6.07087798e-01 2.72795263e+01] [ 6.64824236e-01 -2.81558805e-02 7.46469009e-01 2.36167362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.590371743 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:50.34, Y:27.29, Z:23.62 [[ 0.25623591 -0.90652598 -0.33549041 50.34213784] [ 0.69401167 0.41412393 -0.58893902 27.28717114] [ 0.67282313 -0.08192693 0.73525303 23.61989156] [ 0. 0. 0. 1. ]] SLAMing on 70.62037174299999 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:50.31, Y:27.31, Z:23.67 [[ 2.69887112e-01 -9.34831506e-01 -2.30761788e-01 5.03133459e+01] [ 7.00740688e-01 3.55052074e-01 -6.18789554e-01 2.73116219e+01] [ 6.60396422e-01 5.29915102e-03 7.50898451e-01 2.36670789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650371743 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:50.34, Y:27.34, Z:23.67 [[ 2.69257938e-01 -9.24190476e-01 -2.70872896e-01 5.03418881e+01] [ 6.96449747e-01 3.81117320e-01 -6.08035639e-01 2.73355793e+01] [ 6.65175099e-01 -2.49309375e-02 7.46271087e-01 2.36710605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:50.35, Y:27.36, Z:23.69 [[ 2.66760186e-01 -9.22550635e-01 -2.78817736e-01 5.03538413e+01] [ 6.94951203e-01 3.84572741e-01 -6.07574384e-01 2.73567055e+01] [ 6.67743834e-01 -3.16880657e-02 7.43716370e-01 2.36891615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710371743 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:50.37, Y:27.37, Z:23.70 [[ 0.26379611 -0.91605939 -0.30207085 50.36877586] [ 0.69270457 0.39784338 -0.60156548 27.37332849] [ 0.6712466 -0.05055523 0.73950806 23.7020865 ] [ 0. 0. 0. 1. ]] SLAMing on 70.740371743 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:50.36, Y:27.39, Z:23.73 [[ 2.65335413e-01 -9.26396663e-01 -2.67182225e-01 5.03603714e+01] [ 6.92740830e-01 3.75918464e-01 -6.15463607e-01 2.73929362e+01] [ 6.70602163e-01 -2.17837453e-02 7.41497274e-01 2.37311943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770371743 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:50.38, Y:27.41, Z:23.75 [[ 2.65306437e-01 -9.22071300e-01 -2.81774756e-01 5.03752917e+01] [ 6.92118862e-01 3.85598197e-01 -6.10152039e-01 2.74127811e+01] [ 6.71255522e-01 -3.31443600e-02 7.40484622e-01 2.37454421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800371743 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:50.38, Y:27.43, Z:23.76 [[ 2.65956779e-01 -9.20616268e-01 -2.85889278e-01 5.03829603e+01] [ 6.90943850e-01 3.88855531e-01 -6.09416091e-01 2.74305629e+01] [ 6.72207994e-01 -3.54550975e-02 7.39512913e-01 2.37642301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830371743 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:50.39, Y:27.44, Z:23.78 [[ 0.25920283 -0.91461766 -0.31030378 50.3899707 ] [ 0.68792418 0.40034571 -0.60537892 27.44128439] [ 0.67791903 -0.05654955 0.73295834 23.77961088] [ 0. 0. 0. 1. ]] SLAMing on 70.860371743 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:50.36, Y:27.46, Z:23.82 [[ 2.69068960e-01 -9.38498981e-01 -2.16382895e-01 5.03628613e+01] [ 6.91353678e-01 3.44626265e-01 -6.35029787e-01 2.74635968e+01] [ 6.70546037e-01 2.12696939e-02 7.41562953e-01 2.38242548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890371743 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:50.40, Y:27.49, Z:23.83 [[ 2.72075765e-01 -9.26057028e-01 -2.61520857e-01 5.03989634e+01] [ 6.92681321e-01 3.77128221e-01 -6.14790121e-01 2.74925279e+01] [ 6.67957608e-01 -1.38811198e-02 7.44069855e-01 2.38285759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920371743 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:50.42, Y:27.51, Z:23.84 [[ 2.70561295e-01 -9.15550884e-01 -2.97595638e-01 5.04225624e+01] [ 6.91621449e-01 3.99886989e-01 -6.01456704e-01 2.75103637e+01] [ 6.69668841e-01 -4.30926215e-02 7.41408571e-01 2.38375578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.950371743 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:50.42, Y:27.53, Z:23.87 [[ 2.71013647e-01 -9.24615832e-01 -2.67651203e-01 5.04168008e+01] [ 6.92020393e-01 3.80429142e-01 -6.13499343e-01 2.75297006e+01] [ 6.69073522e-01 -1.89533965e-02 7.42954501e-01 2.38658716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.980371743 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:50.44, Y:27.54, Z:23.87 [[ 0.25944329 -0.90659931 -0.33281658 50.44218913] [ 0.68816776 0.41533073 -0.5949164 27.53832773] [ 0.67757975 -0.07468657 0.73164718 23.86891106] [ 0. 0. 0. 1. ]] SLAMing on 71.010371743 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:50.40, Y:27.56, Z:23.92 [[ 2.66447305e-01 -9.38199403e-01 -2.20879411e-01 5.04044351e+01] [ 6.90645601e-01 3.45691875e-01 -6.35221049e-01 2.75577627e+01] [ 6.72320226e-01 1.67035431e-02 7.40071959e-01 2.39205100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040371743 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:50.44, Y:27.58, Z:23.92 [[ 2.63274046e-01 -9.24908863e-01 -2.74281554e-01 5.04428295e+01] [ 6.92402938e-01 3.79134334e-01 -6.13869146e-01 2.75830776e+01] [ 6.71762568e-01 -2.82975403e-02 7.40225845e-01 2.39220117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:50.46, Y:27.59, Z:23.93 [[ 0.25252513 -0.91554539 -0.31306182 50.4573733 ] [ 0.6899928 0.39721658 -0.60508588 27.59318821] [ 0.67833693 -0.06321102 0.7320269 23.93231546] [ 0. 0. 0. 1. ]] SLAMing on 71.100371743 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:50.44, Y:27.61, Z:23.97 [[ 2.48701471e-01 -9.33513001e-01 -2.58265474e-01 5.04361929e+01] [ 6.90113277e-01 3.57880538e-01 -6.29019225e-01 2.76062133e+01] [ 6.79625811e-01 -2.17944265e-02 7.33235133e-01 2.39687875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130371743 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:50.44, Y:27.63, Z:23.99 [[ 2.46520751e-01 -9.34143479e-01 -2.58076500e-01 5.04441989e+01] [ 6.90802532e-01 3.56145611e-01 -6.29247300e-01 2.76252547e+01] [ 6.79720075e-01 -2.31573827e-02 7.33105964e-01 2.39872729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160371743 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:50.44, Y:27.66, Z:24.02 [[ 2.56032224e-01 -9.46579369e-01 -1.96048461e-01 5.04407340e+01] [ 6.96297314e-01 3.21268363e-01 -6.41838523e-01 2.76566979e+01] [ 6.70535272e-01 2.78233271e-02 7.41355726e-01 2.40205710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190371743 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:50.51, Y:27.67, Z:24.00 [[ 0.24225524 -0.90766994 -0.34270641 50.50680938] [ 0.69416644 0.40893263 -0.59237408 27.6711449 ] [ 0.67782398 -0.09438956 0.72914009 23.99826065] [ 0. 0. 0. 1. ]] SLAMing on 71.220371743 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:50.46, Y:27.69, Z:24.06 [[ 2.48675021e-01 -9.46711479e-01 -2.04690276e-01 5.04602524e+01] [ 6.97341733e-01 3.21657934e-01 -6.40508143e-01 2.76940814e+01] [ 6.72216662e-01 1.65393042e-02 7.40169717e-01 2.40559581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:50.50, Y:27.72, Z:24.06 [[ 2.46770865e-01 -9.30445794e-01 -2.70877767e-01 5.05048596e+01] [ 6.98060460e-01 3.64556018e-01 -6.16287680e-01 2.77230484e+01] [ 6.72172400e-01 -3.70072155e-02 7.39469223e-01 2.40572219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280371743 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:50.52, Y:27.74, Z:24.07 [[ 0.24167435 -0.92209433 -0.30221772 50.52268899] [ 0.69762527 0.38158799 -0.60639062 27.73734607] [ 0.67447201 -0.06428566 0.73549634 24.06733163] [ 0. 0. 0. 1. ]] SLAMing on 71.310371743 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:50.51, Y:27.76, Z:24.10 [[ 2.41645315e-01 -9.33450587e-01 -2.65099119e-01 5.05127073e+01] [ 6.98251239e-01 3.56978036e-01 -6.20493263e-01 2.77567977e+01] [ 6.73834363e-01 -3.51664979e-02 7.38045099e-01 2.40982905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.340371743 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:50.53, Y:27.78, Z:24.11 [[ 0.24002488 -0.92842786 -0.28356614 50.52808673] [ 0.69833585 0.36804067 -0.61389991 27.77590272] [ 0.67432566 -0.05067315 0.73669338 24.11228292] [ 0. 0. 0. 1. ]] SLAMing on 71.37037174299999 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:50.53, Y:27.79, Z:24.13 [[ 2.39365724e-01 -9.29333889e-01 -2.81145109e-01 5.05321702e+01] [ 6.98177129e-01 3.65974226e-01 -6.15314198e-01 2.77926795e+01] [ 6.74724200e-01 -4.90039564e-02 7.36441352e-01 2.41322293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400371743 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:50.53, Y:27.81, Z:24.15 [[ 2.40249286e-01 -9.33035705e-01 -2.67814590e-01 5.05324961e+01] [ 6.98680817e-01 3.57743042e-01 -6.19568424e-01 2.78108622e+01] [ 6.73888267e-01 -3.82660446e-02 7.37841659e-01 2.41543274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430371743 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:50.54, Y:27.82, Z:24.16 [[ 0.23313254 -0.92380379 -0.30370342 50.54416585] [ 0.69657011 0.3765661 -0.61072748 27.82200912] [ 0.67855677 -0.06917028 0.73128393 24.16436218] [ 0. 0. 0. 1. ]] SLAMing on 71.460371743 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:50.52, Y:27.84, Z:24.20 [[ 2.45488454e-01 -9.43880308e-01 -2.20964666e-01 5.05232204e+01] [ 7.00794252e-01 3.30287492e-01 -6.32295491e-01 2.78429392e+01] [ 6.69793128e-01 3.70474908e-04 7.42547660e-01 2.42032609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490371743 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:50.55, Y:27.87, Z:24.21 [[ 2.40095892e-01 -9.34226413e-01 -2.63770680e-01 5.05497454e+01] [ 6.97237869e-01 3.55018734e-01 -6.22752802e-01 2.78677470e+01] [ 6.75435650e-01 -3.43905170e-02 7.36616573e-01 2.42126275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520371743 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:50.56, Y:27.89, Z:24.23 [[ 2.41051493e-01 -9.33238956e-01 -2.66381736e-01 5.05598062e+01] [ 6.97278557e-01 3.57450638e-01 -6.21314458e-01 2.78888554e+01] [ 6.75053177e-01 -3.59734948e-02 7.36891522e-01 2.42294727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:50.57, Y:27.91, Z:24.25 [[ 2.40682573e-01 -9.31563259e-01 -2.72510170e-01 5.05709636e+01] [ 6.96485994e-01 3.61307203e-01 -6.19971262e-01 2.79098974e+01] [ 6.76002336e-01 -4.05832385e-02 7.35781110e-01 2.42472780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580371743 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:50.58, Y:27.93, Z:24.27 [[ 2.39581484e-01 -9.31988570e-01 -2.72025769e-01 5.05784805e+01] [ 6.96300238e-01 3.60198511e-01 -6.20824461e-01 2.79308038e+01] [ 6.76584578e-01 -4.06735623e-02 7.35240757e-01 2.42665940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610371743 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:50.59, Y:27.95, Z:24.28 [[ 0.23943734 -0.92658801 -0.29000762 50.59191851] [ 0.69512269 0.37213462 -0.61507745 27.94884175] [ 0.67784526 -0.05431837 0.73319528 24.27961688] [ 0. 0. 0. 1. ]] SLAMing on 71.640371743 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:50.59, Y:27.97, Z:24.31 [[ 2.38275527e-01 -9.32292678e-01 -2.72130732e-01 5.05879140e+01] [ 6.94187437e-01 3.59450842e-01 -6.23617587e-01 2.79659411e+01] [ 6.79211731e-01 -4.03169258e-02 7.32834203e-01 2.43050140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670371743 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:50.59, Y:27.99, Z:24.32 [[ 2.40372000e-01 -9.32540126e-01 -2.69425712e-01 5.05942318e+01] [ 6.94482119e-01 3.59140051e-01 -6.23468532e-01 2.79858600e+01] [ 6.78170988e-01 -3.72469614e-02 7.33959655e-01 2.43237720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.700371743 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:50.61, Y:28.00, Z:24.34 [[ 0.24085833 -0.92359557 -0.2982591 50.60993776] [ 0.69470201 0.37865948 -0.6115604 28.00181895] [ 0.67777311 -0.05990179 0.73282699 24.33632912] [ 0. 0. 0. 1. ]] SLAMing on 71.730371743 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:50.58, Y:28.02, Z:24.38 [[ 2.40158107e-01 -9.42896164e-01 -2.30804911e-01 5.05846346e+01] [ 6.93149255e-01 3.33024133e-01 -6.39248807e-01 2.80212435e+01] [ 6.79608854e-01 -6.46146837e-03 7.33546219e-01 2.43770325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760371743 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:50.61, Y:28.05, Z:24.38 [[ 2.39804270e-01 -9.31788409e-01 -2.72514721e-01 5.06146755e+01] [ 6.93905817e-01 3.60827845e-01 -6.23135606e-01 2.80459987e+01] [ 6.78961435e-01 -3.96689712e-02 7.33101455e-01 2.43834870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790371743 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:50.62, Y:28.06, Z:24.39 [[ 0.23103589 -0.92604277 -0.2984413 50.61889799] [ 0.69196134 0.37202663 -0.61869676 28.05606674] [ 0.68396777 -0.06356868 0.7267373 24.39469525] [ 0. 0. 0. 1. ]] SLAMing on 71.820371743 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:50.60, Y:28.07, Z:24.42 [[ 2.33214704e-01 -9.36196800e-01 -2.62957132e-01 5.06029754e+01] [ 6.94281237e-01 3.49642244e-01 -6.29065867e-01 2.80673837e+01] [ 6.80870374e-01 -3.58587933e-02 7.31525585e-01 2.44231676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850371743 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:50.59, Y:28.09, Z:24.47 [[ 2.41157578e-01 -9.52178405e-01 -1.87614786e-01 5.05895834e+01] [ 6.94406731e-01 3.04350325e-01 -6.52050743e-01 2.80932079e+01] [ 6.77969258e-01 2.69660077e-02 7.34595480e-01 2.44681536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880371743 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:50.64, Y:28.12, Z:24.46 [[ 2.40999152e-01 -9.29709567e-01 -2.78495118e-01 5.06435463e+01] [ 6.95788271e-01 3.65561784e-01 -6.18258251e-01 2.81220372e+01] [ 6.76607783e-01 -4.47739223e-02 7.34981091e-01 2.44574350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910371743 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:50.65, Y:28.14, Z:24.48 [[ 2.37314562e-01 -9.32415775e-01 -2.72548385e-01 5.06453078e+01] [ 6.95130490e-01 3.58979465e-01 -6.22838137e-01 2.81389795e+01] [ 6.78583377e-01 -4.16481330e-02 7.33341689e-01 2.44800819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940371743 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:50.65, Y:28.16, Z:24.50 [[ 2.34214233e-01 -9.36972950e-01 -2.59278585e-01 5.06464845e+01] [ 6.95766324e-01 3.47820154e-01 -6.28434852e-01 2.81585566e+01] [ 6.79008774e-01 -3.32089209e-02 7.33378655e-01 2.45026798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970371743 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:50.66, Y:28.18, Z:24.52 [[ 2.32911171e-01 -9.36483150e-01 -2.62205447e-01 5.06560427e+01] [ 6.96681082e-01 3.48790662e-01 -6.26881603e-01 2.81788068e+01] [ 6.78518869e-01 -3.66658461e-02 7.33667336e-01 2.45196272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000371743 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:50.66, Y:28.20, Z:24.54 [[ 2.29934915e-01 -9.37014867e-01 -2.62931689e-01 5.06636805e+01] [ 6.96710158e-01 3.47123312e-01 -6.27774133e-01 2.81983000e+01] [ 6.79503414e-01 -3.88399871e-02 7.32643546e-01 2.45392365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030371743 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:50.67, Y:28.22, Z:24.56 [[ 2.27793669e-01 -9.40434742e-01 -2.52373811e-01 5.06679888e+01] [ 6.98184520e-01 3.38417972e-01 -6.30881647e-01 2.82196761e+01] [ 6.78710852e-01 -3.24926434e-02 7.33686450e-01 2.45599986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.060371743 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:50.69, Y:28.23, Z:24.56 [[ 0.21798778 -0.92713854 -0.30478755 50.68780939] [ 0.69589306 0.3666191 -0.6175138 28.23150847] [ 0.68426178 -0.07748908 0.72510776 24.56484633] [ 0. 0. 0. 1. ]] SLAMing on 72.090371743 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:50.66, Y:28.25, Z:24.61 [[ 2.24623552e-01 -9.50746147e-01 -2.13602492e-01 5.06592825e+01] [ 6.96699506e-01 3.09950857e-01 -6.46946880e-01 2.82503004e+01] [ 6.81288528e-01 -3.49724478e-03 7.32006633e-01 2.46111099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12037174299999 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:50.70, Y:28.27, Z:24.61 [[ 2.24150963e-01 -9.35769470e-01 -2.72198171e-01 5.06951342e+01] [ 6.97022810e-01 3.49143129e-01 -6.26305259e-01 2.82742793e+01] [ 6.81113462e-01 -4.93414071e-02 7.30513434e-01 2.46118836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150371743 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:50.69, Y:28.29, Z:24.63 [[ 2.25417318e-01 -9.39805108e-01 -2.56813925e-01 5.06944728e+01] [ 6.97596346e-01 3.39707274e-01 -6.30839366e-01 2.82918770e+01] [ 6.80107617e-01 -3.69503375e-02 7.32180512e-01 2.46339019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180371743 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:50.70, Y:28.31, Z:24.65 [[ 2.25225853e-01 -9.39519639e-01 -2.58023571e-01 5.07017721e+01] [ 6.97406256e-01 3.40391412e-01 -6.30680744e-01 2.83122959e+01] [ 6.80365953e-01 -3.79016442e-02 7.31891820e-01 2.46537419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210371743 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:50.72, Y:28.33, Z:24.67 [[ 0.22413532 -0.93310326 -0.28121463 50.71584595] [ 0.69533188 0.35529757 -0.62472171 28.32851809] [ 0.68284474 -0.0555153 0.72845117 24.66766012] [ 0. 0. 0. 1. ]] SLAMing on 72.240371743 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:50.71, Y:28.35, Z:24.69 [[ 2.25982040e-01 -9.40382475e-01 -2.54190712e-01 5.07077080e+01] [ 6.94790965e-01 3.38493912e-01 -6.34576541e-01 2.83450486e+01] [ 6.82786667e-01 -3.32065086e-02 7.29862792e-01 2.46946974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270371743 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:50.71, Y:28.36, Z:24.71 [[ 2.25487435e-01 -9.37336115e-01 -2.65624592e-01 5.07110522e+01] [ 6.93901388e-01 3.45896684e-01 -6.31550749e-01 2.83600106e+01] [ 6.83853991e-01 -4.19105148e-02 7.28414187e-01 2.47085521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300371743 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:50.71, Y:28.38, Z:24.74 [[ 2.32540791e-01 -9.45045686e-01 -2.29811733e-01 5.07082616e+01] [ 6.94281109e-01 3.26771616e-01 -6.41244145e-01 2.83816669e+01] [ 6.81100964e-01 -1.04385239e-02 7.32115097e-01 2.47397372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330371743 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:50.73, Y:28.41, Z:24.75 [[ 2.40374417e-01 -9.37427810e-01 -2.51891326e-01 5.07317143e+01] [ 6.99755431e-01 3.47193504e-01 -6.24338857e-01 2.84060021e+01] [ 6.72727639e-01 -2.61872345e-02 7.39426637e-01 2.47465321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360371743 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:50.74, Y:28.43, Z:24.77 [[ 2.42335466e-01 -9.38000557e-01 -2.47847690e-01 5.07368580e+01] [ 6.99110403e-01 3.45958074e-01 -6.25745680e-01 2.84253918e+01] [ 6.72694706e-01 -2.16325281e-02 7.39603858e-01 2.47657452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390371743 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:50.74, Y:28.44, Z:24.79 [[ 2.38675324e-01 -9.38706991e-01 -2.48723288e-01 5.07428565e+01] [ 6.95308542e-01 3.43992409e-01 -6.31042989e-01 2.84448664e+01] [ 6.77923389e-01 -2.23250369e-02 7.34793489e-01 2.47856301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420371743 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:50.76, Y:28.46, Z:24.80 [[ 0.23068036 -0.93028911 -0.28521701 50.75652915] [ 0.6923649 0.36288863 -0.6236527 28.45861787] [ 0.68367932 -0.05360982 0.72781081 24.79555718] [ 0. 0. 0. 1. ]] SLAMing on 72.450371743 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:50.74, Y:28.48, Z:24.84 [[ 2.37779328e-01 -9.49408466e-01 -2.05145208e-01 5.07363639e+01] [ 6.94295551e-01 3.13830730e-01 -6.47660374e-01 2.84803553e+01] [ 6.79275113e-01 1.15688430e-02 7.33792534e-01 2.48376958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.480371743 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:50.77, Y:28.51, Z:24.84 [[ 2.36757522e-01 -9.37190905e-01 -2.56162222e-01 5.07742824e+01] [ 6.94984894e-01 3.47608447e-01 -6.29415892e-01 2.85078957e+01] [ 6.78927002e-01 -2.90099282e-02 7.33632436e-01 2.48397403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510371743 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:50.79, Y:28.53, Z:24.86 [[ 2.34966698e-01 -9.35950756e-01 -2.62272442e-01 5.07852596e+01] [ 6.95170385e-01 3.50402637e-01 -6.27659245e-01 2.85274208e+01] [ 6.79359100e-01 -3.48450147e-02 7.32978198e-01 2.48567130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540371743 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:50.79, Y:28.55, Z:24.88 [[ 2.32403125e-01 -9.36603237e-01 -2.62227315e-01 5.07920362e+01] [ 6.94715341e-01 3.48543048e-01 -6.29196582e-01 2.85464847e+01] [ 6.80705063e-01 -3.59460861e-02 7.31675130e-01 2.48776080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570371743 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:50.80, Y:28.57, Z:24.90 [[ 2.30241987e-01 -9.38894204e-01 -2.55863833e-01 5.07985883e+01] [ 6.96582367e-01 3.42611795e-01 -6.30388899e-01 2.85668134e+01] [ 6.79530451e-01 -3.30882422e-02 7.32900767e-01 2.48989005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:50.81, Y:28.59, Z:24.92 [[ 2.29381613e-01 -9.39332893e-01 -2.55025080e-01 5.08079997e+01] [ 6.97737731e-01 3.41369065e-01 -6.29785059e-01 2.85885992e+01] [ 6.78635495e-01 -3.34795083e-02 7.33711788e-01 2.49189201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630371743 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:50.83, Y:28.60, Z:24.92 [[ 0.21633247 -0.92372239 -0.31612848 50.82833264] [ 0.69483815 0.37313179 -0.61479477 28.59553969] [ 0.68585728 -0.08665806 0.72255808 24.92230227] [ 0. 0. 0. 1. ]] SLAMing on 72.660371743 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:50.79, Y:28.60, Z:24.97 [[ 2.14022128e-01 -9.47703516e-01 -2.36754250e-01 5.07936576e+01] [ 6.94879109e-01 3.18051841e-01 -6.44969806e-01 2.86044921e+01] [ 6.86540278e-01 -2.64777715e-02 7.26609506e-01 2.49664633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690371743 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:50.80, Y:28.63, Z:24.99 [[ 2.20879574e-01 -9.54742766e-01 -1.99194540e-01 5.07967748e+01] [ 6.99187162e-01 2.97401252e-01 -6.50145990e-01 2.86314719e+01] [ 6.79962886e-01 4.32970451e-03 7.33233747e-01 2.49944743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720371743 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:50.84, Y:28.66, Z:24.99 [[ 2.22181391e-01 -9.40865468e-01 -2.55749096e-01 5.08360616e+01] [ 7.01692262e-01 3.36420725e-01 -6.28051801e-01 2.86580438e+01] [ 6.76951548e-01 -3.99157390e-02 7.34944444e-01 2.49940922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750371743 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:50.84, Y:28.68, Z:25.02 [[ 2.20020893e-01 -9.43761064e-01 -2.46791129e-01 5.08421192e+01] [ 7.03310134e-01 3.28781667e-01 -6.30283644e-01 2.86801497e+01] [ 6.75977561e-01 -3.48951317e-02 7.36095556e-01 2.50169752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780371743 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:50.87, Y:28.69, Z:25.02 [[ 0.20649053 -0.92605477 -0.31588641 50.8660364 ] [ 0.70035697 0.36533732 -0.61321183 28.68739582] [ 0.68327284 -0.09461082 0.72400761 25.01831006] [ 0. 0. 0. 1. ]] SLAMing on 72.810371743 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:50.83, Y:28.71, Z:25.07 [[ 2.11800139e-01 -9.56793544e-01 -1.99215498e-01 5.08259066e+01] [ 7.01588546e-01 2.90761416e-01 -6.50562304e-01 2.87055761e+01] [ 6.80377993e-01 -1.97812501e-03 7.32858699e-01 2.50715749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.840371743 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:50.87, Y:28.73, Z:25.07 [[ 0.20947235 -0.940537 -0.26741632 50.86981951] [ 0.70330566 0.33492131 -0.62704774 28.72931603] [ 0.67932503 -0.05672625 0.73164174 25.06716331] [ 0. 0. 0. 1. ]] SLAMing on 72.87037174299999 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:50.87, Y:28.75, Z:25.09 [[ 2.10089619e-01 -9.47233933e-01 -2.42095495e-01 5.08659263e+01] [ 7.03052005e-01 3.18444508e-01 -6.35854523e-01 2.87478355e+01] [ 6.79396961e-01 -3.66192884e-02 7.32856601e-01 2.50916729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900371743 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:50.88, Y:28.77, Z:25.11 [[ 2.05875828e-01 -9.45362214e-01 -2.52795229e-01 5.08777887e+01] [ 7.02549423e-01 3.22614439e-01 -6.34306103e-01 2.87689159e+01] [ 6.81204413e-01 -4.70128474e-02 7.30582193e-01 2.51103586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930371743 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:50.89, Y:28.79, Z:25.13 [[ 0.205161 -0.94325664 -0.2611051 50.8862166 ] [ 0.70155723 0.32774925 -0.63277 28.78701899] [ 0.68244151 -0.05336045 0.72898988 25.12670724] [ 0. 0. 0. 1. ]] SLAMing on 72.960371743 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:50.89, Y:28.81, Z:25.15 [[ 2.03630032e-01 -9.45784782e-01 -2.53033510e-01 5.08869226e+01] [ 6.99991803e-01 3.21338464e-01 -6.37771955e-01 2.88055368e+01] [ 6.84504409e-01 -4.72518592e-02 7.27475756e-01 2.51503606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990371743 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:50.89, Y:28.83, Z:25.17 [[ 2.05346079e-01 -9.46686246e-01 -2.48230013e-01 5.08915259e+01] [ 7.00196419e-01 3.19316878e-01 -6.38562218e-01 2.88254150e+01] [ 6.83782102e-01 -4.26835187e-02 7.28436788e-01 2.51700807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020371743 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:50.90, Y:28.84, Z:25.19 [[ 2.06659180e-01 -9.44872219e-01 -2.53985184e-01 5.09004456e+01] [ 6.99899513e-01 3.24158350e-01 -6.36444841e-01 2.88445069e+01] [ 6.83690468e-01 -4.62369380e-02 7.28305904e-01 2.51868011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050371743 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:50.90, Y:28.87, Z:25.21 [[ 2.11544280e-01 -9.46137071e-01 -2.45099287e-01 5.09032034e+01] [ 6.99305477e-01 3.21717794e-01 -6.38333385e-01 2.88664069e+01] [ 6.82803681e-01 -3.63634976e-02 7.29696395e-01 2.52096138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080371743 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:50.92, Y:28.89, Z:25.22 [[ 2.11465311e-01 -9.41850005e-01 -2.61153194e-01 5.09153902e+01] [ 6.98679183e-01 3.32514294e-01 -6.33467950e-01 2.88857085e+01] [ 6.83468962e-01 -4.85058025e-02 7.28366231e-01 2.52242900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110371743 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:50.91, Y:28.90, Z:25.25 [[ 2.11520122e-01 -9.45532060e-01 -2.47443652e-01 5.09132533e+01] [ 6.97604926e-01 3.23375569e-01 -6.39355620e-01 2.89043418e+01] [ 6.84548468e-01 -3.73813318e-02 7.28008263e-01 2.52493216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:50.92, Y:28.92, Z:25.27 [[ 2.14889646e-01 -9.43549257e-01 -2.52065942e-01 5.09203939e+01] [ 6.96973065e-01 3.28956998e-01 -6.37193723e-01 2.89241549e+01] [ 6.84142520e-01 -3.87568382e-02 7.28317870e-01 2.52660364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170371743 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:50.93, Y:28.94, Z:25.29 [[ 2.14744848e-01 -9.43346488e-01 -2.52946740e-01 5.09259747e+01] [ 6.95928689e-01 3.29507572e-01 -6.38050170e-01 2.89436256e+01] [ 6.85250254e-01 -3.90149060e-02 7.27261938e-01 2.52856050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.200371743 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:50.93, Y:28.96, Z:25.31 [[ 2.14534093e-01 -9.45120672e-01 -2.46418420e-01 5.09280902e+01] [ 6.94526262e-01 3.25005682e-01 -6.41875827e-01 2.89625882e+01] [ 6.86737500e-01 -3.34398158e-02 7.26135927e-01 2.53077340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.230371743 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:50.94, Y:28.98, Z:25.33 [[ 2.14940441e-01 -9.44216976e-01 -2.49509336e-01 5.09355777e+01] [ 6.93454815e-01 3.27450672e-01 -6.41791615e-01 2.89824723e+01] [ 6.87692538e-01 -3.50764779e-02 7.25154200e-01 2.53263905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:50.94, Y:29.00, Z:25.35 [[ 2.17171856e-01 -9.43455483e-01 -2.50455858e-01 5.09409508e+01] [ 6.91925841e-01 3.29769828e-01 -6.42254226e-01 2.90028333e+01] [ 6.88531056e-01 -3.38173376e-02 7.24417954e-01 2.53456314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290371743 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:50.95, Y:29.02, Z:25.36 [[ 2.19103905e-01 -9.43564934e-01 -2.48351957e-01 5.09452897e+01] [ 6.91612573e-01 3.29736812e-01 -6.42608500e-01 2.90214838e+01] [ 6.88233629e-01 -3.09653038e-02 7.24827995e-01 2.53643787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:50.95, Y:29.04, Z:25.38 [[ 2.18461670e-01 -9.42462412e-01 -2.53059480e-01 5.09519954e+01] [ 6.89454802e-01 3.32588679e-01 -6.43456950e-01 2.90406816e+01] [ 6.90598708e-01 -3.39023933e-02 7.22443114e-01 2.53846699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350371743 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:50.95, Y:29.06, Z:25.41 [[ 2.19836181e-01 -9.44064239e-01 -2.45794155e-01 5.09544901e+01] [ 6.89078833e-01 3.28622877e-01 -6.45892690e-01 2.90601909e+01] [ 6.90537773e-01 -2.73809673e-02 7.22777882e-01 2.54066663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380371743 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:50.96, Y:29.08, Z:25.42 [[ 2.23174758e-01 -9.40562637e-01 -2.55997955e-01 5.09644349e+01] [ 6.87274158e-01 3.38066074e-01 -6.42935114e-01 2.90785641e+01] [ 6.91264970e-01 -3.24538907e-02 7.21872209e-01 2.54215954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410371743 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:50.96, Y:29.10, Z:25.45 [[ 2.22602936e-01 -9.45387332e-01 -2.38098142e-01 5.09618647e+01] [ 6.86867776e-01 3.25401823e-01 -6.49866380e-01 2.90978613e+01] [ 6.91853013e-01 -1.88797767e-02 7.21791495e-01 2.54486055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440371743 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:50.97, Y:29.12, Z:25.46 [[ 2.25698281e-01 -9.42591284e-01 -2.46134024e-01 5.09734306e+01] [ 6.87168107e-01 3.33126377e-01 -6.45621259e-01 2.91187298e+01] [ 6.90550707e-01 -2.34198432e-02 7.22904719e-01 2.54634798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470371743 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:50.98, Y:29.14, Z:25.49 [[ 2.24190764e-01 -9.43257144e-01 -2.44958082e-01 5.09787810e+01] [ 6.86525943e-01 3.31261527e-01 -6.47261871e-01 2.91390039e+01] [ 6.91679572e-01 -2.30599447e-02 7.21836275e-01 2.54851221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500371743 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:50.99, Y:29.16, Z:25.50 [[ 2.23659949e-01 -9.42064793e-01 -2.49980304e-01 5.09879513e+01] [ 6.86305236e-01 3.34334631e-01 -6.45914451e-01 2.91591274e+01] [ 6.92070336e-01 -2.70975989e-02 7.21321267e-01 2.55039970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530371743 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:50.99, Y:29.18, Z:25.52 [[ 2.23251415e-01 -9.42990960e-01 -2.46833658e-01 5.09930564e+01] [ 6.86631155e-01 3.31872303e-01 -6.46837253e-01 2.91790954e+01] [ 6.91878937e-01 -2.50763475e-02 7.21577933e-01 2.55246398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.560371743 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:51.00, Y:29.20, Z:25.54 [[ 2.19936211e-01 -9.42429270e-01 -2.51903025e-01 5.10014534e+01] [ 6.86717926e-01 3.32977770e-01 -6.46176674e-01 2.91983705e+01] [ 6.92853919e-01 -3.08686737e-02 7.20416943e-01 2.55433868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.590371743 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:51.01, Y:29.22, Z:25.56 [[ 2.16803473e-01 -9.43195016e-01 -2.51752689e-01 5.10066469e+01] [ 6.86690936e-01 3.30644512e-01 -6.47402321e-01 2.92165391e+01] [ 6.93867287e-01 -3.25172181e-02 7.19368347e-01 2.55640546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62037174299999 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:51.01, Y:29.24, Z:25.59 [[ 2.15603903e-01 -9.46264741e-01 -2.41035262e-01 5.10091372e+01] [ 6.87699016e-01 3.22385185e-01 -6.50490474e-01 2.92361909e+01] [ 6.93242397e-01 -2.55114275e-02 7.20252835e-01 2.55870855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650371743 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:51.02, Y:29.26, Z:25.61 [[ 2.14866086e-01 -9.44845255e-01 -2.47184159e-01 5.10189829e+01] [ 6.87760645e-01 3.26080198e-01 -6.48580758e-01 2.92568441e+01] [ 6.93410311e-01 -3.06455278e-02 7.19890958e-01 2.56055673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680371743 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:51.03, Y:29.28, Z:25.62 [[ 2.13559822e-01 -9.45991761e-01 -2.43909388e-01 5.10252194e+01] [ 6.89114263e-01 3.22842795e-01 -6.48763487e-01 2.92766765e+01] [ 6.92469302e-01 -2.95316233e-02 7.20842666e-01 2.56249725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710371743 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:51.04, Y:29.30, Z:25.64 [[ 2.06954444e-01 -9.45672352e-01 -2.50746208e-01 5.10355400e+01] [ 6.90784859e-01 3.22736680e-01 -6.47037336e-01 2.92957437e+01] [ 6.92810318e-01 -3.93044319e-02 7.20047932e-01 2.56428210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740371743 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:51.04, Y:29.31, Z:25.66 [[ 2.03136250e-01 -9.47350901e-01 -2.47511485e-01 5.10401575e+01] [ 6.91217313e-01 3.17783242e-01 -6.49024219e-01 2.93144431e+01] [ 6.93508681e-01 -3.92438777e-02 7.19378640e-01 2.56640325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770371743 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:51.05, Y:29.33, Z:25.68 [[ 1.98407830e-01 -9.47659863e-01 -2.50150191e-01 5.10473395e+01] [ 6.91298190e-01 3.16232030e-01 -6.49695402e-01 2.93333589e+01] [ 6.94795758e-01 -4.40237191e-02 7.17858458e-01 2.56843011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800371743 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:51.05, Y:29.35, Z:25.70 [[ 1.90885584e-01 -9.48975764e-01 -2.51013332e-01 5.10536482e+01] [ 6.92523291e-01 3.11420598e-01 -6.50713994e-01 2.93511530e+01] [ 6.95682532e-01 -4.96206580e-02 7.16633522e-01 2.57028760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830371743 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:51.06, Y:29.37, Z:25.72 [[ 1.87013922e-01 -9.50362812e-01 -2.48669097e-01 5.10575758e+01] [ 6.92743921e-01 3.07062893e-01 -6.52547499e-01 2.93683390e+01] [ 6.96513928e-01 -5.02285381e-02 7.15783097e-01 2.57237032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860371743 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:51.06, Y:29.39, Z:25.74 [[ 1.87267619e-01 -9.51838063e-01 -2.42765608e-01 5.10609009e+01] [ 6.94781674e-01 3.03051070e-01 -6.52256449e-01 2.93855060e+01] [ 6.94412892e-01 -4.65225835e-02 7.18071295e-01 2.57411313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890371743 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:51.06, Y:29.40, Z:25.77 [[ 1.81661859e-01 -9.54615719e-01 -2.36024995e-01 5.10618672e+01] [ 6.94471688e-01 2.94474243e-01 -6.56501329e-01 2.94036782e+01] [ 6.96209770e-01 -4.46514249e-02 7.16448328e-01 2.57666272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920371743 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:51.07, Y:29.42, Z:25.79 [[ 1.78073359e-01 -9.54831688e-01 -2.37878805e-01 5.10682551e+01] [ 6.96134622e-01 2.93096899e-01 -6.55355473e-01 2.94234253e+01] [ 6.95475713e-01 -4.88943219e-02 7.16884145e-01 2.57863978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.950371743 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:51.07, Y:29.44, Z:25.81 [[ 1.77407506e-01 -9.55628014e-01 -2.35163084e-01 5.10731238e+01] [ 6.97329809e-01 2.90679371e-01 -6.55161538e-01 2.94430426e+01] [ 6.94447776e-01 -4.77556545e-02 7.17956603e-01 2.58050945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.980371743 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:51.09, Y:29.46, Z:25.82 [[ 0.1787257 -0.94999071 -0.25607572 51.08807157] [ 0.7000078 0.30566974 -0.64541079 29.4603563 ] [ 0.69140886 -0.06390351 0.71963194 25.81685709] [ 0. 0. 0. 1. ]] SLAMing on 74.010371743 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:51.08, Y:29.48, Z:25.85 [[ 1.70458470e-01 -9.57656549e-01 -2.32029834e-01 5.10766683e+01] [ 6.94062139e-01 2.83838232e-01 -6.61599279e-01 2.94766358e+01] [ 6.99443820e-01 -4.82679215e-02 7.13055783e-01 2.58465913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040371743 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:51.07, Y:29.49, Z:25.86 [[ 1.65850333e-01 -9.58739223e-01 -2.30895580e-01 5.10746964e+01] [ 6.94790443e-01 2.79759149e-01 -6.62571550e-01 2.94933111e+01] [ 6.99828484e-01 -5.05363301e-02 7.12520997e-01 2.58612647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070371743 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:51.08, Y:29.51, Z:25.88 [[ 1.72149229e-01 -9.58172136e-01 -2.28628082e-01 5.10847733e+01] [ 6.97578826e-01 2.82450634e-01 -6.58487222e-01 2.95137230e+01] [ 6.95520255e-01 -4.61280416e-02 7.17024253e-01 2.58827537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:51.08, Y:29.53, Z:25.91 [[ 1.67669406e-01 -9.60867067e-01 -2.20502720e-01 5.10836028e+01] [ 6.93354607e-01 2.73938577e-01 -6.66496096e-01 2.95330536e+01] [ 7.00818350e-01 -4.11355726e-02 7.12152726e-01 2.59084515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130371743 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:51.10, Y:29.55, Z:25.92 [[ 1.67261425e-01 -9.57935049e-01 -2.33203896e-01 5.10955963e+01] [ 6.93798247e-01 2.82419191e-01 -6.62482749e-01 2.95542135e+01] [ 7.00476701e-01 -5.09886459e-02 7.11851494e-01 2.59229851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:51.10, Y:29.58, Z:25.94 [[ 1.69645067e-01 -9.57792659e-01 -2.32064159e-01 5.11024664e+01] [ 6.92665979e-01 2.83385885e-01 -6.63254311e-01 2.95755403e+01] [ 7.01023817e-01 -4.82251263e-02 7.11505407e-01 2.59423973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190371743 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:51.11, Y:29.60, Z:25.96 [[ 1.71059444e-01 -9.58414858e-01 -2.28428602e-01 5.11064891e+01] [ 6.93868251e-01 2.81785691e-01 -6.62679164e-01 2.95961613e+01] [ 6.99489469e-01 -4.51418248e-02 7.13215745e-01 2.59626929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220371743 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:51.11, Y:29.62, Z:25.98 [[ 1.71731852e-01 -9.56363609e-01 -2.36382779e-01 5.11148808e+01] [ 6.94213562e-01 2.87729259e-01 -6.59757080e-01 2.96164336e+01] [ 6.98981904e-01 -5.07988258e-02 7.13332866e-01 2.59798964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250371743 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:51.12, Y:29.63, Z:25.99 [[ 0.1768125 -0.95436004 -0.24069535 51.12283749] [ 0.69831298 0.29397467 -0.65263916 29.63490012] [ 0.69361107 -0.05268592 0.7184204 25.99451519] [ 0. 0. 0. 1. ]] SLAMing on 74.280371743 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:51.12, Y:29.65, Z:26.02 [[ 1.78616738e-01 -9.55969025e-01 -2.32850347e-01 5.11209075e+01] [ 6.97790818e-01 2.89921154e-01 -6.55006640e-01 2.96518707e+01] [ 6.93674300e-01 -4.54856847e-02 7.18851179e-01 2.60172243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.310371743 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:51.12, Y:29.67, Z:26.05 [[ 1.76238291e-01 -9.60779698e-01 -2.14108468e-01 5.11161454e+01] [ 6.93631730e-01 2.75549976e-01 -6.65542811e-01 2.96710433e+01] [ 6.98437605e-01 -3.12182992e-02 7.14989741e-01 2.60453018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.340371743 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:51.14, Y:29.69, Z:26.05 [[ 0.17645688 -0.95289865 -0.24667211 51.13713202] [ 0.69277896 0.29825457 -0.65658322 29.69271802] [ 0.69922835 -0.05503062 0.71277721 26.05451553] [ 0. 0. 0. 1. ]] SLAMing on 74.37037174299999 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:51.13, Y:29.71, Z:26.08 [[ 1.81457352e-01 -9.56859450e-01 -2.26921183e-01 5.11324237e+01] [ 6.91679891e-01 2.88211911e-01 -6.62203007e-01 2.97100298e+01] [ 6.99036593e-01 -3.67952151e-02 7.14138610e-01 2.60786810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400371743 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:51.14, Y:29.73, Z:26.09 [[ 1.82353741e-01 -9.53213928e-01 -2.41102305e-01 5.11430896e+01] [ 6.90641846e-01 2.98712322e-01 -6.58623405e-01 2.97297708e+01] [ 6.99829231e-01 -4.64128991e-02 7.12800736e-01 2.60948407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430371743 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:51.14, Y:29.75, Z:26.12 [[ 1.86093580e-01 -9.57896733e-01 -2.18639035e-01 5.11385927e+01] [ 6.91381486e-01 2.85775837e-01 -6.63568996e-01 2.97488784e+01] [ 6.98112327e-01 -2.76770507e-02 7.15453115e-01 2.61195536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460371743 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:51.15, Y:29.77, Z:26.14 [[ 1.88800061e-01 -9.55442592e-01 -2.26900840e-01 5.11496882e+01] [ 6.91835963e-01 2.93391724e-01 -6.59760788e-01 2.97725729e+01] [ 6.96934385e-01 -3.24152841e-02 7.16401921e-01 2.61369690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490371743 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:51.16, Y:29.79, Z:26.15 [[ 1.94527411e-01 -9.50841225e-01 -2.40956534e-01 5.11608650e+01] [ 6.91477232e-01 3.07158936e-01 -6.53844497e-01 2.97919613e+01] [ 6.95714255e-01 -3.94252806e-02 7.17235891e-01 2.61513290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520371743 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:51.16, Y:29.81, Z:26.17 [[ 1.96253711e-01 -9.52402777e-01 -2.33266868e-01 5.11618678e+01] [ 6.90744350e-01 3.03127736e-01 -6.56495102e-01 2.98105934e+01] [ 6.95957415e-01 -3.22881712e-02 7.17356780e-01 2.61742103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550371743 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:51.16, Y:29.83, Z:26.20 [[ 1.99913756e-01 -9.54047245e-01 -2.23222636e-01 5.11645033e+01] [ 6.91117582e-01 2.98794243e-01 -6.58086991e-01 2.98312841e+01] [ 6.94543719e-01 -2.27124466e-02 7.19091904e-01 2.61959050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580371743 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:51.18, Y:29.84, Z:26.20 [[ 0.19627595 -0.94399185 -0.26524541 51.17566085] [ 0.68581427 0.32549575 -0.65093111 29.84389237] [ 0.70080992 -0.05414697 0.71129007 26.20126155] [ 0. 0. 0. 1. ]] SLAMing on 74.610371743 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:51.15, Y:29.86, Z:26.25 [[ 2.07554529e-01 -9.60935701e-01 -1.83094771e-01 5.11520998e+01] [ 6.86832555e-01 2.76429353e-01 -6.72196291e-01 2.98610047e+01] [ 6.96550184e-01 1.37619353e-02 7.17376087e-01 2.62481899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640371743 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:51.18, Y:29.88, Z:26.24 [[ 2.00941554e-01 -9.44003887e-01 -2.61685218e-01 5.11837919e+01] [ 6.81879074e-01 3.26581174e-01 -6.54511777e-01 2.98807687e+01] [ 7.03323127e-01 -4.69190604e-02 7.09320225e-01 2.62414206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670371743 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:51.16, Y:29.90, Z:26.29 [[ 2.11325517e-01 -9.60663882e-01 -1.80184436e-01 5.11627125e+01] [ 6.84394637e-01 2.77048810e-01 -6.74424153e-01 2.98988019e+01] [ 6.97814809e-01 1.92057715e-02 7.16020692e-01 2.62879500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.700371743 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:51.20, Y:29.93, Z:26.29 [[ 2.11018421e-01 -9.46821467e-01 -2.42899847e-01 5.12018735e+01] [ 6.83858247e-01 3.20555985e-01 -6.55424869e-01 2.99264743e+01] [ 6.98433335e-01 -2.78023422e-02 7.15134887e-01 2.62862168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.730371743 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:51.20, Y:29.94, Z:26.31 [[ 2.09930989e-01 -9.49320917e-01 -2.33920449e-01 5.12034343e+01] [ 6.83979982e-01 3.13557038e-01 -6.58675465e-01 2.99436094e+01] [ 6.98641800e-01 -2.17205125e-02 7.15141843e-01 2.63086645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760371743 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:51.21, Y:29.96, Z:26.33 [[ 2.06271069e-01 -9.52847837e-01 -2.22560654e-01 5.12062461e+01] [ 6.84485066e-01 3.03048776e-01 -6.63054774e-01 2.99618332e+01] [ 6.99237041e-01 -1.55704270e-02 7.14720310e-01 2.63328403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790371743 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:51.22, Y:29.98, Z:26.35 [[ 2.04195583e-01 -9.50756972e-01 -2.33163771e-01 5.12189755e+01] [ 6.85336182e-01 3.08916339e-01 -6.59458121e-01 2.99808920e+01] [ 6.99012505e-01 -2.51371328e-02 7.14667505e-01 2.63482979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820371743 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:51.22, Y:30.00, Z:26.37 [[ 2.01591666e-01 -9.53525612e-01 -2.23941305e-01 5.12222699e+01] [ 6.86635907e-01 3.00625620e-01 -6.61933054e-01 3.00002868e+01] [ 6.98492614e-01 -2.03259539e-02 7.15328543e-01 2.63708683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850371743 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:51.23, Y:30.02, Z:26.39 [[ 1.95892953e-01 -9.55063356e-01 -2.22440861e-01 5.12325244e+01] [ 6.89767987e-01 2.95432973e-01 -6.61013981e-01 3.00207513e+01] [ 6.97026596e-01 -2.39446043e-02 7.16645366e-01 2.63909174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880371743 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:51.25, Y:30.03, Z:26.40 [[ 0.18176384 -0.9457548 -0.26927637 51.24851628] [ 0.68780049 0.31798183 -0.65254735 30.03084226] [ 0.70277478 -0.06659891 0.70828821 26.39666819] [ 0. 0. 0. 1. ]] SLAMing on 74.910371743 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:51.22, Y:30.05, Z:26.45 [[ 1.88430206e-01 -9.68744673e-01 -1.61331383e-01 5.12171100e+01] [ 6.92637357e-01 2.47549074e-01 -6.77475423e-01 3.00471917e+01] [ 6.96238141e-01 1.59126909e-02 7.17634473e-01 2.64481543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940371743 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:51.27, Y:30.07, Z:26.44 [[ 0.17453189 -0.94600804 -0.27314357 51.26701418] [ 0.69053491 0.31534568 -0.65093674 30.06728783] [ 0.70192603 -0.07500596 0.70828946 26.43546695] [ 0. 0. 0. 1. ]] SLAMing on 74.970371743 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:51.23, Y:30.08, Z:26.49 [[ 1.78552383e-01 -9.71503326e-01 -1.55885643e-01 5.12339995e+01] [ 6.94596862e-01 2.36667897e-01 -6.79355213e-01 3.00837306e+01] [ 6.96888977e-01 1.30228136e-02 7.17060779e-01 2.64876065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000371743 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:51.28, Y:30.11, Z:26.48 [[ 1.74844713e-01 -9.56408812e-01 -2.33904920e-01 5.12820978e+01] [ 6.95594323e-01 2.88120361e-01 -6.58130075e-01 3.01145160e+01] [ 6.96834173e-01 -4.76323705e-02 7.15648862e-01 2.64842676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030371743 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:51.29, Y:30.13, Z:26.51 [[ 1.72006212e-01 -9.58075015e-01 -2.29142157e-01 5.12868350e+01] [ 6.95441757e-01 2.82844222e-01 -6.60575437e-01 3.01324331e+01] [ 6.97692357e-01 -4.57319452e-02 7.14936335e-01 2.65057249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.060371743 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:51.30, Y:30.15, Z:26.53 [[ 1.68398438e-01 -9.58395718e-01 -2.30476929e-01 5.12963952e+01] [ 6.95624123e-01 2.81205704e-01 -6.61082772e-01 3.01507153e+01] [ 6.98390325e-01 -4.90000051e-02 7.14037782e-01 2.65251946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.090371743 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:51.30, Y:30.17, Z:26.54 [[ 0.16603323 -0.95780271 -0.23462084 51.30376013] [ 0.69465696 0.28247143 -0.66155998 30.16767839] [ 0.69991762 -0.05314006 0.71224396 26.54484277] [ 0. 0. 0. 1. ]] SLAMing on 75.12037174299999 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:51.31, Y:30.18, Z:26.57 [[ 1.65862332e-01 -9.59828622e-01 -2.26315494e-01 5.13059031e+01] [ 6.94843290e-01 2.76597437e-01 -6.63842346e-01 3.01839916e+01] [ 6.99773170e-01 -4.71473626e-02 7.12807573e-01 2.65651692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150371743 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:51.31, Y:30.20, Z:26.59 [[ 1.63928074e-01 -9.60448853e-01 -2.25090177e-01 5.13113367e+01] [ 6.92792919e-01 2.74524860e-01 -6.66838866e-01 3.02009534e+01] [ 7.02257473e-01 -4.66272692e-02 7.10394496e-01 2.65881299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180371743 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:51.32, Y:30.21, Z:26.60 [[ 0.15527074 -0.95468319 -0.2539114 51.31828399] [ 0.68941783 0.28880737 -0.66429914 30.21069746] [ 0.70752671 -0.07190483 0.70301895 26.60073758] [ 0. 0. 0. 1. ]] SLAMing on 75.210371743 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:51.30, Y:30.23, Z:26.64 [[ 1.62400196e-01 -9.71503624e-01 -1.72646708e-01 5.12956845e+01] [ 6.90886583e-01 2.36877544e-01 -6.83055458e-01 3.02297517e+01] [ 7.04486981e-01 -8.35095353e-03 7.09667778e-01 2.66432093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240371743 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:51.32, Y:30.26, Z:26.65 [[ 1.62344187e-01 -9.63486321e-01 -2.12928329e-01 5.13248819e+01] [ 6.91759477e-01 2.65012590e-01 -6.71741879e-01 3.02576965e+01] [ 7.03642800e-01 -3.82418005e-02 7.09524048e-01 2.66526993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270371743 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:51.34, Y:30.28, Z:26.67 [[ 0.16085263 -0.95966631 -0.23057973 51.34038315] [ 0.69237353 0.27621016 -0.66657846 30.2769462 ] [ 0.70338135 -0.05242641 0.70887668 26.66595838] [ 0. 0. 0. 1. ]] SLAMing on 75.300371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:51.34, Y:30.30, Z:26.69 [[ 1.59852112e-01 -9.62780644e-01 -2.17946630e-01 5.13408562e+01] [ 6.92295061e-01 2.66727692e-01 -6.70510169e-01 3.02956564e+01] [ 7.03686614e-01 -4.37009087e-02 7.09165270e-01 2.66899839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330371743 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:51.35, Y:30.31, Z:26.70 [[ 0.1490859 -0.95358737 -0.26161906 51.3538565 ] [ 0.68884447 0.28997158 -0.66438677 30.30504508] [ 0.70941292 -0.08116414 0.70010406 26.69876769] [ 0. 0. 0. 1. ]] SLAMing on 75.360371743 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:51.33, Y:30.31, Z:26.74 [[ 1.49462918e-01 -9.68946936e-01 -1.96983939e-01 5.13254577e+01] [ 6.86155103e-01 2.45084936e-01 -6.84926674e-01 3.03113055e+01] [ 7.11935398e-01 -3.27903952e-02 7.01478994e-01 2.67360731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:51.32, Y:30.34, Z:26.77 [[ 1.59613449e-01 -9.77131753e-01 -1.40488731e-01 5.13220333e+01] [ 6.91934282e-01 2.12241036e-01 -6.90058470e-01 3.03427042e+01] [ 7.04095517e-01 1.29336427e-02 7.09987482e-01 2.67724553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420371743 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:51.38, Y:30.37, Z:26.76 [[ 0.15890053 -0.95527864 -0.24938592 51.38141726] [ 0.69403416 0.28773111 -0.65994499 30.37232354] [ 0.70218744 -0.06821674 0.70871664 26.76033643] [ 0. 0. 0. 1. ]] SLAMing on 75.450371743 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:51.37, Y:30.39, Z:26.79 [[ 1.57970114e-01 -9.63239235e-01 -2.17291552e-01 5.13706989e+01] [ 6.93241889e-01 2.64890931e-01 -6.70260008e-01 3.03881462e+01] [ 7.03179299e-01 -4.47545559e-02 7.09602637e-01 2.67891180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.480371743 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:51.39, Y:30.40, Z:26.80 [[ 0.14799819 -0.95246515 -0.26628306 51.38508603] [ 0.6886767 0.29249326 -0.66345466 30.39606535] [ 0.70980345 -0.08519285 0.69922904 26.79573281] [ 0. 0. 0. 1. ]] SLAMing on 75.510371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:51.35, Y:30.41, Z:26.85 [[ 1.57919274e-01 -9.74528844e-01 -1.59232645e-01 5.13515552e+01] [ 6.90077318e-01 2.24258897e-01 -6.88114265e-01 3.04143998e+01] [ 7.06296537e-01 -1.21633122e-03 7.07915053e-01 2.68460888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:51.39, Y:30.44, Z:26.85 [[ 1.57582975e-01 -9.61413030e-01 -2.25505191e-01 5.13915906e+01] [ 6.91737797e-01 2.70439343e-01 -6.69597926e-01 3.04445552e+01] [ 7.04745646e-01 -5.04732308e-02 7.07662368e-01 2.68475765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570371743 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:51.40, Y:30.46, Z:26.87 [[ 1.57850263e-01 -9.61661064e-01 -2.24257203e-01 5.13974908e+01] [ 6.90977045e-01 2.69810188e-01 -6.70636403e-01 3.04632575e+01] [ 7.05431795e-01 -4.90964476e-02 7.07075330e-01 2.68682842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600371743 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:51.40, Y:30.48, Z:26.89 [[ 1.61009231e-01 -9.61310629e-01 -2.23512645e-01 5.14047801e+01] [ 6.92124544e-01 2.71424746e-01 -6.68799090e-01 3.04828809e+01] [ 7.03590536e-01 -4.70157603e-02 7.09048571e-01 2.68864051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630371743 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:51.41, Y:30.50, Z:26.91 [[ 1.58302644e-01 -9.61899029e-01 -2.22913731e-01 5.14097542e+01] [ 6.91464420e-01 2.69156404e-01 -6.70396738e-01 3.05024207e+01] [ 7.04852629e-01 -4.80113379e-02 7.07727124e-01 2.69081155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:51.42, Y:30.51, Z:26.92 [[ 0.1477107 -0.95105935 -0.27141787 51.42226432] [ 0.686747 0.2961124 -0.66384938 30.50884263] [ 0.71173036 -0.08833775 0.69687613 26.9153177 ] [ 0. 0. 0. 1. ]] SLAMing on 75.690371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:51.39, Y:30.52, Z:26.96 [[ 1.48743912e-01 -9.69680740e-01 -1.93893040e-01 5.13870612e+01] [ 6.83634386e-01 2.42506594e-01 -6.88356433e-01 3.05157193e+01] [ 7.14506316e-01 -3.01631209e-02 6.98978477e-01 2.69579270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720371743 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:51.39, Y:30.54, Z:26.99 [[ 1.59116352e-01 -9.75286812e-01 -1.53289334e-01 5.13888458e+01] [ 6.88365328e-01 2.20898465e-01 -6.90910301e-01 3.05437444e+01] [ 7.07697083e-01 4.41606362e-03 7.06502184e-01 2.69872156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:51.43, Y:30.56, Z:26.98 [[ 0.15040879 -0.95359296 -0.26084029 51.43341567] [ 0.68600078 0.29065596 -0.66702477 30.56287971] [ 0.71188492 -0.07861026 0.69788272 26.97819919] [ 0. 0. 0. 1. ]] SLAMing on 75.780371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:51.40, Y:30.57, Z:27.02 [[ 1.52708885e-01 -9.69358847e-01 -1.92414717e-01 5.14046112e+01] [ 6.83878653e-01 2.44204670e-01 -6.87512958e-01 3.05706158e+01] [ 7.13435340e-01 -2.65989803e-02 7.00216045e-01 2.70169180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.810371743 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:51.40, Y:30.60, Z:27.05 [[ 1.63402910e-01 -9.75760295e-01 -1.45572439e-01 5.14040131e+01] [ 6.88766434e-01 2.18473704e-01 -6.91281448e-01 3.05991746e+01] [ 7.06328740e-01 1.26919907e-02 7.07770178e-01 2.70477574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.840371743 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:51.45, Y:30.63, Z:27.05 [[ 1.62941384e-01 -9.60417486e-01 -2.25938838e-01 5.14501172e+01] [ 6.89007831e-01 2.74674614e-01 -6.70687755e-01 3.06285610e+01] [ 7.06199911e-01 -4.63908377e-02 7.06491031e-01 2.70462395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87037174299999 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:51.46, Y:30.64, Z:27.06 [[ 0.15440688 -0.95429813 -0.25587808 51.45688812] [ 0.68429133 0.29010458 -0.66901772 30.63613461] [ 0.71267376 -0.07179422 0.69781208 27.05815571] [ 0. 0. 0. 1. ]] SLAMing on 75.900371743 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:51.42, Y:30.65, Z:27.11 [[ 1.65015688e-01 -9.75847693e-01 -1.43147137e-01 5.14219164e+01] [ 6.87549635e-01 2.17873884e-01 -6.92680641e-01 3.06549866e+01] [ 7.07138828e-01 1.58824105e-02 7.06896334e-01 2.71075616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930371743 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:51.47, Y:30.69, Z:27.11 [[ 1.64803447e-01 -9.61087129e-01 -2.21701049e-01 5.14672711e+01] [ 6.87840228e-01 2.73086137e-01 -6.72532365e-01 3.06850147e+01] [ 7.06905683e-01 -4.16592481e-02 7.06079926e-01 2.71067491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:51.48, Y:30.69, Z:27.12 [[ 0.15510648 -0.95327665 -0.25924046 51.47731534] [ 0.68391046 0.29298037 -0.66815341 30.69249105] [ 0.71288741 -0.07366234 0.69739903 27.11718321] [ 0. 0. 0. 1. ]] SLAMing on 75.990371743 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:51.44, Y:30.71, Z:27.17 [[ 1.65663164e-01 -9.75694023e-01 -1.43446470e-01 5.14413615e+01] [ 6.88260430e-01 2.18561916e-01 -6.91757378e-01 3.07104641e+01] [ 7.06295474e-01 1.58701868e-02 7.07739246e-01 2.71650095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020371743 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:51.49, Y:30.74, Z:27.17 [[ 1.62113493e-01 -9.61026733e-01 -2.23934886e-01 5.14863341e+01] [ 6.86863656e-01 2.72832840e-01 -6.73632362e-01 3.07387789e+01] [ 7.08475499e-01 -4.46078399e-02 7.04324220e-01 2.71667405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050371743 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:51.49, Y:30.75, Z:27.18 [[ 0.15247848 -0.95731967 -0.24553891 51.49092604] [ 0.68352719 0.28159276 -0.67342119 30.74609445] [ 0.71382133 -0.06515028 0.69729086 27.18052832] [ 0. 0. 0. 1. ]] SLAMing on 76.080371743 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:51.47, Y:30.76, Z:27.22 [[ 1.51687961e-01 -9.70523194e-01 -1.87284523e-01 5.14669983e+01] [ 6.82119176e-01 2.39910663e-01 -6.90765013e-01 3.07559026e+01] [ 7.15335021e-01 -2.29696280e-02 6.98404041e-01 2.72157342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110371743 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:51.47, Y:30.77, Z:27.24 [[ 1.50461948e-01 -9.70756012e-01 -1.87066744e-01 5.14730781e+01] [ 6.82106943e-01 2.38904305e-01 -6.91125785e-01 3.07742963e+01] [ 7.15605562e-01 -2.36113933e-02 6.98105423e-01 2.72351538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:51.48, Y:30.79, Z:27.25 [[ 1.47464131e-01 -9.71258005e-01 -1.86848117e-01 5.14805400e+01] [ 6.82607068e-01 2.36650044e-01 -6.91407512e-01 3.07925219e+01] [ 7.15752695e-01 -2.55860368e-02 6.97884972e-01 2.72541595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170371743 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:51.48, Y:30.82, Z:27.28 [[ 1.54081818e-01 -9.75987144e-01 -1.53973661e-01 5.14849119e+01] [ 6.87274689e-01 2.17826053e-01 -6.92968479e-01 3.08201627e+01] [ 7.09867801e-01 9.51642880e-04 7.04334295e-01 2.72821393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.200371743 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:51.52, Y:30.85, Z:27.29 [[ 1.51540275e-01 -9.65457823e-01 -2.11959280e-01 5.15207283e+01] [ 6.88690633e-01 2.56948131e-01 -6.77999167e-01 3.08472516e+01] [ 7.09042141e-01 -4.32301902e-02 7.03839750e-01 2.72870548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.230371743 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:51.53, Y:30.87, Z:27.31 [[ 1.47352645e-01 -9.67526639e-01 -2.05376243e-01 5.15256943e+01] [ 6.90049985e-01 2.49322489e-01 -6.79462519e-01 3.08664502e+01] [ 7.08603004e-01 -4.15992742e-02 7.04380070e-01 2.73093366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260371743 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:51.54, Y:30.88, Z:27.32 [[ 0.13564337 -0.95917784 -0.24815065 51.53810119] [ 0.68740186 0.27148529 -0.6736278 30.87561283] [ 0.71349811 -0.07920608 0.69616582 27.3184376 ] [ 0. 0. 0. 1. ]] SLAMing on 76.290371743 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:51.51, Y:30.89, Z:27.36 [[ 1.40872408e-01 -9.77536333e-01 -1.56772711e-01 5.15087862e+01] [ 6.89285991e-01 2.10510036e-01 -6.93231814e-01 3.08919340e+01] [ 7.10661514e-01 -1.04039987e-02 7.03457156e-01 2.73625677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320371743 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:51.54, Y:30.91, Z:27.36 [[ 0.13134608 -0.96353515 -0.23312705 51.54115155] [ 0.68878617 0.25783032 -0.67756707 30.91107534] [ 0.71296691 -0.07157891 0.69753469 27.36244851] [ 0. 0. 0. 1. ]] SLAMing on 76.350371743 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:51.52, Y:30.92, Z:27.39 [[ 1.27813984e-01 -9.74721728e-01 -1.83251570e-01 5.15225429e+01] [ 6.88091365e-01 2.20214719e-01 -6.91401295e-01 3.09224852e+01] [ 7.14278559e-01 -3.77230688e-02 6.98844125e-01 2.73948763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380371743 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:51.52, Y:30.95, Z:27.42 [[ 1.34786427e-01 -9.80326036e-01 -1.44199452e-01 5.15226865e+01] [ 6.92180367e-01 1.97286456e-01 -6.94236554e-01 3.09504653e+01] [ 7.09026768e-01 -6.23836522e-03 7.05153972e-01 2.74235372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410371743 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:51.57, Y:30.97, Z:27.42 [[ 0.12556993 -0.96072042 -0.24748426 51.56595378] [ 0.69094716 0.26370015 -0.67309304 30.96834423] [ 0.71191587 -0.0864783 0.69691986 27.41711087] [ 0. 0. 0. 1. ]] SLAMing on 76.440371743 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:51.54, Y:30.98, Z:27.45 [[ 1.24418614e-01 -9.75352294e-01 -1.82230380e-01 5.15363435e+01] [ 6.88474960e-01 2.17113856e-01 -6.91999857e-01 3.09777412e+01] [ 7.14508389e-01 -3.93633907e-02 6.98518637e-01 2.74532733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470371743 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:51.54, Y:31.00, Z:27.48 [[ 1.29674283e-01 -9.77402117e-01 -1.66942153e-01 5.15416645e+01] [ 6.90101299e-01 2.09857895e-01 -6.92618121e-01 3.10017659e+01] [ 7.12000546e-01 -2.53922380e-02 7.01719642e-01 2.74779265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500371743 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:51.56, Y:31.03, Z:27.49 [[ 1.30864237e-01 -9.72766299e-01 -1.91311996e-01 5.15591321e+01] [ 6.91448286e-01 2.27845818e-01 -6.85554922e-01 3.10268548e+01] [ 7.10474362e-01 -4.25677297e-02 7.02434459e-01 2.74913372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530371743 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:51.57, Y:31.04, Z:27.50 [[ 0.1259729 -0.96702008 -0.22136618 51.56690453] [ 0.68866012 0.24586121 -0.68212865 31.04138427] [ 0.71405746 -0.06651633 0.69692002 27.50245714] [ 0. 0. 0. 1. ]] SLAMing on 76.560371743 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:51.55, Y:31.06, Z:27.54 [[ 1.32431553e-01 -9.78265177e-01 -1.59559164e-01 5.15492911e+01] [ 6.89176883e-01 2.06576094e-01 -6.94522528e-01 3.10602405e+01] [ 7.12388312e-01 -1.79877904e-02 7.01554938e-01 2.75382621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.590371743 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:51.57, Y:31.08, Z:27.55 [[ 1.33198078e-01 -9.70529820e-01 -2.00823654e-01 5.15733689e+01] [ 6.89955201e-01 2.36268502e-01 -6.84206852e-01 3.10849572e+01] [ 7.11491457e-01 -4.74242871e-02 7.01092607e-01 2.75476986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62037174299999 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:51.58, Y:31.10, Z:27.56 [[ 0.12870572 -0.96807739 -0.2150837 51.57502201] [ 0.68785243 0.24338079 -0.68383099 31.09881085] [ 0.71434857 -0.05993288 0.69721889 27.56324577] [ 0. 0. 0. 1. ]] SLAMing on 76.650371743 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:51.56, Y:31.11, Z:27.59 [[ 1.29360918e-01 -9.75181179e-01 -1.79687010e-01 5.15601325e+01] [ 6.86441785e-01 2.18838479e-01 -6.93474870e-01 3.11127969e+01] [ 7.15586073e-01 -3.36361258e-02 6.97714256e-01 2.75930622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:51.56, Y:31.14, Z:27.62 [[ 1.37600163e-01 -9.79718568e-01 -1.45663044e-01 5.15573388e+01] [ 6.89120172e-01 2.00326712e-01 -6.96406919e-01 3.11397568e+01] [ 7.11462988e-01 -4.55363572e-03 7.02708816e-01 2.76225517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710371743 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:51.60, Y:31.17, Z:27.62 [[ 0.1341133 -0.96529166 -0.22411077 51.59680688] [ 0.68831301 0.25343687 -0.6797021 31.16544761] [ 0.7129087 -0.06310127 0.69841206 27.62413184] [ 0. 0. 0. 1. ]] SLAMing on 76.740371743 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:51.59, Y:31.18, Z:27.65 [[ 1.34010091e-01 -9.71078529e-01 -1.97605124e-01 5.15855594e+01] [ 6.87541713e-01 2.34713158e-01 -6.87165283e-01 3.11803841e+01] [ 7.13671976e-01 -4.37746829e-02 6.99110927e-01 2.76502339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770371743 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:51.59, Y:31.19, Z:27.66 [[ 0.12883197 -0.96964616 -0.2078188 51.58559672] [ 0.68636893 0.23844643 -0.6870524 31.19402839] [ 0.71575137 -0.05412605 0.69625452 27.6645007 ] [ 0. 0. 0. 1. ]] SLAMing on 76.800371743 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:51.57, Y:31.22, Z:27.70 [[ 1.34938715e-01 -9.78486639e-01 -1.56062296e-01 5.15738867e+01] [ 6.87807804e-01 2.05873794e-01 -6.96086493e-01 3.12159070e+01] [ 7.13240470e-01 -1.34118484e-02 7.00791092e-01 2.77005188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830371743 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:51.60, Y:31.24, Z:27.70 [[ 0.13353695 -0.9677331 -0.21368326 51.60397343] [ 0.68870524 0.24565953 -0.68215576 31.24021612] [ 0.71263804 -0.05607178 0.69928748 27.70455786] [ 0. 0. 0. 1. ]] SLAMing on 76.860371743 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:51.60, Y:31.26, Z:27.73 [[ 1.31273193e-01 -9.72177563e-01 -1.94005502e-01 5.15952435e+01] [ 6.87211498e-01 2.30287569e-01 -6.88990561e-01 3.12580782e+01] [ 7.14498220e-01 -4.28768211e-02 6.98322184e-01 2.77312158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890371743 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:51.60, Y:31.28, Z:27.75 [[ 1.31934478e-01 -9.72232593e-01 -1.93279794e-01 5.15994271e+01] [ 6.87821319e-01 2.30195518e-01 -6.88412563e-01 3.12790694e+01] [ 7.13789274e-01 -4.21166106e-02 6.99093030e-01 2.77499568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920371743 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:51.61, Y:31.30, Z:27.77 [[ 1.31228078e-01 -9.71095039e-01 -1.99383089e-01 5.16057906e+01] [ 6.87810741e-01 2.34026751e-01 -6.87130166e-01 3.12989165e+01] [ 7.13929672e-01 -4.69670590e-02 6.98640479e-01 2.77679664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.950371743 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:51.61, Y:31.32, Z:27.79 [[ 1.31577330e-01 -9.72069517e-01 -1.94340577e-01 5.16077196e+01] [ 6.88337551e-01 2.30667714e-01 -6.87738192e-01 3.13189550e+01] [ 7.13357429e-01 -4.32811618e-02 6.99462593e-01 2.77889949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.980371743 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:51.61, Y:31.33, Z:27.80 [[ 0.12435297 -0.96660131 -0.22409428 51.61244759] [ 0.68588827 0.24693849 -0.68452806 31.33153831] [ 0.71700322 -0.06858054 0.69368803 27.79980974] [ 0. 0. 0. 1. ]] SLAMing on 77.010371743 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:51.59, Y:31.34, Z:27.83 [[ 1.24726607e-01 -9.76569603e-01 -1.75371274e-01 5.15904086e+01] [ 6.84461445e-01 2.12647688e-01 -6.97347468e-01 3.13427319e+01] [ 7.18300636e-01 -3.30570922e-02 6.94947066e-01 2.78340472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040371743 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:51.59, Y:31.36, Z:27.85 [[ 1.26034412e-01 -9.76472587e-01 -1.74976039e-01 5.15917207e+01] [ 6.84639402e-01 2.13261337e-01 -6.96985288e-01 3.13617263e+01] [ 7.17902651e-01 -3.19513597e-02 6.95409875e-01 2.78541910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070371743 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:51.60, Y:31.38, Z:27.87 [[ 1.26640473e-01 -9.76463242e-01 -1.74590170e-01 5.15951405e+01] [ 6.84935022e-01 2.13392122e-01 -6.96654734e-01 3.13812959e+01] [ 7.17513907e-01 -3.13582376e-02 6.95837951e-01 2.78740513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100371743 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:51.60, Y:31.40, Z:27.89 [[ 1.26866017e-01 -9.76487004e-01 -1.74293272e-01 5.15986263e+01] [ 6.84938507e-01 2.13336214e-01 -6.96668430e-01 3.14006799e+01] [ 7.17470735e-01 -3.09966243e-02 6.95898666e-01 2.78939853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130371743 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:51.59, Y:31.43, Z:27.92 [[ 1.36731929e-01 -9.82126814e-01 -1.29349526e-01 5.15943124e+01] [ 6.89754939e-01 1.88112220e-01 -6.99179460e-01 3.14280763e+01] [ 7.11015122e-01 6.38068171e-03 7.03147768e-01 2.79244277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160371743 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:51.63, Y:31.46, Z:27.92 [[ 1.36381480e-01 -9.69600700e-01 -2.03161451e-01 5.16347488e+01] [ 6.90392047e-01 2.40099084e-01 -6.82430401e-01 3.14604339e+01] [ 7.10463873e-01 -4.71901824e-02 7.02149680e-01 2.79247726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:51.64, Y:31.47, Z:27.94 [[ 0.12694018 -0.96331553 -0.23645165 51.64024446] [ 0.68581571 0.25745832 -0.68071435 31.47002753] [ 0.71661915 -0.07575226 0.69333873 27.93665045] [ 0. 0. 0. 1. ]] SLAMing on 77.220371743 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:51.61, Y:31.49, Z:27.98 [[ 1.36562259e-01 -9.81671527e-01 -1.32935183e-01 5.16054353e+01] [ 6.87987790e-01 1.90535061e-01 -7.00263659e-01 3.14865195e+01] [ 7.12757708e-01 4.17180439e-03 7.01397922e-01 2.79845050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250371743 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:51.64, Y:31.52, Z:27.99 [[ 1.36677539e-01 -9.70931077e-01 -1.96499602e-01 5.16421980e+01] [ 6.89129179e-01 2.35688787e-01 -6.85238477e-01 3.15187868e+01] [ 7.11632085e-01 -4.17569006e-02 7.01310300e-01 2.79865685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280371743 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:51.64, Y:31.54, Z:28.01 [[ 1.37105441e-01 -9.72564833e-01 -1.87935479e-01 5.16441207e+01] [ 6.89718935e-01 2.29909667e-01 -6.86607119e-01 3.15407980e+01] [ 7.10978121e-01 -3.54850860e-02 7.02318247e-01 2.80089360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.310371743 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:51.66, Y:31.56, Z:28.02 [[ 1.36189444e-01 -9.68554303e-01 -2.08218627e-01 5.16577256e+01] [ 6.89340843e-01 2.43598812e-01 -6.82252754e-01 3.15617763e+01] [ 7.11520652e-01 -5.06179811e-02 7.00839627e-01 2.80235326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.340371743 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:51.66, Y:31.58, Z:28.04 [[ 1.37397549e-01 -9.69203535e-01 -2.04368346e-01 5.16584501e+01] [ 6.89856929e-01 2.41690811e-01 -6.82409679e-01 3.15791947e+01] [ 7.10787824e-01 -4.72235024e-02 7.01819499e-01 2.80429863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37037174299999 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:51.66, Y:31.59, Z:28.05 [[ 0.1270739 -0.96180824 -0.24243995 51.66399187] [ 0.68502845 0.26186707 -0.67982473 31.58627349] [ 0.71734807 -0.07969029 0.69214248 28.05437194] [ 0. 0. 0. 1. ]] SLAMing on 77.400371743 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:51.63, Y:31.59, Z:28.10 [[ 1.27019702e-01 -9.77025793e-01 -1.71133270e-01 5.16308797e+01] [ 6.83437942e-01 2.11247061e-01 -6.98775543e-01 3.15925457e+01] [ 7.18873129e-01 -2.82007082e-02 6.94569035e-01 2.80950945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430371743 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:51.63, Y:31.61, Z:28.11 [[ 1.26997020e-01 -9.77111167e-01 -1.70662018e-01 5.16339535e+01] [ 6.84279502e-01 2.10861531e-01 -6.98068032e-01 3.16113216e+01] [ 7.18076124e-01 -2.81279610e-02 6.95395929e-01 2.81144705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460371743 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:51.64, Y:31.63, Z:28.13 [[ 1.26746892e-01 -9.77179675e-01 -1.70455591e-01 5.16384845e+01] [ 6.84327337e-01 2.10539127e-01 -6.98118451e-01 3.16306332e+01] [ 7.18074732e-01 -2.81630769e-02 6.95395945e-01 2.81347631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490371743 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:51.64, Y:31.65, Z:28.15 [[ 1.26449364e-01 -9.77270674e-01 -1.70154602e-01 5.16424528e+01] [ 6.84587717e-01 2.10108022e-01 -6.97993035e-01 3.16492628e+01] [ 7.17878970e-01 -2.82249747e-02 6.95595526e-01 2.81545824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520371743 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:51.65, Y:31.67, Z:28.17 [[ 1.25292128e-01 -9.77466308e-01 -1.69886727e-01 5.16465005e+01] [ 6.84781466e-01 2.09108179e-01 -6.98103225e-01 3.16686213e+01] [ 7.17897086e-01 -2.88684434e-02 6.95550420e-01 2.81745636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550371743 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:51.65, Y:31.69, Z:28.19 [[ 1.23659576e-01 -9.77715131e-01 -1.69650913e-01 5.16503214e+01] [ 6.84909978e-01 2.07805053e-01 -6.98366224e-01 3.16872115e+01] [ 7.18057541e-01 -2.98359319e-02 6.95343933e-01 2.81938057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580371743 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:51.65, Y:31.71, Z:28.21 [[ 1.23770580e-01 -9.77448902e-01 -1.71097886e-01 5.16545163e+01] [ 6.84524996e-01 2.08931745e-01 -6.98407514e-01 3.17051799e+01] [ 7.18405438e-01 -3.06784770e-02 6.94947809e-01 2.82125304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610371743 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:51.65, Y:31.72, Z:28.24 [[ 1.24495128e-01 -9.80573563e-01 -1.51579851e-01 5.16481124e+01] [ 6.80942471e-01 1.95549753e-01 -7.05746162e-01 3.17179152e+01] [ 7.21677431e-01 -1.53551996e-02 6.92059176e-01 2.82359784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640371743 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:51.66, Y:31.74, Z:28.25 [[ 1.21226292e-01 -9.78224747e-01 -1.68465222e-01 5.16617268e+01] [ 6.83596606e-01 2.05331015e-01 -7.00381935e-01 3.17432527e+01] [ 7.19722076e-01 -3.02575489e-02 6.93602634e-01 2.82531880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:51.67, Y:31.76, Z:28.27 [[ 1.21776247e-01 -9.78019665e-01 -1.69257437e-01 5.16662076e+01] [ 6.83201674e-01 2.06294316e-01 -7.00484210e-01 3.17618086e+01] [ 7.20004180e-01 -3.03346266e-02 6.93306420e-01 2.82712916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.700371743 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:51.67, Y:31.79, Z:28.30 [[ 1.30053229e-01 -9.81125496e-01 -1.43104571e-01 5.16698931e+01] [ 6.86596313e-01 1.93241602e-01 -7.00887428e-01 3.17880491e+01] [ 7.15312282e-01 -7.10239829e-03 6.98768842e-01 2.82986052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.730371743 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:51.70, Y:31.82, Z:28.30 [[ 1.31726427e-01 -9.72357510e-01 -1.92792690e-01 5.16994922e+01] [ 6.87886066e-01 2.29702508e-01 -6.88512540e-01 3.18171070e+01] [ 7.13765303e-01 -4.19241079e-02 6.99129073e-01 2.83031987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760371743 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:51.70, Y:31.84, Z:28.32 [[ 1.34273636e-01 -9.71995876e-01 -1.92859034e-01 5.17018249e+01] [ 6.86927613e-01 2.31570901e-01 -6.88843504e-01 3.18358824e+01] [ 7.14213585e-01 -3.99866742e-02 6.98784674e-01 2.83244392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790371743 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:51.71, Y:31.85, Z:28.34 [[ 1.34693141e-01 -9.70216354e-01 -2.01340468e-01 5.17073340e+01] [ 6.85501046e-01 2.37959337e-01 -6.88086963e-01 3.18531320e+01] [ 7.15504069e-01 -4.53385070e-02 6.97135817e-01 2.83427125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820371743 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:51.70, Y:31.87, Z:28.37 [[ 1.37864034e-01 -9.72518584e-01 -1.87619595e-01 5.17040550e+01] [ 6.84930240e-01 2.30444016e-01 -6.91206280e-01 3.18697217e+01] [ 7.15446766e-01 -3.32138479e-02 6.97877329e-01 2.83666823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850371743 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:51.71, Y:31.89, Z:28.39 [[ 1.43364284e-01 -9.72180896e-01 -1.85232251e-01 5.17051806e+01] [ 6.83535569e-01 2.32620217e-01 -6.91857616e-01 3.18893794e+01] [ 7.15699524e-01 -2.74251602e-02 6.97869653e-01 2.83884956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880371743 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:51.71, Y:31.91, Z:28.41 [[ 1.48692010e-01 -9.71638712e-01 -1.83871965e-01 5.17098709e+01] [ 6.84134463e-01 2.35334991e-01 -6.90345912e-01 3.19101945e+01] [ 7.14038320e-01 -2.31442267e-02 6.99723961e-01 2.84067015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910371743 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:51.72, Y:31.93, Z:28.43 [[ 1.50772284e-01 -9.70218058e-01 -1.89590710e-01 5.17158363e+01] [ 6.82277703e-01 2.40910296e-01 -6.90260361e-01 3.19308737e+01] [ 7.15377421e-01 -2.52813829e-02 6.98280744e-01 2.84272662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940371743 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:51.72, Y:31.94, Z:28.44 [[ 1.48336509e-01 -9.65141476e-01 -2.15634441e-01 5.17187889e+01] [ 6.77377467e-01 2.58024705e-01 -6.88899861e-01 3.19429943e+01] [ 7.20524841e-01 -4.38769110e-02 6.92039572e-01 2.84382438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970371743 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:51.70, Y:31.96, Z:28.48 [[ 1.58384432e-01 -9.77047083e-01 -1.42454800e-01 5.16975756e+01] [ 6.79255497e-01 2.12529765e-01 -7.02455030e-01 3.19585845e+01] [ 7.16607523e-01 1.44947351e-02 6.97326008e-01 2.84801304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000371743 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:51.72, Y:31.98, Z:28.48 [[ 1.52992996e-01 -9.65682604e-01 -2.09881517e-01 5.17233737e+01] [ 6.75918986e-01 2.57190021e-01 -6.90642322e-01 3.19802824e+01] [ 7.20920708e-01 -3.61994635e-02 6.92071479e-01 2.84790061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030371743 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:51.71, Y:32.00, Z:28.52 [[ 1.64696394e-01 -9.75968625e-01 -1.42689664e-01 5.17056018e+01] [ 6.77899900e-01 2.17085670e-01 -7.02371367e-01 3.19971093e+01] [ 7.16468299e-01 1.89487223e-02 6.97362261e-01 2.85205897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.060371743 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:51.74, Y:32.03, Z:28.52 [[ 1.66812792e-01 -9.67576404e-01 -1.89655991e-01 5.17350502e+01] [ 6.78269961e-01 2.52217013e-01 -6.90171311e-01 3.20257199e+01] [ 7.15627942e-01 -1.35085580e-02 6.98351034e-01 2.85243110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.090371743 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:51.74, Y:32.05, Z:28.55 [[ 1.67870055e-01 -9.69330226e-01 -1.79495285e-01 5.17372183e+01] [ 6.79775751e-01 2.45688384e-01 -6.91044243e-01 3.20469137e+01] [ 7.13949979e-01 -6.01090703e-03 7.00170905e-01 2.85460900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12037174299999 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:51.75, Y:32.06, Z:28.55 [[ 1.55847590e-01 -9.62297853e-01 -2.22922341e-01 5.17497554e+01] [ 6.75573549e-01 2.68483222e-01 -6.86671056e-01 3.20586233e+01] [ 7.20632991e-01 -4.35844081e-02 6.91945440e-01 2.85541363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150371743 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:51.73, Y:32.07, Z:28.60 [[ 1.66706693e-01 -9.76316315e-01 -1.37896088e-01 5.17278580e+01] [ 6.85059669e-01 2.15271730e-01 -6.95953541e-01 3.20742869e+01] [ 7.09155927e-01 2.15530647e-02 7.04722170e-01 2.85982900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180371743 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:51.75, Y:32.09, Z:28.60 [[ 1.51452802e-01 -9.65847212e-01 -2.10240841e-01 5.17542541e+01] [ 6.76969742e-01 2.56335120e-01 -6.89930630e-01 3.20931200e+01] [ 7.20259687e-01 -3.78347610e-02 6.92672010e-01 2.85974552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210371743 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:51.73, Y:32.11, Z:28.64 [[ 1.60430472e-01 -9.80247464e-01 -1.15658863e-01 5.17303418e+01] [ 6.83736721e-01 1.94875873e-01 -7.03226486e-01 3.21115799e+01] [ 7.11875101e-01 3.37387457e-02 7.01495216e-01 2.86443350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240371743 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:51.78, Y:32.14, Z:28.64 [[ 1.53704212e-01 -9.66243871e-01 -2.06755402e-01 5.17827554e+01] [ 6.83802885e-01 2.55058689e-01 -6.83636365e-01 3.21436183e+01] [ 7.13294210e-01 -3.63021519e-02 6.99923942e-01 2.86387007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270371743 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:51.78, Y:32.15, Z:28.65 [[ 0.14022904 -0.96466775 -0.22305146 51.77975564] [ 0.68050984 0.25753746 -0.68598893 32.14867113] [ 0.7191955 -0.05559314 0.69258013 28.65304689] [ 0. 0. 0. 1. ]] SLAMing on 78.300371743 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:51.75, Y:32.15, Z:28.69 [[ 1.37164301e-01 -9.77394136e-01 -1.60893310e-01 5.17534768e+01] [ 6.80249953e-01 2.11015111e-01 -7.01949161e-01 3.21545635e+01] [ 7.20031913e-01 -1.31653007e-02 6.93816055e-01 2.86908920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330371743 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:51.76, Y:32.18, Z:28.72 [[ 1.43718618e-01 -9.81322328e-01 -1.27872779e-01 5.17584814e+01] [ 6.85996164e-01 1.91920945e-01 -7.01837313e-01 3.21826251e+01] [ 7.13270091e-01 1.31468524e-02 7.00765965e-01 2.87209483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360371743 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:51.80, Y:32.21, Z:28.72 [[ 1.38824972e-01 -9.71213953e-01 -1.93574496e-01 5.18008927e+01] [ 6.88082564e-01 2.35175044e-01 -6.86465646e-01 3.22139240e+01] [ 7.12228904e-01 -3.78966612e-02 7.00923556e-01 2.87225939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390371743 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:51.81, Y:32.23, Z:28.74 [[ 1.33697192e-01 -9.69577403e-01 -2.05048093e-01 5.18100690e+01] [ 6.87505089e-01 2.39763228e-01 -6.85456306e-01 3.22310176e+01] [ 7.13765937e-01 -4.93280238e-02 6.98645069e-01 2.87408681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420371743 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:51.81, Y:32.25, Z:28.77 [[ 1.32072347e-01 -9.74504646e-01 -1.81376927e-01 5.18052053e+01] [ 6.88658860e-01 2.21816811e-01 -6.90323313e-01 3.22483463e+01] [ 7.12955728e-01 -3.37342077e-02 7.00397126e-01 2.87668129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.450371743 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:51.82, Y:32.27, Z:28.78 [[ 0.12601446 -0.9711653 -0.20238163 51.81945394] [ 0.68813707 0.23251979 -0.68731501 32.26600467] [ 0.71455422 -0.05265467 0.6975957 28.78320341] [ 0. 0. 0. 1. ]] SLAMing on 78.480371743 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:51.81, Y:32.28, Z:28.81 [[ 1.23574873e-01 -9.75318479e-01 -1.82983922e-01 5.18148085e+01] [ 6.88121416e-01 2.17083391e-01 -6.92360974e-01 3.22821237e+01] [ 7.14995222e-01 -4.03567360e-02 6.97963585e-01 2.88091207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510371743 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:51.82, Y:32.30, Z:28.83 [[ 1.20980348e-01 -9.74823044e-01 -1.87306667e-01 5.18218386e+01] [ 6.88273593e-01 2.18345955e-01 -6.91812478e-01 3.23007538e+01] [ 7.15292399e-01 -4.52225186e-02 6.97360529e-01 2.88281807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540371743 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:51.83, Y:32.32, Z:28.85 [[ 1.17027162e-01 -9.75607402e-01 -1.85727865e-01 5.18272155e+01] [ 6.88772230e-01 2.14458714e-01 -6.92531786e-01 3.23179514e+01] [ 7.15470096e-01 -4.68791662e-02 6.97068781e-01 2.88486527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570371743 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:51.83, Y:32.33, Z:28.86 [[ 0.108716 -0.97431982 -0.19718448 51.8266137 ] [ 0.68680735 0.21702372 -0.6936832 32.32881378] [ 0.718663 -0.06001329 0.69276396 28.86124105] [ 0. 0. 0. 1. ]] SLAMing on 78.600371743 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:51.81, Y:32.35, Z:28.90 [[ 1.14625517e-01 -9.86356017e-01 -1.18164288e-01 5.18072962e+01] [ 6.89357356e-01 1.64625201e-01 -7.05467915e-01 3.23485235e+01] [ 7.15295342e-01 -5.92796772e-04 6.98822025e-01 2.89041883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630371743 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:51.85, Y:32.37, Z:28.89 [[ 0.10507549 -0.9684537 -0.225957 51.85254588] [ 0.68720159 0.2349483 -0.6874251 32.36972776] [ 0.7188276 -0.08304648 0.69021023 28.89180734] [ 0. 0. 0. 1. ]] SLAMing on 78.660371743 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:51.82, Y:32.38, Z:28.93 [[ 1.02641966e-01 -9.83150253e-01 -1.51262047e-01 5.18195654e+01] [ 6.84846183e-01 1.80131106e-01 -7.06072582e-01 3.23769583e+01] [ 7.21422437e-01 -3.11185579e-02 6.91795709e-01 2.89338190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690371743 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:51.83, Y:32.40, Z:28.95 [[ 1.01260788e-01 -9.82666813e-01 -1.55280997e-01 5.18259754e+01] [ 6.85044309e-01 1.82056815e-01 -7.05386143e-01 3.23957162e+01] [ 7.21429517e-01 -3.49464067e-02 6.91605524e-01 2.89514941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720371743 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:51.83, Y:32.42, Z:28.98 [[ 1.09568424e-01 -9.84726738e-01 -1.35307105e-01 5.18342988e+01] [ 6.92166796e-01 1.73285973e-01 -7.00626219e-01 3.24210953e+01] [ 7.13372194e-01 -1.68885746e-02 7.00581822e-01 2.89758356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750371743 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:51.86, Y:32.44, Z:28.98 [[ 0.09789776 -0.97602808 -0.19438421 51.85554324] [ 0.68672252 0.20762126 -0.69663878 32.44000875] [ 0.72029731 -0.06528864 0.69058612 28.9796938 ] [ 0. 0. 0. 1. ]] SLAMing on 78.780371743 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:51.83, Y:32.46, Z:29.02 [[ 1.07396986e-01 -9.88862305e-01 -1.03039942e-01 5.18322912e+01] [ 6.90600907e-01 1.48754121e-01 -7.07772985e-01 3.24620145e+01] [ 7.15217641e-01 4.85320788e-03 6.98884949e-01 2.90229765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.810371743 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:51.88, Y:32.50, Z:29.02 [[ 0.10305206 -0.97546335 -0.19455468 51.88052574] [ 0.69094984 0.21090418 -0.69145336 32.49531937] [ 0.71551981 -0.06317183 0.69573035 29.02207441] [ 0. 0. 0. 1. ]] SLAMing on 78.840371743 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:51.89, Y:32.50, Z:29.03 [[ 0.09050594 -0.96918171 -0.22911894 51.88616571] [ 0.68674487 0.22735153 -0.69042941 32.500565 ] [ 0.7212421 -0.0948583 0.68615723 29.03141894] [ 0. 0. 0. 1. ]] SLAMing on 78.87037174299999 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:51.85, Y:32.51, Z:29.08 [[ 9.74990858e-02 -9.88244906e-01 -1.17753699e-01 5.18471763e+01] [ 6.87589761e-01 1.52426868e-01 -7.09919974e-01 3.25136216e+01] [ 7.19523626e-01 -1.17496890e-02 6.94368560e-01 2.90831170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900371743 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:51.89, Y:32.54, Z:29.08 [[ 0.09735993 -0.97479557 -0.20073525 51.89175429] [ 0.69315904 0.21114732 -0.68916424 32.54229808] [ 0.71417896 -0.07204447 0.69624565 29.07919089] [ 0. 0. 0. 1. ]] SLAMing on 78.930371743 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:51.88, Y:32.56, Z:29.11 [[ 9.28132713e-02 -9.82495740e-01 -1.61517237e-01 5.18757939e+01] [ 6.88820678e-01 1.80492807e-01 -7.02102856e-01 3.25557190e+01] [ 7.18965765e-01 -4.60919499e-02 6.93515509e-01 2.91103338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960371743 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:51.89, Y:32.58, Z:29.13 [[ 0.09038046 -0.98034703 -0.17535984 51.88620639] [ 0.68847078 0.18873391 -0.70027673 32.5764313 ] [ 0.71961056 -0.05743879 0.69199814 29.12828091] [ 0. 0. 0. 1. ]] SLAMing on 78.990371743 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:51.89, Y:32.59, Z:29.15 [[ 0.0894132 -0.9810831 -0.17170101 51.88897236] [ 0.68857565 0.18544706 -0.70105132 32.5949569 ] [ 0.71963105 -0.05554589 0.69213135 29.14929463] [ 0. 0. 0. 1. ]] SLAMing on 79.020371743 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:51.89, Y:32.61, Z:29.17 [[ 0.08778768 -0.98163367 -0.16937726 51.89194846] [ 0.68770008 0.18273579 -0.70262097 32.61421513] [ 0.72066769 -0.05479929 0.69111151 29.17014082] [ 0. 0. 0. 1. ]] SLAMing on 79.050371743 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:51.90, Y:32.63, Z:29.19 [[ 0.08710804 -0.9795673 -0.18127354 51.90049339] [ 0.68685676 0.19085504 -0.70128606 32.63230545] [ 0.72155386 -0.06342131 0.68944743 29.1874549 ] [ 0. 0. 0. 1. ]] SLAMing on 79.080371743 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:51.90, Y:32.65, Z:29.21 [[ 0.08661365 -0.98219981 -0.16667816 51.89682938] [ 0.68532922 0.18017293 -0.70559306 32.64930761] [ 0.72306427 -0.05311542 0.68873567 29.21226967] [ 0. 0. 0. 1. ]] SLAMing on 79.110371743 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:51.90, Y:32.67, Z:29.23 [[ 8.87602326e-02 -9.82530764e-01 -1.63569309e-01 5.18992436e+01] [ 6.85537474e-01 1.79395059e-01 -7.05588963e-01 3.26687705e+01] [ 7.22606389e-01 -4.95046501e-02 6.89484805e-01 2.92321789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140371743 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:51.91, Y:32.69, Z:29.25 [[ 0.08911494 -0.98134985 -0.17032616 51.90573221] [ 0.68501041 0.18452804 -0.70477666 32.68837477] [ 0.72306242 -0.05386907 0.68867907 29.25118975] [ 0. 0. 0. 1. ]] SLAMing on 79.170371743 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:51.91, Y:32.71, Z:29.27 [[ 0.09002901 -0.98142728 -0.16939679 51.90805299] [ 0.6846468 0.18451241 -0.70513398 32.70682559] [ 0.72329353 -0.05249445 0.68854252 29.27222022] [ 0. 0. 0. 1. ]] SLAMing on 79.200371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:51.91, Y:32.72, Z:29.29 [[ 9.45446397e-02 -9.81812721e-01 -1.64636242e-01 5.19083927e+01] [ 6.83897982e-01 1.84231812e-01 -7.05933559e-01 3.27243832e+01] [ 7.23425782e-01 -4.58521597e-02 6.88877869e-01 2.92930184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.230371743 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:51.91, Y:32.74, Z:29.32 [[ 9.66987554e-02 -9.83263950e-01 -1.54406462e-01 5.19068972e+01] [ 6.83449830e-01 1.78373637e-01 -7.07869462e-01 3.27434314e+01] [ 7.23564566e-01 -3.70789741e-02 6.89260088e-01 2.93152997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260371743 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:51.91, Y:32.77, Z:29.33 [[ 1.01094935e-01 -9.82415299e-01 -1.56971320e-01 5.19136686e+01] [ 6.85273455e-01 1.83144448e-01 -7.04881837e-01 3.27663614e+01] [ 7.21235126e-01 -3.63082953e-02 6.91738102e-01 2.93327267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290371743 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:51.92, Y:32.79, Z:29.35 [[ 1.02625006e-01 -9.81094598e-01 -1.64077719e-01 5.19199758e+01] [ 6.84306105e-01 1.89347237e-01 -7.04182348e-01 3.27870566e+01] [ 7.21937160e-01 -4.00126668e-02 6.90800784e-01 2.93514803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320371743 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:51.92, Y:32.81, Z:29.37 [[ 1.03591822e-01 -9.81141324e-01 -1.63188349e-01 5.19238822e+01] [ 6.84431108e-01 1.89366353e-01 -7.04055710e-01 3.28074832e+01] [ 7.21680534e-01 -3.87567692e-02 6.91140448e-01 2.93722525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350371743 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:51.93, Y:32.83, Z:29.39 [[ 1.02902402e-01 -9.80401167e-01 -1.68001925e-01 5.19299619e+01] [ 6.84232485e-01 1.92358011e-01 -7.03437489e-01 3.28279704e+01] [ 7.21967452e-01 -4.25669674e-02 6.90616429e-01 2.93922784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380371743 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:51.93, Y:32.85, Z:29.41 [[ 1.06243470e-01 -9.81517764e-01 -1.59170360e-01 5.19315277e+01] [ 6.86880502e-01 1.88189588e-01 -7.01982803e-01 3.28481553e+01] [ 7.18962795e-01 -3.47499282e-02 6.94179329e-01 2.94111815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410371743 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:51.94, Y:32.87, Z:29.43 [[ 1.03011951e-01 -9.79345077e-01 -1.73987810e-01 5.19403422e+01] [ 6.84401404e-01 1.96715718e-01 -7.02066695e-01 3.28673476e+01] [ 7.21791699e-01 -4.67562411e-02 6.90529216e-01 2.94303809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440371743 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:51.96, Y:32.88, Z:29.43 [[ 0.09969107 -0.97063002 -0.21894988 51.96036034] [ 0.68808292 0.22619964 -0.68947489 32.88367037] [ 0.71875141 -0.08192118 0.69042402 29.43179111] [ 0. 0. 0. 1. ]] SLAMing on 79.470371743 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:51.91, Y:32.89, Z:29.49 [[ 1.04241670e-01 -9.89879130e-01 -9.62963246e-02 5.19098326e+01] [ 6.86264940e-01 1.41671073e-01 -7.13421151e-01 3.28866583e+01] [ 7.19843112e-01 8.28342071e-03 6.94087371e-01 2.94861903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500371743 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:51.93, Y:32.92, Z:29.50 [[ 1.01365095e-01 -9.85633671e-01 -1.35097685e-01 5.19341085e+01] [ 6.84539306e-01 1.67640238e-01 -7.09438292e-01 3.29191309e+01] [ 7.21894076e-01 -2.05673960e-02 6.91697857e-01 2.94968525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:51.96, Y:32.93, Z:29.50 [[ 0.09155563 -0.97309958 -0.2114114 51.96333123] [ 0.68034174 0.21615401 -0.70029462 32.93474606] [ 0.72715382 -0.07971608 0.68183038 29.4988524 ] [ 0. 0. 0. 1. ]] SLAMing on 79.560371743 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:51.92, Y:32.95, Z:29.55 [[ 9.74621609e-02 -9.89668034e-01 -1.05158496e-01 5.19240247e+01] [ 6.82131561e-01 1.43365851e-01 -7.17037493e-01 3.29466086e+01] [ 7.24705223e-01 -1.84790545e-03 6.89056547e-01 2.95458060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.590371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:51.96, Y:32.98, Z:29.55 [[ 9.68078765e-02 -9.81466533e-01 -1.65383429e-01 5.19564033e+01] [ 6.83455409e-01 1.86346319e-01 -7.05807164e-01 3.29755905e+01] [ 7.23544704e-01 -4.47045065e-02 6.88828402e-01 2.95493412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62037174299999 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:51.95, Y:32.99, Z:29.57 [[ 9.56146125e-02 -9.84003717e-01 -1.50314770e-01 5.19525534e+01] [ 6.82009992e-01 1.74752696e-01 -7.10157635e-01 3.29936039e+01] [ 7.25065664e-01 -3.46147278e-02 6.87809278e-01 2.95749868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650371743 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:51.96, Y:33.01, Z:29.59 [[ 9.54569748e-02 -9.80857689e-01 -1.69723775e-01 5.19622134e+01] [ 6.81016775e-01 1.88705641e-01 -7.07535394e-01 3.30137091e+01] [ 7.26019365e-01 -4.80455494e-02 6.85993810e-01 2.95896639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:51.96, Y:33.03, Z:29.62 [[ 9.58415327e-02 -9.83122526e-01 -1.55834847e-01 5.19581537e+01] [ 6.79845051e-01 1.79004194e-01 -7.11173822e-01 3.30328164e+01] [ 7.27066095e-01 -3.77835607e-02 6.85527021e-01 2.96158074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710371743 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:51.96, Y:33.05, Z:29.63 [[ 9.71575989e-02 -9.82388899e-01 -1.59600915e-01 5.19633404e+01] [ 6.81767284e-01 1.82520086e-01 -7.08434745e-01 3.30524160e+01] [ 7.25088802e-01 -3.99808635e-02 6.87493825e-01 2.96312743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740371743 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:51.96, Y:33.07, Z:29.66 [[ 9.85276102e-02 -9.84123877e-01 -1.47622846e-01 5.19602762e+01] [ 6.81120371e-01 1.74843166e-01 -7.10988683e-01 3.30737535e+01] [ 7.25511785e-01 -3.04969116e-02 6.87533700e-01 2.96575937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770371743 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:51.98, Y:33.09, Z:29.67 [[ 0.09591264 -0.97803608 -0.18505726 51.97811949] [ 0.67992221 0.20015585 -0.70543846 33.09448867] [ 0.72698456 -0.05816407 0.68418593 29.66951091] [ 0. 0. 0. 1. ]] SLAMing on 79.800371743 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:51.96, Y:33.11, Z:29.70 [[ 9.63453698e-02 -9.83914117e-01 -1.50434635e-01 5.19642307e+01] [ 6.80217696e-01 1.75423435e-01 -7.11709565e-01 3.31094964e+01] [ 7.26650849e-01 -3.37583793e-02 6.86177029e-01 2.96986612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:51.97, Y:33.13, Z:29.72 [[ 9.50977826e-02 -9.82385227e-01 -1.60859186e-01 5.19700731e+01] [ 6.80443938e-01 1.82096513e-01 -7.09814699e-01 3.31312065e+01] [ 7.26603371e-01 -4.19538543e-02 6.85775047e-01 2.97177822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860371743 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:51.97, Y:33.15, Z:29.74 [[ 9.35791693e-02 -9.81288742e-01 -1.68271639e-01 5.19746453e+01] [ 6.80073456e-01 1.86440834e-01 -7.09041543e-01 3.31488505e+01] [ 7.27147188e-01 -4.80855563e-02 6.84795405e-01 2.97356580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890371743 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:51.97, Y:33.17, Z:29.76 [[ 9.06998761e-02 -9.84590357e-01 -1.49517093e-01 5.19675983e+01] [ 6.79683677e-01 1.70933361e-01 -7.13310511e-01 3.31657703e+01] [ 7.27876110e-01 -3.69271524e-02 6.84713629e-01 2.97611486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920371743 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:51.97, Y:33.19, Z:29.78 [[ 8.85531633e-02 -9.83470009e-01 -1.57940112e-01 5.19746469e+01] [ 6.79601354e-01 1.75577592e-01 -7.12260141e-01 3.31870525e+01] [ 7.28217232e-01 -4.42634255e-02 6.83915501e-01 2.97795152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.950371743 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:51.98, Y:33.21, Z:29.80 [[ 8.55579800e-02 -9.83430150e-01 -1.59827946e-01 5.19778438e+01] [ 6.79054552e-01 1.74944613e-01 -7.12937093e-01 3.32057983e+01] [ 7.29084870e-01 -4.75344367e-02 6.82770627e-01 2.97991362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.980371743 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:51.98, Y:33.22, Z:29.82 [[ 0.08027841 -0.98343861 -0.16249272 51.97957709] [ 0.67809089 0.17336584 -0.71423877 33.22269135] [ 0.73058067 -0.05284688 0.6807783 29.81895391] [ 0. 0. 0. 1. ]] SLAMing on 80.010371743 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:51.98, Y:33.24, Z:29.84 [[ 7.78179339e-02 -9.85402919e-01 -1.51411546e-01 5.19760888e+01] [ 6.77923252e-01 1.63657771e-01 -7.16684169e-01 3.32393785e+01] [ 7.31002349e-01 -4.68745264e-02 6.80763061e-01 2.98423736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:51.98, Y:33.26, Z:29.86 [[ 7.57533474e-02 -9.86416441e-01 -1.45753339e-01 5.19760042e+01] [ 6.77932047e-01 1.58141987e-01 -7.17913122e-01 3.32584006e+01] [ 7.31211029e-01 -4.44265372e-02 6.80703102e-01 2.98642712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070371743 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:51.98, Y:33.28, Z:29.88 [[ 0.07416091 -0.98482698 -0.15689479 51.98337802] [ 0.6778815 0.16517412 -0.71637573 33.27797596] [ 0.73142111 -0.053229 0.67984545 29.88214411] [ 0. 0. 0. 1. ]] SLAMing on 80.100371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:51.98, Y:33.30, Z:29.91 [[ 7.36146787e-02 -9.86844687e-01 -1.43939022e-01 5.19790496e+01] [ 6.78505267e-01 1.55337362e-01 -7.17983918e-01 3.32959144e+01] [ 7.30897723e-01 -4.48092289e-02 6.81014428e-01 2.99061004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130371743 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:51.99, Y:33.32, Z:29.92 [[ 0.07398676 -0.98486723 -0.15672427 51.98770483] [ 0.67940569 0.16482094 -0.71501186 33.31620858] [ 0.73002319 -0.05357795 0.68131897 29.92234904] [ 0. 0. 0. 1. ]] SLAMing on 80.160371743 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:51.99, Y:33.33, Z:29.95 [[ 7.36472511e-02 -9.86202675e-01 -1.48257767e-01 5.19852629e+01] [ 6.79759553e-01 1.58418797e-01 -7.16121801e-01 3.33337512e+01] [ 7.29728054e-01 -4.80392314e-02 6.82047799e-01 2.99463456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190371743 meters Centerline goodness : 0.993370 Centerline is valid? [True, True] Translation: X:51.99, Y:33.35, Z:29.96 [[ 7.48252175e-02 -9.85228980e-01 -1.54029360e-01 5.19896880e+01] [ 6.79800740e-01 1.63404940e-01 -7.14961383e-01 3.33512012e+01] [ 7.29569833e-01 -5.12121318e-02 6.81986200e-01 2.99630136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220371743 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:51.99, Y:33.37, Z:29.99 [[ 7.27452343e-02 -9.87559288e-01 -1.39408690e-01 5.19853379e+01] [ 6.79628203e-01 1.51385859e-01 -7.17765859e-01 3.33697464e+01] [ 7.29940845e-01 -4.25320320e-02 6.82185744e-01 2.99906275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250371743 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:51.99, Y:33.39, Z:30.01 [[ 7.35697636e-02 -9.86068170e-01 -1.49187984e-01 5.19916556e+01] [ 6.80840413e-01 1.58969248e-01 -7.14972105e-01 3.33917755e+01] [ 7.28727536e-01 -4.89728797e-02 6.83050390e-01 3.00069247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280371743 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:52.00, Y:33.41, Z:30.03 [[ 7.35817529e-02 -9.85698211e-01 -1.51607267e-01 5.19953930e+01] [ 6.80568930e-01 1.60750250e-01 -7.14832350e-01 3.34124388e+01] [ 7.28979874e-01 -5.05805780e-02 6.82663862e-01 3.00275227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.310371743 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:52.00, Y:33.43, Z:30.04 [[ 0.07401835 -0.98475505 -0.15741275 51.99977144] [ 0.68063428 0.16525092 -0.71374302 33.43118221] [ 0.72887465 -0.05431043 0.68248965 30.04430883] [ 0. 0. 0. 1. ]] SLAMing on 80.340371743 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:52.00, Y:33.45, Z:30.07 [[ 7.35033866e-02 -9.85914363e-01 -1.50233555e-01 5.19979499e+01] [ 6.79386589e-01 1.59781060e-01 -7.16173076e-01 3.34491613e+01] [ 7.30089799e-01 -4.94255160e-02 6.81561445e-01 3.00678082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37037174299999 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:52.00, Y:33.47, Z:30.09 [[ 7.36409438e-02 -9.85762222e-01 -1.51161682e-01 5.19993488e+01] [ 6.78198147e-01 1.60629572e-01 -7.17109067e-01 3.34690091e+01] [ 7.31180063e-01 -4.97089840e-02 6.80371025e-01 3.00888202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400371743 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:52.00, Y:33.49, Z:30.11 [[ 7.48248488e-02 -9.85550056e-01 -1.51961604e-01 5.20019641e+01] [ 6.79154550e-01 1.61948057e-01 -7.15906366e-01 3.34883880e+01] [ 7.30171446e-01 -4.96378295e-02 6.81458543e-01 3.01074388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:52.00, Y:33.51, Z:30.13 [[ 0.0734621 -0.98475667 -0.15766302 52.00410511] [ 0.67786628 0.16526167 -0.71636994 33.50762727] [ 0.73150573 -0.0542484 0.6796738 30.1270666 ] [ 0. 0. 0. 1. ]] SLAMing on 80.460371743 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:52.00, Y:33.53, Z:30.15 [[ 7.40177602e-02 -9.88252489e-01 -1.33710091e-01 5.19969994e+01] [ 6.78022951e-01 1.48190854e-01 -7.19947462e-01 3.35260608e+01] [ 7.31304485e-01 -3.73696116e-02 6.81026624e-01 3.01546915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490371743 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:52.02, Y:33.55, Z:30.16 [[ 0.07081753 -0.98115458 -0.17977922 52.01820481] [ 0.67737116 0.17960529 -0.71337946 33.54739906] [ 0.73222483 -0.07125749 0.67732501 30.16175467] [ 0. 0. 0. 1. ]] SLAMing on 80.520371743 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:52.00, Y:33.56, Z:30.19 [[ 6.86376036e-02 -9.87593261e-01 -1.41238912e-01 5.20008472e+01] [ 6.75248344e-01 1.50204473e-01 -7.22134538e-01 3.35584782e+01] [ 7.34389919e-01 -4.58057576e-02 6.77180389e-01 3.01948272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550371743 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:52.00, Y:33.58, Z:30.22 [[ 6.81832642e-02 -9.88273267e-01 -1.36627204e-01 5.20008542e+01] [ 6.76389590e-01 1.46458350e-01 -7.21835906e-01 3.35795384e+01] [ 7.33381323e-01 -4.31960905e-02 6.78443758e-01 3.02161988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580371743 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:52.01, Y:33.60, Z:30.23 [[ 0.06665951 -0.986424 -0.15008067 52.00961579] [ 0.67606184 0.15527683 -0.7202982 33.60132895] [ 0.73382348 -0.05344909 0.6772343 30.23447197] [ 0. 0. 0. 1. ]] SLAMing on 80.610371743 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:52.01, Y:33.62, Z:30.25 [[ 0.06477603 -0.98609415 -0.15304379 52.01140345] [ 0.67581173 0.1561912 -0.72033521 33.61876235] [ 0.73422243 -0.05676833 0.67653143 30.25331848] [ 0. 0. 0. 1. ]] SLAMing on 80.640371743 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:52.01, Y:33.64, Z:30.28 [[ 6.43846300e-02 -9.87694150e-01 -1.42530295e-01 5.20088790e+01] [ 6.75694407e-01 1.48252775e-01 -7.22120615e-01 3.36362107e+01] [ 7.34364819e-01 -4.98134548e-02 6.76924614e-01 3.02776710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670371743 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:52.01, Y:33.66, Z:30.30 [[ 0.06372829 -0.98680714 -0.14883003 52.01350294] [ 0.6750637 0.15246264 -0.72183388 33.65601964] [ 0.73500184 -0.05446851 0.67587386 30.29724928] [ 0. 0. 0. 1. ]] SLAMing on 80.700371743 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:52.01, Y:33.68, Z:30.32 [[ 6.58276960e-02 -9.88581111e-01 -1.35551100e-01 5.20102571e+01] [ 6.75468210e-01 1.44136187e-01 -7.23164889e-01 3.36754490e+01] [ 7.34444969e-01 -4.39561804e-02 6.77243267e-01 3.03211806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.730371743 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:52.02, Y:33.70, Z:30.34 [[ 0.06601971 -0.9863517 -0.15083674 52.02002324] [ 0.67539153 0.15544744 -0.72088999 33.69801683] [ 0.73449825 -0.05428091 0.67643618 30.33783957] [ 0. 0. 0. 1. ]] SLAMing on 80.760371743 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:52.02, Y:33.71, Z:30.36 [[ 0.0638391 -0.98491029 -0.16086107 52.02427434] [ 0.67294304 0.16151411 -0.72184546 33.71473171] [ 0.73693435 -0.06216838 0.67309944 30.35756703] [ 0. 0. 0. 1. ]] SLAMing on 80.790371743 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:52.01, Y:33.73, Z:30.39 [[ 6.87578178e-02 -9.90979056e-01 -1.15034223e-01 5.20089804e+01] [ 6.75906957e-01 1.31083318e-01 -7.25235789e-01 3.37313290e+01] [ 7.33772545e-01 -2.78868014e-02 6.78822641e-01 3.03886175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820371743 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:52.04, Y:33.76, Z:30.39 [[ 0.06606522 -0.9818317 -0.17788171 52.03830004] [ 0.67562366 0.17520408 -0.71612583 33.75705124] [ 0.73428064 -0.07287008 0.67492362 30.39071679] [ 0. 0. 0. 1. ]] SLAMing on 80.850371743 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:52.02, Y:33.77, Z:30.42 [[ 6.50054903e-02 -9.87754214e-01 -1.41830528e-01 5.20230456e+01] [ 6.74299895e-01 1.48252137e-01 -7.23423082e-01 3.37682105e+01] [ 7.35590876e-01 -4.86098379e-02 6.75679766e-01 3.04217879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880371743 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:52.03, Y:33.79, Z:30.44 [[ 6.43592512e-02 -9.87193552e-01 -1.45968410e-01 5.20277635e+01] [ 6.74037382e-01 1.50866332e-01 -7.23127207e-01 3.37870382e+01] [ 7.35888235e-01 -5.18482397e-02 6.75115002e-01 3.04396390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910371743 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:52.03, Y:33.81, Z:30.46 [[ 6.35217230e-02 -9.87736088e-01 -1.42626828e-01 5.20289981e+01] [ 6.73433252e-01 1.47896416e-01 -7.24302634e-01 3.38056538e+01] [ 7.36513846e-01 -5.00406975e-02 6.74568961e-01 3.04621843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940371743 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:52.03, Y:33.82, Z:30.48 [[ 0.0629595 -0.98737204 -0.14537042 52.03296041] [ 0.67366378 0.14951429 -0.72375589 33.82442731] [ 0.73635129 -0.05236348 0.67457012 30.48122267] [ 0. 0. 0. 1. ]] SLAMing on 80.970371743 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:52.04, Y:33.84, Z:30.50 [[ 0.06052722 -0.98494446 -0.16192856 52.04049337] [ 0.67073104 0.16027538 -0.72417655 33.8404296 ] [ 0.73922684 -0.06477812 0.67033385 30.50021488] [ 0. 0. 0. 1. ]] SLAMing on 81.000371743 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:52.03, Y:33.85, Z:30.52 [[ 0.05398897 -0.98692686 -0.15185707 52.02763293] [ 0.66814278 0.14872309 -0.72901761 33.84542096] [ 0.74207171 -0.0621033 0.66743746 30.52081604] [ 0. 0. 0. 1. ]] SLAMing on 81.030371743 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:52.01, Y:33.85, Z:30.55 [[ 5.40967004e-02 -9.92021853e-01 -1.13869183e-01 5.20117810e+01] [ 6.66727071e-01 1.20776502e-01 -7.35450916e-01 3.38543518e+01] [ 7.43336102e-01 -3.61341991e-02 6.67941434e-01 3.05534690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.060371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:52.01, Y:33.88, Z:30.58 [[ 5.99140877e-02 -9.94595794e-01 -8.47909745e-02 5.20101041e+01] [ 6.71215349e-01 1.03014432e-01 -7.34069467e-01 3.38776824e+01] [ 7.38837098e-01 -1.29319012e-02 6.73759979e-01 3.05819834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.090371743 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:52.04, Y:33.90, Z:30.58 [[ 0.05275347 -0.98510107 -0.16368555 52.04205916] [ 0.66923556 0.15653381 -0.7263752 33.90403448] [ 0.74117531 -0.07122538 0.66752237 30.5793147 ] [ 0. 0. 0. 1. ]] SLAMing on 81.12037174299999 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:52.02, Y:33.91, Z:30.62 [[ 5.68805405e-02 -9.93707676e-01 -9.64865705e-02 5.20192163e+01] [ 6.69771520e-01 1.09649266e-01 -7.34427090e-01 3.39134614e+01] [ 7.40385518e-01 -2.28493471e-02 6.71794010e-01 3.06199342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150371743 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:52.04, Y:33.94, Z:30.63 [[ 5.55168074e-02 -9.89760025e-01 -1.31502765e-01 5.20389416e+01] [ 6.70571144e-01 1.34542572e-01 -7.29542759e-01 3.39410595e+01] [ 7.39764980e-01 -4.76800747e-02 6.71173886e-01 3.06305908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180371743 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:52.05, Y:33.96, Z:30.65 [[ 5.08175885e-02 -9.88639572e-01 -1.41454475e-01 5.20453128e+01] [ 6.68294934e-01 1.38915725e-01 -7.30810716e-01 3.39583695e+01] [ 7.42158645e-01 -5.73952708e-02 6.67762180e-01 3.06497865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:52.04, Y:33.97, Z:30.68 [[ 5.02686871e-02 -9.92230776e-01 -1.13803099e-01 5.20366001e+01] [ 6.68501658e-01 1.18085031e-01 -7.34276146e-01 3.39726480e+01] [ 7.42009833e-01 -3.91664624e-02 6.69243899e-01 3.06771498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:52.04, Y:33.99, Z:30.69 [[ 4.90030916e-02 -9.91130264e-01 -1.23529334e-01 5.20448721e+01] [ 6.68904753e-01 1.24411973e-01 -7.32862942e-01 3.39929617e+01] [ 7.41731170e-01 -4.67168086e-02 6.69068316e-01 3.06934381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:52.05, Y:34.01, Z:30.71 [[ 4.84940998e-02 -9.91137748e-01 -1.23670074e-01 5.20476106e+01] [ 6.68846016e-01 1.24180305e-01 -7.32955837e-01 3.40119491e+01] [ 7.41817585e-01 -4.71722026e-02 6.68940546e-01 3.07143014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300371743 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:52.05, Y:34.03, Z:30.73 [[ 4.72855398e-02 -9.90849254e-01 -1.26419280e-01 5.20527743e+01] [ 6.68688747e-01 1.25418221e-01 -7.32888552e-01 3.40302402e+01] [ 7.42037355e-01 -4.98801189e-02 6.68500215e-01 3.07326368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:52.05, Y:34.05, Z:30.75 [[ 4.56432221e-02 -9.91160551e-01 -1.24569089e-01 5.20540738e+01] [ 6.68269130e-01 1.22983346e-01 -7.33683492e-01 3.40473747e+01] [ 7.42518058e-01 -4.97579983e-02 6.67975356e-01 3.07538558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360371743 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:52.05, Y:34.07, Z:30.78 [[ 4.55526006e-02 -9.92478121e-01 -1.13631594e-01 5.20525968e+01] [ 6.68800740e-01 1.14794394e-01 -7.34525572e-01 3.40654901e+01] [ 7.42044830e-01 -4.25373442e-02 6.68999286e-01 3.07781501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390371743 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:52.06, Y:34.09, Z:30.80 [[ 4.48963860e-02 -9.91679815e-01 -1.20646009e-01 5.20584421e+01] [ 6.69471892e-01 1.19504203e-01 -7.33161736e-01 3.40860034e+01] [ 7.41479400e-01 -4.78527994e-02 6.69267069e-01 3.07967710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420371743 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:52.06, Y:34.11, Z:30.82 [[ 4.49777269e-02 -9.91173348e-01 -1.24709255e-01 5.20627613e+01] [ 6.69680134e-01 1.22548014e-01 -7.32468773e-01 3.41057956e+01] [ 7.41286397e-01 -5.05705300e-02 6.69281031e-01 3.08172612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.450371743 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:52.06, Y:34.12, Z:30.84 [[ 4.53105351e-02 -9.92098966e-01 -1.16989730e-01 5.20618761e+01] [ 6.70570700e-01 1.17010365e-01 -7.32559561e-01 3.41236263e+01] [ 7.40460594e-01 -4.52572193e-02 6.70574301e-01 3.08409987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.480371743 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:52.07, Y:34.14, Z:30.86 [[ 4.52141486e-02 -9.90874078e-01 -1.26981266e-01 5.20687055e+01] [ 6.71033996e-01 1.24289497e-01 -7.30934673e-01 3.41437776e+01] [ 7.40046658e-01 -5.21601574e-02 6.70529836e-01 3.08587990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510371743 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:52.07, Y:34.16, Z:30.88 [[ 4.53731762e-02 -9.91196770e-01 -1.24379411e-01 5.20697390e+01] [ 6.71020768e-01 1.22477313e-01 -7.31252649e-01 3.41624788e+01] [ 7.40048920e-01 -5.02819126e-02 6.70670803e-01 3.08809144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540371743 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:52.07, Y:34.18, Z:30.90 [[ 4.51757604e-02 -9.91365483e-01 -1.23100078e-01 5.20711720e+01] [ 6.70966843e-01 1.21405067e-01 -7.31480899e-01 3.41811601e+01] [ 7.40109888e-01 -4.95508649e-02 6.70657935e-01 3.09021801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570371743 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:52.07, Y:34.20, Z:30.92 [[ 4.60210190e-02 -9.91457910e-01 -1.22038022e-01 5.20729363e+01] [ 6.71585263e-01 1.21146316e-01 -7.30956089e-01 3.41996489e+01] [ 7.39496653e-01 -4.83195933e-02 6.71423798e-01 3.09221816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600371743 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:52.08, Y:34.22, Z:30.94 [[ 4.80028143e-02 -9.91224811e-01 -1.23162913e-01 5.20761476e+01] [ 6.72229913e-01 1.23260650e-01 -7.30009422e-01 3.42189230e+01] [ 7.38784592e-01 -4.77512877e-02 6.72247827e-01 3.09407152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630371743 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:52.08, Y:34.24, Z:30.96 [[ 4.97082181e-02 -9.91743770e-01 -1.18209088e-01 5.20768663e+01] [ 6.69702803e-01 1.20902270e-01 -7.32721500e-01 3.42375391e+01] [ 7.40963729e-01 -4.27426775e-02 6.70183419e-01 3.09645003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660371743 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:52.08, Y:34.26, Z:30.98 [[ 5.12191579e-02 -9.90472015e-01 -1.27834995e-01 5.20834310e+01] [ 6.70098347e-01 1.28995468e-01 -7.30977684e-01 3.42568846e+01] [ 7.40503075e-01 -4.82219572e-02 6.70320699e-01 3.09815739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690371743 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:52.09, Y:34.27, Z:31.00 [[ 5.04310481e-02 -9.90268873e-01 -1.29708396e-01 5.20851469e+01] [ 6.68366889e-01 1.29968210e-01 -7.32389218e-01 3.42732062e+01] [ 7.42120214e-01 -4.97576410e-02 6.68417359e-01 3.10045330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720371743 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:52.08, Y:34.29, Z:31.03 [[ 5.04556832e-02 -9.92272964e-01 -1.13351617e-01 5.20789104e+01] [ 6.69927176e-01 1.17801057e-01 -7.33021480e-01 3.42894500e+01] [ 7.40710336e-01 -3.89522294e-02 6.70694358e-01 3.10292448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:52.09, Y:34.30, Z:31.04 [[ 4.49999232e-02 -9.89612543e-01 -1.36535786e-01 5.20851938e+01] [ 6.67057755e-01 1.31506294e-01 -7.33307607e-01 3.43049146e+01] [ 7.43645721e-01 -5.80784690e-02 6.66046494e-01 3.10417830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780371743 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:52.08, Y:34.32, Z:31.08 [[ 4.84998140e-02 -9.94046021e-01 -9.75719055e-02 5.20751491e+01] [ 6.66151146e-01 1.04979515e-01 -7.38391463e-01 3.43195927e+01] [ 7.44238147e-01 -2.91857880e-02 6.67276382e-01 3.10758758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.810371743 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:52.09, Y:34.34, Z:31.08 [[ 4.33808271e-02 -9.91187258e-01 -1.25163584e-01 5.20859812e+01] [ 6.63386780e-01 1.22254188e-01 -7.38222117e-01 3.43397092e+01] [ 7.47018129e-01 -5.10071808e-02 6.62844011e-01 3.10846223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.840371743 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:52.08, Y:34.36, Z:31.12 [[ 4.71372297e-02 -9.94764486e-01 -9.06735812e-02 5.20789906e+01] [ 6.64662133e-01 9.89975328e-02 -7.40556370e-01 3.43573026e+01] [ 7.45655638e-01 -2.53595201e-02 6.65848755e-01 3.11160815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87037174299999 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:52.10, Y:34.38, Z:31.13 [[ 4.39580776e-02 -9.90870101e-01 -1.27452463e-01 5.20965345e+01] [ 6.64473926e-01 1.24264204e-01 -7.36907598e-01 3.43813053e+01] [ 7.46017485e-01 -5.22957971e-02 6.63869762e-01 3.11269490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:52.09, Y:34.40, Z:31.15 [[ 4.43799360e-02 -9.93655743e-01 -1.03337722e-01 5.20887432e+01] [ 6.66163843e-01 1.06519806e-01 -7.38159377e-01 3.43973733e+01] [ 7.44483818e-01 -3.60803882e-02 6.66664871e-01 3.11536989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:52.10, Y:34.42, Z:31.17 [[ 4.24842301e-02 -9.91156653e-01 -1.25712286e-01 5.21001609e+01] [ 6.66595651e-01 1.21845351e-01 -7.35393737e-01 3.44186841e+01] [ 7.44207853e-01 -5.25566262e-02 6.65877220e-01 3.11678867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960371743 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:52.09, Y:34.43, Z:31.19 [[ 4.18552860e-02 -9.93887882e-01 -1.02151916e-01 5.20934483e+01] [ 6.69543123e-01 1.03789602e-01 -7.35486047e-01 3.44346709e+01] [ 7.41592976e-01 -3.76111342e-02 6.69794940e-01 3.11942534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990371743 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:52.11, Y:34.46, Z:31.21 [[ 4.17611107e-02 -9.91818080e-01 -1.20635426e-01 5.21058826e+01] [ 6.71618725e-01 1.17258884e-01 -7.31559049e-01 3.44579475e+01] [ 7.39719067e-01 -5.04702926e-02 6.71020456e-01 3.12085713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020371743 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:52.11, Y:34.48, Z:31.23 [[ 4.20032243e-02 -9.92395131e-01 -1.15704938e-01 5.21075419e+01] [ 6.72450203e-01 1.13731042e-01 -7.31352155e-01 3.44772956e+01] [ 7.38949561e-01 -4.70866602e-02 6.72113378e-01 3.12307599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:52.12, Y:34.50, Z:31.25 [[ 4.06275734e-02 -9.90465965e-01 -1.31630442e-01 5.21180400e+01] [ 6.73090276e-01 1.24492445e-01 -7.29006935e-01 3.44971774e+01] [ 7.38443553e-01 -5.89813876e-02 6.71730835e-01 3.12466696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080371743 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:52.11, Y:34.51, Z:31.27 [[ 3.90331568e-02 -9.93291016e-01 -1.08854814e-01 5.21103971e+01] [ 6.72243488e-01 1.06702723e-01 -7.32600315e-01 3.45119321e+01] [ 7.39300416e-01 -4.45812367e-02 6.71898361e-01 3.12749163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110371743 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:52.12, Y:34.53, Z:31.29 [[ 3.95521447e-02 -9.91695316e-01 -1.22376583e-01 5.21203543e+01] [ 6.73873603e-01 1.16902560e-01 -7.29539690e-01 3.45336858e+01] [ 7.37787229e-01 -5.36114898e-02 6.72901042e-01 3.12901766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140371743 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:52.12, Y:34.55, Z:31.31 [[ 3.70236252e-02 -9.92426706e-01 -1.17125932e-01 5.21200571e+01] [ 6.72715643e-01 1.11423528e-01 -7.31463233e-01 3.45509235e+01] [ 7.38974231e-01 -5.17110260e-02 6.71746273e-01 3.13135417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170371743 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:52.13, Y:34.57, Z:31.33 [[ 3.37795059e-02 -9.92355440e-01 -1.18699729e-01 5.21251845e+01] [ 6.71013739e-01 1.10537292e-01 -7.33158966e-01 3.45701179e+01] [ 7.40675034e-01 -5.48834011e-02 6.69618030e-01 3.13343704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.200371743 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:52.13, Y:34.59, Z:31.35 [[ 3.10202814e-02 -9.91697456e-01 -1.24795426e-01 5.21307692e+01] [ 6.69970146e-01 1.13284842e-01 -7.33693770e-01 3.45878517e+01] [ 7.41739675e-01 -6.08498228e-02 6.67921816e-01 3.13537095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.230371743 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:52.13, Y:34.60, Z:31.38 [[ 2.94575070e-02 -9.93079019e-01 -1.13693963e-01 5.21308997e+01] [ 6.69848977e-01 1.04036799e-01 -7.35172559e-01 3.46043830e+01] [ 7.41912800e-01 -5.45014340e-02 6.68277630e-01 3.13757419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260371743 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:52.14, Y:34.62, Z:31.39 [[ 2.85681339e-02 -9.91935109e-01 -1.23485226e-01 5.21377104e+01] [ 6.69715508e-01 1.10703011e-01 -7.34320081e-01 3.46225123e+01] [ 7.42068056e-01 -6.17218162e-02 6.67476904e-01 3.13928838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:52.13, Y:34.64, Z:31.42 [[ 2.66830509e-02 -9.94140848e-01 -1.04747267e-01 5.21313245e+01] [ 6.68436391e-01 9.56571767e-02 -7.37592364e-01 3.46374507e+01] [ 7.43290526e-01 -5.03356707e-02 6.67072345e-01 3.14205841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320371743 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:52.14, Y:34.65, Z:31.43 [[ 2.07267105e-02 -9.91087272e-01 -1.31591877e-01 5.21395283e+01] [ 6.66055075e-01 1.11846955e-01 -7.37469251e-01 3.46520239e+01] [ 7.45614539e-01 -7.23621255e-02 6.62436927e-01 3.14328665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350371743 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:52.12, Y:34.66, Z:31.47 [[ 2.52362052e-02 -9.96771278e-01 -7.62243588e-02 5.21229566e+01] [ 6.67201965e-01 7.35753053e-02 -7.41234250e-01 3.46640350e+01] [ 7.44449241e-01 -3.21511023e-02 6.66904517e-01 3.14694344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380371743 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:52.14, Y:34.69, Z:31.48 [[ 2.58627066e-02 -9.93764813e-01 -1.08455602e-01 5.21420064e+01] [ 6.69261709e-01 9.78029968e-02 -7.36561836e-01 3.46912678e+01] [ 7.42576518e-01 -5.35356992e-02 6.67618187e-01 3.14798055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410371743 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:52.15, Y:34.71, Z:31.50 [[ 2.44385107e-02 -9.93007321e-01 -1.15495540e-01 5.21485173e+01] [ 6.69142249e-01 1.02081736e-01 -7.36089648e-01 3.47104827e+01] [ 7.42732394e-01 -5.92940107e-02 6.66957878e-01 3.14991353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:52.15, Y:34.72, Z:31.52 [[ 1.92903149e-02 -9.91848154e-01 -1.25956828e-01 5.21486660e+01] [ 6.66542387e-01 1.06657920e-01 -7.37797624e-01 3.47217628e+01] [ 7.45217505e-01 -6.97232162e-02 6.63166302e-01 3.15159030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:52.13, Y:34.74, Z:31.55 [[ 2.41567449e-02 -9.97302905e-01 -6.93063256e-02 5.21325314e+01] [ 6.68281407e-01 6.76698307e-02 -7.40824375e-01 3.47358768e+01] [ 7.43516249e-01 -2.84202234e-02 6.68113672e-01 3.15528386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500371743 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:52.16, Y:34.76, Z:31.56 [[ 1.83381292e-02 -9.90952206e-01 -1.32956526e-01 5.21572571e+01] [ 6.67419377e-01 1.11146177e-01 -7.36340887e-01 3.47598623e+01] [ 7.44456237e-01 -7.52346477e-02 6.63418917e-01 3.15551342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:52.14, Y:34.77, Z:31.59 [[ 2.34986765e-02 -9.97560965e-01 -6.57261934e-02 5.21368985e+01] [ 6.69295087e-01 6.45347387e-02 -7.40188729e-01 3.47716730e+01] [ 7.42625006e-01 -2.65967628e-02 6.69179134e-01 3.15948581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.560371743 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:52.16, Y:34.80, Z:31.60 [[ 1.78107692e-02 -9.90805627e-01 -1.34115573e-01 5.21638046e+01] [ 6.67772143e-01 1.11622048e-01 -7.35948968e-01 3.47966842e+01] [ 7.44152633e-01 -7.64508265e-02 6.63620471e-01 3.15961489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.590371743 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:52.15, Y:34.80, Z:31.63 [[ 1.75091910e-02 -9.95856576e-01 -8.92362540e-02 5.21452170e+01] [ 6.65424032e-01 7.82202061e-02 -7.42356018e-01 3.48029528e+01] [ 7.46260200e-01 -4.63818947e-02 6.64036470e-01 3.16296334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62037174299999 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:52.15, Y:34.83, Z:31.66 [[ 2.21456104e-02 -9.97444838e-01 -6.79217759e-02 5.21456039e+01] [ 6.68591370e-01 6.52868178e-02 -7.40758538e-01 3.48260830e+01] [ 7.43300177e-01 -2.90073631e-02 6.68328827e-01 3.16558932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650371743 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:52.17, Y:34.85, Z:31.66 [[ 1.58405054e-02 -9.91409303e-01 -1.29833251e-01 5.21694165e+01] [ 6.67329069e-01 1.07180039e-01 -7.37010416e-01 3.48491325e+01] [ 7.44594515e-01 -7.49668847e-02 6.63294033e-01 3.16593077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680371743 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:52.15, Y:34.86, Z:31.69 [[ 1.46075218e-02 -9.96011064e-01 -8.80260270e-02 5.21536743e+01] [ 6.65186140e-01 7.54085337e-02 -7.42859982e-01 3.48560809e+01] [ 7.46534674e-01 -4.77023498e-02 6.63634286e-01 3.16905071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:52.15, Y:34.88, Z:31.72 [[ 1.88193999e-02 -9.97991997e-01 -6.04797815e-02 5.21522342e+01] [ 6.68787373e-01 5.75307907e-02 -7.41224432e-01 3.48791486e+01] [ 7.43215500e-01 -2.64987152e-02 6.68527141e-01 3.17171176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740371743 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:52.18, Y:34.91, Z:31.73 [[ 1.93040867e-02 -9.94727412e-01 -1.00721043e-01 5.21763439e+01] [ 6.70762403e-01 8.75895233e-02 -7.36482094e-01 3.49120977e+01] [ 7.41421035e-01 -5.33427743e-02 6.68916585e-01 3.17282408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770371743 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:52.19, Y:34.93, Z:31.74 [[ 1.02050179e-02 -9.89087035e-01 -1.46978555e-01 5.21919468e+01] [ 6.67090519e-01 1.16230804e-01 -7.35853681e-01 3.49265539e+01] [ 7.44906771e-01 -9.05386003e-02 6.60996721e-01 3.17352171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800371743 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:52.17, Y:34.93, Z:31.77 [[ 1.01572359e-02 -9.96216266e-01 -8.63132736e-02 5.21655266e+01] [ 6.64380635e-01 7.12341851e-02 -7.43991978e-01 3.49295605e+01] [ 7.47325366e-01 -4.97879655e-02 6.62590338e-01 3.17721396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830371743 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:52.17, Y:34.94, Z:31.79 [[ 1.16466564e-02 -9.96507999e-01 -8.26810974e-02 5.21656886e+01] [ 6.64549095e-01 6.94976738e-02 -7.44005762e-01 3.49428987e+01] [ 7.47153837e-01 -4.62804690e-02 6.63037904e-01 3.17893741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:52.16, Y:34.96, Z:31.82 [[ 1.33268425e-02 -9.97773425e-01 -6.53497365e-02 5.21638215e+01] [ 6.66463730e-01 5.75852002e-02 -7.43310192e-01 3.49636171e+01] [ 7.45418333e-01 -3.36472513e-02 6.65747228e-01 3.18174895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890371743 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:52.18, Y:34.99, Z:31.83 [[ 1.47052133e-02 -9.94994817e-01 -9.88386083e-02 5.21829303e+01] [ 6.69029708e-01 8.32529840e-02 -7.38558184e-01 3.49914967e+01] [ 7.43090174e-01 -5.52653096e-02 6.66905345e-01 3.18288051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920371743 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:52.18, Y:35.01, Z:31.85 [[ 1.63835671e-02 -9.96152877e-01 -8.60873124e-02 5.21818408e+01] [ 6.70765199e-01 7.48001037e-02 -7.37888198e-01 3.50127060e+01] [ 7.41488791e-01 -4.56551323e-02 6.69410175e-01 3.18524425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.950371743 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:52.20, Y:35.04, Z:31.86 [[ 1.74945103e-02 -9.93038587e-01 -1.16483074e-01 5.21988990e+01] [ 6.73274430e-01 9.78291732e-02 -7.32892212e-01 3.50378750e+01] [ 7.39185690e-01 -6.56034846e-02 6.70298962e-01 3.18627152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.980371743 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:52.20, Y:35.05, Z:31.89 [[ 1.50093331e-02 -9.94201344e-01 -1.06481959e-01 5.21961698e+01] [ 6.70834526e-01 8.89820379e-02 -7.36249439e-01 3.50537950e+01] [ 7.41455163e-01 -6.03811616e-02 6.68280148e-01 3.18875143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010371743 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:52.20, Y:35.07, Z:31.91 [[ 1.39484147e-02 -9.93806611e-01 -1.10244557e-01 5.22007190e+01] [ 6.70135234e-01 9.11205229e-02 -7.36624611e-01 3.50735913e+01] [ 7.42107950e-01 -6.36040164e-02 6.67255813e-01 3.19084835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040371743 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:52.20, Y:35.09, Z:31.93 [[ 1.19100530e-02 -9.94377502e-01 -1.05221361e-01 5.22025205e+01] [ 6.69558562e-01 8.60859461e-02 -7.37753714e-01 3.50928791e+01] [ 7.42663775e-01 -6.16651775e-02 6.66819258e-01 3.19308363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:52.20, Y:35.11, Z:31.95 [[ 1.27877942e-02 -9.95153418e-01 -9.74994720e-02 5.22037588e+01] [ 6.71089388e-01 8.08264365e-02 -7.36957340e-01 3.51133384e+01] [ 7.41266151e-01 -5.60068021e-02 6.68870490e-01 3.19518902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100371743 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:52.22, Y:35.14, Z:31.97 [[ 9.71772779e-03 -9.92711812e-01 -1.20120040e-01 5.22168141e+01] [ 6.70129215e-01 9.56244945e-02 -7.36058959e-01 3.51354762e+01] [ 7.42180841e-01 -7.33431278e-02 6.66174440e-01 3.19682502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130371743 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:52.23, Y:35.14, Z:31.98 [[-8.10339973e-05 -9.87322188e-01 -1.58728984e-01 5.22253580e+01] [ 6.63992945e-01 1.18634702e-01 -7.38267686e-01 3.51435288e+01] [ 7.47738833e-01 -1.05454750e-01 6.55565354e-01 3.19798299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160371743 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:52.19, Y:35.14, Z:32.02 [[-1.27454792e-04 -9.96962846e-01 -7.78785480e-02 5.21885154e+01] [ 6.59795354e-01 5.84376330e-02 -7.49169630e-01 3.51419388e+01] [ 7.51445324e-01 -5.14793894e-02 6.57784005e-01 3.20215576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190371743 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:52.18, Y:35.17, Z:32.05 [[ 6.63787561e-03 -9.99194314e-01 -3.95810642e-02 5.21838147e+01] [ 6.65192494e-01 3.39663053e-02 -7.45898945e-01 3.51664277e+01] [ 7.46642408e-01 -2.13778424e-02 6.64882022e-01 3.20515435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220371743 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:52.22, Y:35.20, Z:32.05 [[ 7.65694359e-03 -9.94020812e-01 -1.08921973e-01 5.22195398e+01] [ 6.68769212e-01 8.60710884e-02 -7.38471062e-01 3.52014113e+01] [ 7.43430638e-01 -6.71892308e-02 6.65429556e-01 3.20532547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250371743 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:52.22, Y:35.22, Z:32.08 [[ 6.08099298e-03 -9.94321133e-01 -1.06247379e-01 5.22195896e+01] [ 6.67068617e-01 8.31877454e-02 -7.40337261e-01 3.52183511e+01] [ 7.44971464e-01 -6.63723066e-02 6.63786287e-01 3.20761810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280371743 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:52.22, Y:35.23, Z:32.10 [[ 5.76002131e-03 -9.93727303e-01 -1.11682006e-01 5.22228112e+01] [ 6.65815256e-01 8.71392646e-02 -7.41010657e-01 3.52339069e+01] [ 7.46094409e-01 -7.00913460e-02 6.62140723e-01 3.20952972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.310371743 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:52.22, Y:35.25, Z:32.12 [[ 6.64995183e-03 -9.95458590e-01 -9.49630141e-02 5.22164359e+01] [ 6.64130403e-01 7.53928439e-02 -7.43805571e-01 3.52489437e+01] [ 7.47587176e-01 -5.81215536e-02 6.61615673e-01 3.21210605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.340371743 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:52.22, Y:35.27, Z:32.14 [[ 6.54191020e-03 -9.94635523e-01 -1.03234587e-01 5.22210578e+01] [ 6.63194846e-01 8.15814217e-02 -7.43987277e-01 3.52676697e+01] [ 7.48418199e-01 -6.35975477e-02 6.60170850e-01 3.21404752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37037174299999 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:52.22, Y:35.28, Z:32.16 [[ 3.40513863e-03 -9.93504201e-01 -1.13744486e-01 5.22208540e+01] [ 6.60004670e-01 8.76848002e-02 -7.46126807e-01 3.52782168e+01] [ 7.51253779e-01 -7.25312266e-02 6.56015991e-01 3.21569868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400371743 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:52.20, Y:35.29, Z:32.19 [[ 4.02915087e-03 -9.97229563e-01 -7.42762697e-02 5.22044793e+01] [ 6.58784479e-01 5.85275306e-02 -7.50051691e-01 3.52867833e+01] [ 7.52320927e-01 -4.59099822e-02 6.57195174e-01 3.21880574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430371743 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:52.20, Y:35.31, Z:32.22 [[ 1.30858505e-02 -9.99572523e-01 -2.61444481e-02 5.21973585e+01] [ 6.65344134e-01 2.82224986e-02 -7.46003132e-01 3.53132352e+01] [ 7.46422095e-01 -7.63296974e-03 6.65429030e-01 3.22214672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460371743 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:52.25, Y:35.34, Z:32.21 [[ 4.48631417e-03 -9.87238838e-01 -1.59183382e-01 5.22492371e+01] [ 6.63473137e-01 1.22039903e-01 -7.38179964e-01 3.53422915e+01] [ 7.48186654e-01 -1.02302190e-01 6.55553958e-01 3.22072701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490371743 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:52.21, Y:35.34, Z:32.25 [[ 4.91255972e-03 -9.97340069e-01 -7.27231238e-02 5.22101415e+01] [ 6.59447585e-01 5.79008366e-02 -7.49517428e-01 3.53389463e+01] [ 7.51734494e-01 -4.42750393e-02 6.57977942e-01 3.22500018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:52.21, Y:35.36, Z:32.27 [[ 4.90910593e-03 -9.97366284e-01 -7.23629505e-02 5.22117786e+01] [ 6.59661908e-01 5.76153284e-02 -7.49350813e-01 3.53569627e+01] [ 7.51546451e-01 -4.40564395e-02 6.58207385e-01 3.22705914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550371743 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:52.21, Y:35.38, Z:32.30 [[ 1.32506965e-02 -9.99288491e-01 -3.53119136e-02 5.22074410e+01] [ 6.64482021e-01 3.51893579e-02 -7.46475287e-01 3.53810768e+01] [ 7.47186766e-01 -1.35728143e-02 6.64475519e-01 3.23007161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:52.24, Y:35.42, Z:32.30 [[ 1.41396279e-02 -9.94288044e-01 -1.05789204e-01 5.22424133e+01] [ 6.66987668e-01 8.82007577e-02 -7.39829763e-01 3.54161994e+01] [ 7.44934576e-01 -6.00991766e-02 6.64424990e-01 3.23021868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:52.24, Y:35.43, Z:32.33 [[ 1.52455157e-02 -9.95569998e-01 -9.27790527e-02 5.22402790e+01] [ 6.67392317e-01 7.92267467e-02 -7.40479991e-01 3.54344460e+01] [ 7.44550246e-01 -5.06310276e-02 6.65643621e-01 3.23257249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640371743 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:52.25, Y:35.45, Z:32.35 [[ 1.27244591e-02 -9.94502094e-01 -1.03940718e-01 5.22467774e+01] [ 6.65195954e-01 8.60296765e-02 -7.41696190e-01 3.54539131e+01] [ 7.46560400e-01 -5.97032623e-02 6.62633450e-01 3.23459636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670371743 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:52.25, Y:35.47, Z:32.37 [[ 1.26896522e-02 -9.94451463e-01 -1.04428259e-01 5.22489306e+01] [ 6.64352837e-01 8.64379739e-02 -7.42404057e-01 3.54698461e+01] [ 7.47311368e-01 -5.99563608e-02 6.61763518e-01 3.23660437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.700371743 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:52.25, Y:35.48, Z:32.38 [[ 6.26836829e-03 -9.91614585e-01 -1.29078360e-01 5.22523935e+01] [ 6.59464041e-01 1.01132565e-01 -7.44902264e-01 3.54790703e+01] [ 7.51709975e-01 -8.04532154e-02 6.54568097e-01 3.23800920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.730371743 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:52.22, Y:35.49, Z:32.42 [[ 1.46406834e-02 -9.99347994e-01 -3.30036031e-02 5.22195085e+01] [ 6.61968395e-01 3.44252585e-02 -7.48740773e-01 3.54872645e+01] [ 7.49388747e-01 -1.08852656e-02 6.62040797e-01 3.24239410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760371743 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:52.25, Y:35.52, Z:32.43 [[ 1.39985057e-02 -9.95793425e-01 -9.05510676e-02 5.22477593e+01] [ 6.61561454e-01 7.71286234e-02 -7.45913948e-01 3.55198061e+01] [ 7.49760284e-01 -4.94634154e-02 6.59858232e-01 3.24326596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790371743 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:52.25, Y:35.54, Z:32.45 [[ 1.65733611e-02 -9.96035611e-01 -8.73978516e-02 5.22493389e+01] [ 6.62825172e-01 7.63878966e-02 -7.44867559e-01 3.55381999e+01] [ 7.48590753e-01 -4.55845370e-02 6.61463480e-01 3.24523722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820371743 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:52.25, Y:35.56, Z:32.47 [[ 1.81965548e-02 -9.95407090e-01 -9.39872921e-02 5.22540502e+01] [ 6.61763618e-01 8.24565083e-02 -7.45164303e-01 3.55563064e+01] [ 7.49491694e-01 -4.86379474e-02 6.60224622e-01 3.24715303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:52.25, Y:35.57, Z:32.50 [[ 1.90694880e-02 -9.96606763e-01 -8.00706858e-02 5.22493054e+01] [ 6.61069218e-01 7.26495190e-02 -7.46799529e-01 3.55733743e+01] [ 7.50082558e-01 -3.86911810e-02 6.60211442e-01 3.24974689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880371743 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:52.26, Y:35.59, Z:32.52 [[ 1.78333744e-02 -9.95113123e-01 -9.71176787e-02 5.22575468e+01] [ 6.59518535e-01 8.47125807e-02 -7.46899646e-01 3.55929303e+01] [ 7.51476728e-01 -5.07311681e-02 6.57806260e-01 3.25159638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910371743 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:52.25, Y:35.61, Z:32.54 [[ 1.88980653e-02 -9.96286598e-01 -8.39992689e-02 5.22548539e+01] [ 6.60244199e-01 7.55257375e-02 -7.47243910e-01 3.56087802e+01] [ 7.50813200e-01 -4.13385658e-02 6.59219737e-01 3.25395797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940371743 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:52.26, Y:35.63, Z:32.56 [[ 1.79106071e-02 -9.96128972e-01 -8.60597560e-02 5.22583135e+01] [ 6.60160742e-01 7.64258245e-02 -7.47226129e-01 3.56281315e+01] [ 7.50910784e-01 -4.34299987e-02 6.58974074e-01 3.25605692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970371743 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:52.26, Y:35.65, Z:32.58 [[ 1.77238297e-02 -9.95594691e-01 -9.20710474e-02 5.22633781e+01] [ 6.60720911e-01 8.07764654e-02 -7.46272765e-01 3.56462104e+01] [ 7.50422377e-01 -4.76064550e-02 6.59241899e-01 3.25795028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000371743 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:52.26, Y:35.66, Z:32.60 [[ 1.58509065e-02 -9.96698835e-01 -7.96252494e-02 5.22614373e+01] [ 6.60801951e-01 7.02075955e-02 -7.47269480e-01 3.56642824e+01] [ 7.50392917e-01 -4.07716215e-02 6.59733389e-01 3.26045088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030371743 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:52.27, Y:35.68, Z:32.62 [[ 1.29943327e-02 -9.94096467e-01 -1.07718903e-01 5.22742359e+01] [ 6.59919881e-01 8.94606820e-02 -7.45990977e-01 3.56832634e+01] [ 7.51223601e-01 -6.13921904e-02 6.57186504e-01 3.26185255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.060371743 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:52.26, Y:35.70, Z:32.65 [[ 8.44279158e-03 -9.96764651e-01 -7.99309006e-02 5.22632420e+01] [ 6.57736612e-01 6.57438620e-02 -7.50373437e-01 3.56955154e+01] [ 7.53200683e-01 -4.62382332e-02 6.56163666e-01 3.26479854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.090371743 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:52.27, Y:35.71, Z:32.66 [[-6.98737124e-05 -9.93497073e-01 -1.13857633e-01 5.22720366e+01] [ 6.53815083e-01 8.61054880e-02 -7.51739106e-01 3.57083950e+01] [ 7.56654368e-01 -7.44943642e-02 6.49557354e-01 3.26590665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12037174299999 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:52.25, Y:35.71, Z:32.69 [[-1.85154246e-03 -9.98207848e-01 -5.98135753e-02 5.22489521e+01] [ 6.51693273e-01 4.41630980e-02 -7.57195812e-01 3.57126607e+01] [ 7.58480355e-01 -4.03820849e-02 6.50443570e-01 3.26925605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150371743 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:52.25, Y:35.73, Z:32.71 [[-3.94409256e-03 -9.98221136e-01 -5.94895683e-02 5.22507189e+01] [ 6.51306522e-01 4.25773704e-02 -7.57619285e-01 3.57292181e+01] [ 7.58804493e-01 -4.17340645e-02 6.49980007e-01 3.27123307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:52.24, Y:35.75, Z:32.75 [[ 3.78049615e-04 -9.99892402e-01 -1.46642724e-02 5.22430785e+01] [ 6.57292628e-01 1.12999783e-02 -7.53550736e-01 3.57548794e+01] [ 7.53635362e-01 -9.35383856e-03 6.57226177e-01 3.27450968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210371743 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:52.28, Y:35.79, Z:32.74 [[-4.18080815e-03 -9.94287294e-01 -1.06655044e-01 5.22842132e+01] [ 6.58714576e-01 7.75083891e-02 -7.48389977e-01 3.57915829e+01] [ 7.52381305e-01 -7.33841068e-02 6.54627485e-01 3.27449089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240371743 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:52.28, Y:35.80, Z:32.77 [[-6.85158000e-03 -9.96204107e-01 -8.67780646e-02 5.22753923e+01] [ 6.57596617e-01 6.08876912e-02 -7.50905705e-01 3.58036423e+01] [ 7.53339064e-01 -6.22098523e-02 6.54683274e-01 3.27704297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270371743 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:52.28, Y:35.82, Z:32.79 [[-1.18699571e-02 -9.94987409e-01 -9.92933010e-02 5.22798613e+01] [ 6.56135995e-01 6.71818908e-02 -7.51646293e-01 3.58194438e+01] [ 7.54549309e-01 -7.40719181e-02 6.52049608e-01 3.27903773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300371743 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:52.26, Y:35.83, Z:32.82 [[-1.09701673e-02 -9.98533827e-01 -5.30080420e-02 5.22630732e+01] [ 6.58548496e-01 3.26764801e-02 -7.51828522e-01 3.58339813e+01] [ 7.52458327e-01 -4.31560510e-02 6.57224483e-01 3.28197301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330371743 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:52.29, Y:35.85, Z:32.82 [[-2.18821486e-02 -9.91851666e-01 -1.25504758e-01 5.22873266e+01] [ 6.55031422e-01 8.06137252e-02 -7.51289067e-01 3.58526007e+01] [ 7.55284719e-01 -9.86493792e-02 6.47930006e-01 3.28244616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360371743 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:52.26, Y:35.85, Z:32.86 [[-2.29166436e-02 -9.98176808e-01 -5.58380544e-02 5.22563363e+01] [ 6.51314256e-01 2.74667420e-02 -7.58310832e-01 3.58534334e+01] [ 7.58461975e-01 -5.37460600e-02 6.49497339e-01 3.28622542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:52.26, Y:35.88, Z:32.89 [[-2.10482438e-02 -9.99083997e-01 -3.72577201e-02 5.22557405e+01] [ 6.53325568e-01 1.44637108e-02 -7.56938903e-01 3.58762484e+01] [ 7.56784430e-01 -4.02736557e-02 6.52422684e-01 3.28874648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420371743 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:52.28, Y:35.90, Z:32.90 [[-2.39392464e-02 -9.96234089e-01 -8.33339856e-02 5.22761050e+01] [ 6.53561484e-01 4.74820848e-02 -7.55382578e-01 3.59037403e+01] [ 7.56494745e-01 -7.25471729e-02 6.49963544e-01 3.28976067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.450371743 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:52.27, Y:35.92, Z:32.92 [[-2.42326042e-02 -9.97970860e-01 -5.88807495e-02 5.22679197e+01] [ 6.53771865e-01 2.87381501e-02 -7.56145797e-01 3.59194179e+01] [ 7.56303596e-01 -5.68179592e-02 6.51748871e-01 3.29219884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48037174299999 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:52.28, Y:35.94, Z:32.94 [[-2.75122625e-02 -9.96902222e-01 -7.36819901e-02 5.22751559e+01] [ 6.53888188e-01 3.78046763e-02 -7.55646110e-01 3.59412302e+01] [ 7.56090810e-01 -6.89693172e-02 6.50822495e-01 3.29375289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510371743 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:52.27, Y:35.96, Z:32.96 [[-2.85838162e-02 -9.97055342e-01 -7.11590448e-02 5.22748299e+01] [ 6.53660988e-01 3.52135131e-02 -7.55967805e-01 3.59592292e+01] [ 7.56247498e-01 -6.81223363e-02 6.50729643e-01 3.29577736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:52.28, Y:35.98, Z:32.98 [[-3.11124076e-02 -9.96285883e-01 -8.02898402e-02 5.22774226e+01] [ 6.52168472e-01 4.06385302e-02 -7.56984011e-01 3.59775776e+01] [ 7.57435345e-01 -7.59140975e-02 6.48481879e-01 3.29773674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570371743 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:52.27, Y:35.99, Z:33.00 [[-3.15501913e-02 -9.97141328e-01 -6.86568144e-02 5.22725903e+01] [ 6.51828251e-01 3.15468438e-02 -7.57710187e-01 3.59942115e+01] [ 7.57710048e-01 -6.86583526e-02 6.48969579e-01 3.30005528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600371743 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:52.28, Y:36.01, Z:33.02 [[-3.26946216e-02 -9.96406618e-01 -7.81339435e-02 5.22762216e+01] [ 6.51477185e-01 3.80400714e-02 -7.57713950e-01 3.60133539e+01] [ 7.57963416e-01 -7.56756525e-02 6.47892473e-01 3.30196743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:52.27, Y:36.03, Z:33.05 [[-3.50204492e-02 -9.97027345e-01 -6.86297380e-02 5.22711289e+01] [ 6.49149122e-01 2.95189088e-02 -7.60088187e-01 3.60287811e+01] [ 7.59854582e-01 -7.11695639e-02 6.46185660e-01 3.30453821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660371743 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:52.27, Y:36.05, Z:33.06 [[-3.49715018e-02 -9.96604453e-01 -7.45423193e-02 5.22730600e+01] [ 6.50006717e-01 3.39738409e-02 -7.59168654e-01 3.60470877e+01] [ 7.59123351e-01 -7.50022762e-02 6.46611473e-01 3.30635658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690371743 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:52.27, Y:36.06, Z:33.09 [[-3.46018845e-02 -9.97521880e-01 -6.12601628e-02 5.22680162e+01] [ 6.49478149e-01 2.41441942e-02 -7.59996837e-01 3.60642632e+01] [ 7.59592551e-01 -6.60844599e-02 6.47033230e-01 3.30881970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720371743 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:52.27, Y:36.08, Z:33.11 [[-3.40223327e-02 -9.97331080e-01 -6.46002882e-02 5.22677355e+01] [ 6.48881943e-01 2.71183263e-02 -7.60405695e-01 3.60844879e+01] [ 7.60128085e-01 -6.77887361e-02 6.46227500e-01 3.31104788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750371743 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:52.27, Y:36.11, Z:33.13 [[-3.28600150e-02 -9.96671787e-01 -7.46027315e-02 5.22718230e+01] [ 6.49598141e-01 3.54292895e-02 -7.59451790e-01 3.61051808e+01] [ 7.59567294e-01 -7.34173929e-02 6.46271933e-01 3.31300341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780371743 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:52.27, Y:36.12, Z:33.15 [[-3.14301422e-02 -9.96137668e-01 -8.19871446e-02 5.22738359e+01] [ 6.50652692e-01 4.18759202e-02 -7.58219943e-01 3.61220921e+01] [ 7.58724733e-01 -7.71761169e-02 6.46823489e-01 3.31476876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.810371743 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:52.27, Y:36.14, Z:33.17 [[-2.88266901e-02 -9.97150573e-01 -6.97119540e-02 5.22662500e+01] [ 6.50800317e-01 3.42120311e-02 -7.58477741e-01 3.61365466e+01] [ 7.58701502e-01 -6.72329646e-02 6.47959690e-01 3.31714231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.840371743 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:52.26, Y:36.15, Z:33.20 [[-2.91061678e-02 -9.98032429e-01 -5.55346941e-02 5.22598216e+01] [ 6.49534499e-01 2.33453770e-02 -7.59973636e-01 3.61536142e+01] [ 7.59774812e-01 -5.81916199e-02 6.47576999e-01 3.31985650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87037174299999 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:52.27, Y:36.18, Z:33.22 [[-2.97707009e-02 -9.96816202e-01 -7.39673262e-02 5.22676290e+01] [ 6.49828184e-01 3.69265083e-02 -7.59183617e-01 3.61758959e+01] [ 7.59497885e-01 -7.06674816e-02 6.46659934e-01 3.32153301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900371743 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:52.27, Y:36.19, Z:33.24 [[-2.99984286e-02 -9.96740198e-01 -7.48937375e-02 5.22677408e+01] [ 6.49569948e-01 3.75087035e-02 -7.59376046e-01 3.61924495e+01] [ 7.59709798e-01 -7.14288092e-02 6.46327277e-01 3.32356732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930371743 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:52.26, Y:36.21, Z:33.26 [[-2.88825556e-02 -9.98279250e-01 -5.10326992e-02 5.22596286e+01] [ 6.50464408e-01 1.99951084e-02 -7.59273501e-01 3.62102226e+01] [ 7.58987386e-01 -5.51247136e-02 6.48767612e-01 3.32624836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960371743 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:52.28, Y:36.23, Z:33.28 [[-3.36989761e-02 -9.95438474e-01 -8.92559476e-02 5.22753022e+01] [ 6.48056685e-01 4.62233108e-02 -7.60188094e-01 3.62331029e+01] [ 7.60846181e-01 -8.34604740e-02 6.43542879e-01 3.32757753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990371743 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:52.27, Y:36.24, Z:33.30 [[-4.04356509e-02 -9.95157527e-01 -8.95904865e-02 5.22674217e+01] [ 6.42343759e-01 4.27901626e-02 -7.65221208e-01 3.62386316e+01] [ 7.65349237e-01 -8.84901074e-02 6.37502978e-01 3.32958589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020371743 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:52.24, Y:36.24, Z:33.33 [[-4.04672180e-02 -9.98356115e-01 -4.05890495e-02 5.22447346e+01] [ 6.38950924e-01 5.37453158e-03 -7.69228725e-01 3.62423970e+01] [ 7.68182349e-01 -5.70629572e-02 6.37683070e-01 3.33291550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050371743 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:52.24, Y:36.26, Z:33.35 [[-3.96065089e-02 -9.98406880e-01 -4.01874009e-02 5.22439481e+01] [ 6.39349804e-01 5.58640649e-03 -7.68895715e-01 3.62605107e+01] [ 7.67895274e-01 -5.61470819e-02 6.38109985e-01 3.33499580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080371743 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:52.24, Y:36.28, Z:33.37 [[-3.98312518e-02 -9.98408688e-01 -3.99194509e-02 5.22446412e+01] [ 6.39335996e-01 5.23723216e-03 -7.68909653e-01 3.62783414e+01] [ 7.67895146e-01 -5.61485759e-02 6.38110008e-01 3.33709642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110371743 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:52.24, Y:36.30, Z:33.39 [[-3.96745316e-02 -9.98426196e-01 -3.96366229e-02 5.22446604e+01] [ 6.39578724e-01 5.10205917e-03 -7.68708673e-01 3.62955716e+01] [ 7.67701105e-01 -5.58488972e-02 6.38369731e-01 3.33915388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140371743 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:52.24, Y:36.31, Z:33.41 [[-3.89730989e-02 -9.98470225e-01 -3.92212558e-02 5.22446330e+01] [ 6.40241621e-01 5.18377697e-03 -7.68156101e-01 3.63119997e+01] [ 7.67184309e-01 -5.50485041e-02 6.39060167e-01 3.34115770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170371743 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:52.24, Y:36.33, Z:33.44 [[-3.34082950e-02 -9.99302156e-01 -1.67058633e-02 5.22417124e+01] [ 6.44702582e-01 -8.77485734e-03 -7.64383138e-01 3.63344974e+01] [ 7.63703127e-01 -3.63070506e-02 6.44545834e-01 3.34384369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.200371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:52.26, Y:36.36, Z:33.44 [[-3.75942913e-02 -9.95797117e-01 -8.35151003e-02 5.22626192e+01] [ 6.43758428e-01 3.97872955e-02 -7.64193730e-01 3.63595958e+01] [ 7.64304753e-01 -8.24928715e-02 6.39557012e-01 3.34416775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23037174299999 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:52.24, Y:36.36, Z:33.47 [[-3.68891761e-02 -9.98603933e-01 -3.78070690e-02 5.22422329e+01] [ 6.41257233e-01 5.36167231e-03 -7.67307248e-01 3.63639635e+01] [ 7.66438745e-01 -5.25493886e-02 6.40164207e-01 3.34737863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260371743 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:52.24, Y:36.38, Z:33.49 [[-3.71127874e-02 -9.98609894e-01 -3.74288753e-02 5.22423612e+01] [ 6.41260987e-01 4.92730572e-03 -7.67307024e-01 3.63817588e+01] [ 7.66424809e-01 -5.24785799e-02 6.40186700e-01 3.34941605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:52.24, Y:36.40, Z:33.52 [[-3.34027658e-02 -9.99162380e-01 -2.36388353e-02 5.22426408e+01] [ 6.43592599e-01 -3.40839308e-03 -7.65360666e-01 3.64042830e+01] [ 7.64639014e-01 -4.07789425e-02 6.43167362e-01 3.35201551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320371743 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:52.25, Y:36.43, Z:33.54 [[-3.46790484e-02 -9.98286979e-01 -4.71218783e-02 5.22533231e+01] [ 6.45188460e-01 1.36453312e-02 -7.63901601e-01 3.64316596e+01] [ 7.63236015e-01 -5.68938727e-02 6.43610032e-01 3.35352343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350371743 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:52.26, Y:36.45, Z:33.55 [[-3.61411657e-02 -9.97550567e-01 -5.98889193e-02 5.22589201e+01] [ 6.45400986e-01 2.24554753e-02 -7.63513797e-01 3.64521352e+01] [ 7.62988455e-01 -6.62466463e-02 6.43008553e-01 3.35526750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380371743 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:52.26, Y:36.47, Z:33.57 [[-3.82615103e-02 -9.97165735e-01 -6.47808199e-02 5.22597583e+01] [ 6.44361205e-01 2.49293651e-02 -7.64314834e-01 3.64679167e+01] [ 7.63763507e-01 -7.09860871e-02 6.41581079e-01 3.35730933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410371743 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:52.25, Y:36.48, Z:33.59 [[-4.29166139e-02 -9.97233142e-01 -6.06978161e-02 5.22531675e+01] [ 6.42356139e-01 1.89896971e-02 -7.66170988e-01 3.64779560e+01] [ 7.65203734e-01 -7.18710792e-02 6.39763857e-01 3.35933150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440371743 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:52.24, Y:36.49, Z:33.62 [[-4.35354432e-02 -9.98479193e-01 -3.38225699e-02 5.22420865e+01] [ 6.41292892e-01 -1.97012333e-03 -7.67293650e-01 3.64881652e+01] [ 7.66060110e-01 -5.50946428e-02 6.40403380e-01 3.36208899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470371743 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:52.24, Y:36.51, Z:33.64 [[-3.76210589e-02 -9.99208827e-01 -1.28986536e-02 5.22398816e+01] [ 6.45884725e-01 -1.44647962e-02 -7.63297905e-01 3.65078682e+01] [ 7.62507428e-01 -3.70471188e-02 6.45917900e-01 3.36433228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500371743 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:52.26, Y:36.53, Z:33.65 [[-4.44112727e-02 -9.97059611e-01 -6.24481386e-02 5.22557645e+01] [ 6.43569666e-01 1.92567714e-02 -7.65145255e-01 3.65318082e+01] [ 7.64097980e-01 -7.41708023e-02 6.40822104e-01 3.36545620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530371743 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:52.24, Y:36.55, Z:33.69 [[-3.93374248e-02 -9.99193847e-01 -8.01389239e-03 5.22390206e+01] [ 6.46021721e-01 -1.93132021e-02 -7.63074660e-01 3.65455222e+01] [ 7.62304731e-01 -3.51945406e-02 6.46260661e-01 3.36903922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.560371743 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:52.26, Y:36.58, Z:33.70 [[-3.91188457e-02 -9.98047600e-01 -4.86898822e-02 5.22583635e+01] [ 6.48186658e-01 1.17386429e-02 -7.61391004e-01 3.65783700e+01] [ 7.60476017e-01 -6.13448692e-02 6.46461936e-01 3.37013575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.590371743 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:52.26, Y:36.60, Z:33.72 [[-4.03040389e-02 -9.97279603e-01 -6.17169190e-02 5.22639514e+01] [ 6.46814031e-01 2.10383725e-02 -7.62357525e-01 3.65983350e+01] [ 7.61582034e-01 -7.06454565e-02 6.44206509e-01 3.37202848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62037174299999 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:52.26, Y:36.61, Z:33.74 [[-4.03807350e-02 -9.97939615e-01 -4.98590189e-02 5.22599499e+01] [ 6.47249470e-01 1.18899103e-02 -7.62185512e-01 3.66144410e+01] [ 7.61207935e-01 -6.30488347e-02 6.45435763e-01 3.37434757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:52.26, Y:36.63, Z:33.76 [[-4.13730623e-02 -9.97490529e-01 -5.74535923e-02 5.22640277e+01] [ 6.47217014e-01 1.70516893e-02 -7.62115068e-01 3.66343320e+01] [ 7.61182242e-01 -6.87159767e-02 6.44887361e-01 3.37629376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680371743 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:52.26, Y:36.65, Z:33.79 [[-4.19442260e-02 -9.97765754e-01 -5.20017562e-02 5.22625943e+01] [ 6.46761289e-01 1.25561258e-02 -7.62589129e-01 3.66513640e+01] [ 7.61538257e-01 -6.56189336e-02 6.44789608e-01 3.37851474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710371743 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:52.26, Y:36.67, Z:33.81 [[-4.18163181e-02 -9.97880607e-01 -4.98566844e-02 5.22625854e+01] [ 6.46735564e-01 1.10016670e-02 -7.62634954e-01 3.66699605e+01] [ 7.61567138e-01 -6.41346767e-02 6.44904829e-01 3.38072767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740371743 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:52.27, Y:36.69, Z:33.83 [[-4.07609902e-02 -9.97647821e-01 -5.51123059e-02 5.22650314e+01] [ 6.46560009e-01 1.57167649e-02 -7.62701212e-01 3.66891030e+01] [ 7.61773389e-01 -6.67218696e-02 6.44398553e-01 3.38272724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770371743 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:52.26, Y:36.71, Z:33.85 [[-4.06647814e-02 -9.97658763e-01 -5.49851669e-02 5.22646092e+01] [ 6.45621874e-01 1.57637085e-02 -7.63494533e-01 3.67069130e+01] [ 7.62573781e-01 -6.65469648e-02 6.43469292e-01 3.38494627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800371743 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:52.27, Y:36.72, Z:33.86 [[-4.62972738e-02 -9.95421566e-01 -8.36209849e-02 5.22694581e+01] [ 6.40710419e-01 3.46328078e-02 -7.67001126e-01 3.67189623e+01] [ 7.66385491e-01 -8.90868974e-02 6.36173564e-01 3.38627053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830371743 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:52.24, Y:36.72, Z:33.90 [[-4.50049108e-02 -9.98626408e-01 -2.68301233e-02 5.22442419e+01] [ 6.37599583e-01 -8.03821175e-03 -7.70326008e-01 3.67198897e+01] [ 7.69052228e-01 -5.17753287e-02 6.37085540e-01 3.38982181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860371743 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:52.24, Y:36.74, Z:33.93 [[-3.55802575e-02 -9.99212399e-01 1.75677568e-02 5.22351767e+01] [ 6.45172767e-01 -3.63912522e-02 -7.63169560e-01 3.67443240e+01] [ 7.63207800e-01 -1.58195311e-02 6.45959439e-01 3.39304938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890371743 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:52.27, Y:36.79, Z:33.93 [[-3.66419187e-02 -9.97153948e-01 -6.58891006e-02 5.22717331e+01] [ 6.47074802e-01 2.65706413e-02 -7.61963386e-01 3.67854812e+01] [ 7.61545514e-01 -7.05549772e-02 6.44259595e-01 3.39318139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:52.27, Y:36.80, Z:33.95 [[-3.52999928e-02 -9.97622400e-01 -5.91900158e-02 5.22681010e+01] [ 6.48647686e-01 2.21852050e-02 -7.60765401e-01 3.68006879e+01] [ 7.60269748e-01 -6.52484800e-02 6.46322324e-01 3.39537543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.950371743 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:52.27, Y:36.82, Z:33.98 [[-3.62943735e-02 -9.97929606e-01 -5.30963351e-02 5.22655815e+01] [ 6.48219277e-01 1.69287456e-02 -7.61265516e-01 3.68179738e+01] [ 7.60588251e-01 -6.20477229e-02 6.46262789e-01 3.39783146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98037174299999 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:52.27, Y:36.84, Z:33.99 [[-3.38860483e-02 -9.97695021e-01 -5.87909920e-02 5.22696496e+01] [ 6.50550780e-01 2.26373133e-02 -7.59125309e-01 3.68371924e+01] [ 7.58706411e-01 -6.39702826e-02 6.48284185e-01 3.39945856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010371743 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:52.27, Y:36.85, Z:34.02 [[-3.84864721e-02 -9.97624087e-01 -5.71399397e-02 5.22690965e+01] [ 6.48579082e-01 1.85615553e-02 -7.60920918e-01 3.68529213e+01] [ 7.60173642e-01 -6.63449313e-02 6.46323746e-01 3.40188155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:52.28, Y:36.86, Z:34.03 [[-4.77618071e-02 -9.94441478e-01 -9.38347357e-02 5.22757462e+01] [ 6.42606269e-01 4.13288748e-02 -7.65081112e-01 3.68631323e+01] [ 7.64706475e-01 -9.68404458e-02 6.37060386e-01 3.40294425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070371743 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:52.24, Y:36.87, Z:34.08 [[-4.20088609e-02 -9.99019345e-01 1.39858468e-02 5.22385634e+01] [ 6.44724293e-01 -3.77991163e-02 -7.63480067e-01 3.68655864e+01] [ 7.63260010e-01 -2.30559128e-02 6.45679938e-01 3.40790282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100371743 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:52.28, Y:36.90, Z:34.08 [[-4.81080963e-02 -9.95843421e-01 -7.73401025e-02 5.22783124e+01] [ 6.43971941e-01 2.82658037e-02 -7.64526771e-01 3.69038771e+01] [ 7.63535036e-01 -8.65847834e-02 6.39935407e-01 3.40788556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130371743 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:52.26, Y:36.91, Z:34.11 [[-4.92982681e-02 -9.98325820e-01 -3.02528995e-02 5.22597517e+01] [ 6.43276904e-01 -8.56559053e-03 -7.65585695e-01 3.69128928e+01] [ 7.64044833e-01 -5.72030404e-02 6.42622211e-01 3.41108339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160371743 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:52.27, Y:36.94, Z:34.12 [[-5.40771539e-02 -9.96941159e-01 -5.64268220e-02 5.22734411e+01] [ 6.42510226e-01 8.51683854e-03 -7.66229778e-01 3.69381861e+01] [ 7.64366581e-01 -7.76903358e-02 6.40084323e-01 3.41245505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:52.27, Y:36.95, Z:34.15 [[-5.55804608e-02 -9.97519952e-01 -4.31828423e-02 5.22692372e+01] [ 6.41439026e-01 -2.52917444e-03 -7.67169850e-01 3.69536742e+01] [ 7.65158015e-01 -7.03388141e-02 6.39988799e-01 3.41488181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220371743 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:52.27, Y:36.97, Z:34.17 [[-5.48486955e-02 -9.98027509e-01 -3.05403246e-02 5.22661908e+01] [ 6.42561611e-01 -1.18688492e-02 -7.66142093e-01 3.69734346e+01] [ 7.64268406e-01 -6.16459345e-02 6.41945155e-01 3.41737267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250371743 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:52.28, Y:37.00, Z:34.18 [[-5.70886055e-02 -9.95805003e-01 -7.15072473e-02 5.22835400e+01] [ 6.43078493e-01 1.81084679e-02 -7.65586138e-01 3.69966600e+01] [ 7.63669394e-01 -8.96910179e-02 6.39346994e-01 3.41833673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:52.27, Y:37.00, Z:34.20 [[-6.15764549e-02 -9.95628626e-01 -7.02280588e-02 5.22746959e+01] [ 6.38510340e-01 1.47859000e-02 -7.69471197e-01 3.70000096e+01] [ 7.67145935e-01 -9.22226502e-02 6.34808709e-01 3.42042728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.310371743 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:52.24, Y:37.01, Z:34.25 [[-5.30908821e-02 -9.98254943e-01 2.58539699e-02 5.22417492e+01] [ 6.42444433e-01 -5.39656588e-02 -7.64429760e-01 3.70071453e+01] [ 7.64491013e-01 -2.39745112e-02 6.44188415e-01 3.42496472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.340371743 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:52.28, Y:37.05, Z:34.25 [[-5.47332755e-02 -9.96532193e-01 -6.26726120e-02 5.22795605e+01] [ 6.45132005e-01 1.26133612e-02 -7.63967014e-01 3.70465299e+01] [ 7.62108237e-01 -8.22465249e-02 6.42204442e-01 3.42494372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37037174299999 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:52.27, Y:37.06, Z:34.27 [[-4.96003495e-02 -9.97965735e-01 -4.00524270e-02 5.22712181e+01] [ 6.48023119e-01 -1.64082577e-03 -7.61618897e-01 3.70578153e+01] [ 7.60003844e-01 -6.37314622e-02 6.46786254e-01 3.42721321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:52.26, Y:37.07, Z:34.30 [[-5.03430778e-02 -9.98635292e-01 -1.38970297e-02 5.22614158e+01] [ 6.47295737e-01 -2.20284892e-02 -7.61920583e-01 3.70748510e+01] [ 7.60574653e-01 -4.73529152e-02 6.47521349e-01 3.43033484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430371743 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:52.28, Y:37.10, Z:34.31 [[-5.26238269e-02 -9.96341511e-01 -6.73374129e-02 5.22839385e+01] [ 6.45777803e-01 1.74810025e-02 -7.63325254e-01 3.71026462e+01] [ 7.61709762e-01 -8.36541026e-02 6.42495315e-01 3.43131869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460371743 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:52.27, Y:37.11, Z:34.34 [[-5.29497105e-02 -9.97672276e-01 -4.29692768e-02 5.22740725e+01] [ 6.44085938e-01 -1.23760456e-03 -7.64952138e-01 3.71134081e+01] [ 7.63118361e-01 -6.81799012e-02 6.42652214e-01 3.43387256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490371743 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:52.27, Y:37.13, Z:34.36 [[-5.41535392e-02 -9.97898141e-01 -3.55906526e-02 5.22713255e+01] [ 6.42349846e-01 -7.52556279e-03 -7.66374609e-01 3.71298941e+01] [ 7.64495958e-01 -6.43635476e-02 6.41407253e-01 3.43625268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:52.27, Y:37.15, Z:34.38 [[-5.47493198e-02 -9.97710781e-01 -3.96952183e-02 5.22744558e+01] [ 6.40630567e-01 -4.60523466e-03 -7.67835443e-01 3.71502987e+01] [ 7.65894894e-01 -6.74684385e-02 6.39416157e-01 3.43834993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550371743 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:52.27, Y:37.17, Z:34.41 [[-5.49327828e-02 -9.97835363e-01 -3.61521365e-02 5.22740657e+01] [ 6.40492596e-01 -7.43789129e-03 -7.67928325e-01 3.71689762e+01] [ 7.65997144e-01 -6.53396157e-02 6.39514746e-01 3.44059121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:52.29, Y:37.18, Z:34.42 [[-6.19712468e-02 -9.94802072e-01 -8.07985278e-02 5.22862734e+01] [ 6.35440808e-01 2.31016422e-02 -7.71803922e-01 3.71823271e+01] [ 7.69658719e-01 -9.91723331e-02 6.30706195e-01 3.44162270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610371743 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:52.25, Y:37.18, Z:34.46 [[-5.46593334e-02 -9.98149547e-01 2.66427878e-02 5.22468853e+01] [ 6.38593278e-01 -5.54572041e-02 -7.67543565e-01 3.71834211e+01] [ 7.67600796e-01 -2.49395144e-02 6.40442845e-01 3.44643979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:52.29, Y:37.22, Z:34.46 [[-6.10738733e-02 -9.95057154e-01 -7.83022513e-02 5.22857197e+01] [ 6.36305172e-01 2.16268232e-02 -7.71134235e-01 3.72156585e+01] [ 7.69016066e-01 -9.69202821e-02 6.31839180e-01 3.44603058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670371743 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:52.25, Y:37.22, Z:34.51 [[-5.42754265e-02 -9.98148611e-01 2.74504790e-02 5.22468496e+01] [ 6.39455324e-01 -5.58590546e-02 -7.66796358e-01 3.72173903e+01] [ 7.66910077e-01 -2.40648444e-02 6.41303217e-01 3.45075426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.700371743 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:52.28, Y:37.25, Z:34.51 [[-5.43634327e-02 -9.97504692e-01 -4.50445045e-02 5.22787427e+01] [ 6.43063308e-01 -4.64626551e-04 -7.65812879e-01 3.72544184e+01] [ 7.63881011e-01 -7.05986850e-02 6.41483926e-01 3.45102349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73037174299999 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:52.28, Y:37.27, Z:34.53 [[-5.35980792e-02 -9.97951575e-01 -3.49270760e-02 5.22756197e+01] [ 6.43642152e-01 -7.78469251e-03 -7.65286991e-01 3.72684336e+01] [ 7.63447461e-01 -6.34984511e-02 6.42740943e-01 3.45332013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:52.27, Y:37.29, Z:34.56 [[-5.51443040e-02 -9.98030242e-01 -2.99122196e-02 5.22741029e+01] [ 6.41969947e-01 -1.24940512e-02 -7.66627997e-01 3.72859354e+01] [ 7.64744201e-01 -6.14779134e-02 6.41394398e-01 3.45582792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790371743 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:52.28, Y:37.30, Z:34.57 [[-5.60271257e-02 -9.97437680e-01 -4.44863576e-02 5.22807394e+01] [ 6.41985099e-01 -1.86500774e-03 -7.66714846e-01 3.73044839e+01] [ 7.64667309e-01 -7.15164077e-02 6.40444619e-01 3.45749883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820371743 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:52.27, Y:37.32, Z:34.60 [[-5.80872568e-02 -9.97884761e-01 -2.91868812e-02 5.22741137e+01] [ 6.39509042e-01 -1.47442458e-02 -7.68642174e-01 3.73174705e+01] [ 7.66585974e-01 -6.33135897e-02 6.39012781e-01 3.46016728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850371743 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:52.28, Y:37.34, Z:34.62 [[-5.95948658e-02 -9.97716183e-01 -3.17941790e-02 5.22764146e+01] [ 6.38638015e-01 -1.36286568e-02 -7.69386603e-01 3.73353157e+01] [ 7.67196153e-01 -6.61564627e-02 6.37991681e-01 3.46220028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880371743 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:52.28, Y:37.35, Z:34.64 [[-6.02377403e-02 -9.97840798e-01 -2.61754759e-02 5.22751053e+01] [ 6.38422766e-01 -1.83556137e-02 -7.69466986e-01 3.73528325e+01] [ 7.67325085e-01 -6.30619722e-02 6.38149984e-01 3.46445563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910371743 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:52.28, Y:37.37, Z:34.67 [[-6.09076312e-02 -9.97702756e-01 -2.96558781e-02 5.22774608e+01] [ 6.38355145e-01 -1.60952912e-02 -7.69573681e-01 3.73722581e+01] [ 7.67328462e-01 -6.58038923e-02 6.37869014e-01 3.46651414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940371743 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:52.28, Y:37.39, Z:34.69 [[-6.42424666e-02 -9.97277067e-01 -3.62126661e-02 5.22804129e+01] [ 6.37084885e-01 -1.30549630e-02 -7.70683085e-01 3.73902609e+01] [ 7.68111811e-01 -7.25811246e-02 6.36188829e-01 3.46850836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970371743 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:52.28, Y:37.41, Z:34.71 [[-6.47941085e-02 -9.97478818e-01 -2.89435930e-02 5.22769788e+01] [ 6.36402168e-01 -1.89638151e-02 -7.71124280e-01 3.74061154e+01] [ 7.68631254e-01 -6.83840756e-02 6.36026425e-01 3.47088919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000371743 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:52.28, Y:37.42, Z:34.73 [[-6.68430910e-02 -9.97454805e-01 -2.48175904e-02 5.22756837e+01] [ 6.35134885e-01 -2.33534441e-02 -7.72048117e-01 3.74235625e+01] [ 7.69503527e-01 -6.73686000e-02 6.35079360e-01 3.47324210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030371743 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:52.28, Y:37.44, Z:34.75 [[-7.01911192e-02 -9.96953328e-01 -3.40186541e-02 5.22807283e+01] [ 6.33754684e-01 -1.82322197e-02 -7.73319201e-01 3.74430714e+01] [ 7.70342915e-01 -7.58396217e-02 6.33103581e-01 3.47514323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.060371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:52.28, Y:37.46, Z:34.77 [[-7.16644718e-02 -9.96966668e-01 -3.03589703e-02 5.22797657e+01] [ 6.33377756e-01 -2.19737399e-02 -7.73530719e-01 3.74587041e+01] [ 7.70517243e-01 -7.46633668e-02 6.33031247e-01 3.47730742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.090371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:52.28, Y:37.47, Z:34.79 [[-7.39340924e-02 -9.96803250e-01 -3.02825027e-02 5.22796253e+01] [ 6.32413179e-01 -2.33845673e-02 -7.74278201e-01 3.74747603e+01] [ 7.71094884e-01 -7.63966099e-02 6.32120429e-01 3.47942771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12037174299999 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:52.28, Y:37.49, Z:34.82 [[-7.67456899e-02 -9.96677188e-01 -2.72888514e-02 5.22782661e+01] [ 6.31468436e-01 -2.74069520e-02 -7.74917075e-01 3.74904064e+01] [ 7.71594267e-01 -7.67035938e-02 6.31473551e-01 3.48171291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:52.27, Y:37.47, Z:34.80 [[-7.61670706e-02 -9.97029185e-01 -1.14621760e-02 5.22715959e+01] [ 6.31663093e-01 -3.93543267e-02 -7.74243485e-01 3.74667026e+01] [ 7.71492265e-01 -6.62120917e-02 6.32784042e-01 3.47977035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180371743 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:52.27, Y:37.47, Z:34.80 [[-7.52338304e-02 -9.97117461e-01 -9.83059028e-03 5.22709207e+01] [ 6.33870935e-01 -4.02113719e-02 -7.72392830e-01 3.74684683e+01] [ 7.69771075e-01 -6.43413966e-02 6.35069033e-01 3.47992912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210371743 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:52.28, Y:37.49, Z:34.82 [[-7.56628777e-02 -9.96832097e-01 -2.45132353e-02 5.22771053e+01] [ 6.34905803e-01 -2.92061901e-02 -7.72037318e-01 3.74907386e+01] [ 7.68875641e-01 -7.39781605e-02 6.35104307e-01 3.48180002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240371743 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:52.27, Y:37.49, Z:34.82 [[-7.40853262e-02 -9.97111847e-01 -1.67131101e-02 5.22726934e+01] [ 6.34877299e-01 -3.42338808e-02 -7.71854168e-01 3.74876930e+01] [ 7.69052781e-01 -6.77938421e-02 6.35579905e-01 3.48211313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270371743 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:52.27, Y:37.49, Z:34.83 [[-7.28234963e-02 -9.97246632e-01 -1.39962163e-02 5.22710674e+01] [ 6.35035581e-01 -3.55429873e-02 -7.71664763e-01 3.74912864e+01] [ 7.69042618e-01 -6.50834214e-02 6.35875459e-01 3.48273878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300371743 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:52.27, Y:37.49, Z:34.82 [[-7.54904983e-02 -9.96890034e-01 -2.26151235e-02 5.22723059e+01] [ 6.29768730e-01 -3.00812476e-02 -7.76200017e-01 3.74880310e+01] [ 7.73105770e-01 -7.28380236e-02 6.30081019e-01 3.48243740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330371743 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:52.26, Y:37.47, Z:34.81 [[-7.18202611e-02 -9.97406810e-01 -4.63740039e-03 5.22643220e+01] [ 6.28836983e-01 -4.16707273e-02 -7.76419731e-01 3.74717138e+01] [ 7.74213083e-01 -5.86788367e-02 6.30199092e-01 3.48147146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360371743 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:52.26, Y:37.47, Z:34.81 [[-6.94918268e-02 -9.97582193e-01 8.08755583e-04 5.22625312e+01] [ 6.30748018e-01 -4.45661328e-02 -7.74706911e-01 3.74706522e+01] [ 7.72869862e-01 -5.33256774e-02 6.32319973e-01 3.48133563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390371743 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:52.27, Y:37.48, Z:34.82 [[-6.91684289e-02 -9.97536763e-01 -1.16676623e-02 5.22657949e+01] [ 6.27699880e-01 -3.44279506e-02 -7.77693755e-01 3.74841580e+01] [ 7.75376418e-01 -6.11156454e-02 6.28535034e-01 3.48233371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420371743 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:52.26, Y:37.48, Z:34.83 [[-7.38022010e-02 -9.97255829e-01 -5.83490423e-03 5.22593839e+01] [ 6.24053371e-01 -4.16179030e-02 -7.80272607e-01 3.74823157e+01] [ 7.77888569e-01 -6.12271274e-02 6.25412355e-01 3.48283935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.450371743 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:52.25, Y:37.48, Z:34.83 [[-6.65734558e-02 -9.97677679e-01 1.43952543e-02 5.22537724e+01] [ 6.25814274e-01 -5.29876306e-02 -7.78170165e-01 3.74752745e+01] [ 7.77125774e-01 -4.27967214e-02 6.27888503e-01 3.48290050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48037174299999 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:52.26, Y:37.46, Z:34.80 [[-6.28724507e-02 -9.98021353e-01 6.58564844e-04 5.22592854e+01] [ 6.26495955e-01 -3.99810704e-02 -7.78398569e-01 3.74596276e+01] [ 7.76884723e-01 -4.85272375e-02 6.27770049e-01 3.48010452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510371743 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:52.26, Y:37.47, Z:34.81 [[-6.11080637e-02 -9.98122575e-01 -4.13892859e-03 5.22586428e+01] [ 6.25993218e-01 -3.50947369e-02 -7.79038414e-01 3.74655722e+01] [ 7.77430572e-01 -5.01964703e-02 6.26962534e-01 3.48077804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540371743 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:52.25, Y:37.46, Z:34.80 [[-5.66356946e-02 -9.98340522e-01 1.04211165e-02 5.22531133e+01] [ 6.31067032e-01 -4.38847541e-02 -7.74485977e-01 3.74589084e+01] [ 7.73658063e-01 -3.72871282e-02 6.32505234e-01 3.48029044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:52.26, Y:37.47, Z:34.81 [[-6.37478276e-02 -9.97840540e-01 -1.58262944e-02 5.22580443e+01] [ 6.24328504e-01 -2.75037460e-02 -7.80677567e-01 3.74695365e+01] [ 7.78556442e-01 -5.96473056e-02 6.24733595e-01 3.48082994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600371743 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:52.25, Y:37.46, Z:34.81 [[-6.32891400e-02 -9.97919293e-01 1.23113703e-02 5.22456104e+01] [ 6.23353651e-01 -4.91615155e-02 -7.80393088e-01 3.74559727e+01] [ 7.79374564e-01 -4.17160697e-02 6.25168025e-01 3.48092429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630371743 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:52.24, Y:37.46, Z:34.82 [[-5.43691377e-02 -9.98192227e-01 2.56178736e-02 5.22445678e+01] [ 6.31093906e-01 -5.42333953e-02 -7.73808258e-01 3.74634091e+01] [ 7.73798732e-01 -2.59040038e-02 6.32901655e-01 3.48163429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660371743 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:52.26, Y:37.46, Z:34.79 [[-6.33910344e-02 -9.97863024e-01 -1.58417771e-02 5.22574259e+01] [ 6.24858652e-01 -2.73080853e-02 -7.80260171e-01 3.74565401e+01] [ 7.78160165e-01 -5.93603708e-02 6.25254432e-01 3.47904036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:52.24, Y:37.44, Z:34.78 [[-5.00166195e-02 -9.98000102e-01 3.86540240e-02 5.22397169e+01] [ 6.36934151e-01 -6.16842027e-02 -7.68446450e-01 3.74360941e+01] [ 7.69293978e-01 -1.38150256e-02 6.38745584e-01 3.47846686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720371743 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:52.26, Y:37.46, Z:34.78 [[-5.11269757e-02 -9.98577189e-01 -1.51535175e-02 5.22622103e+01] [ 6.37463542e-01 -2.09502181e-02 -7.70195638e-01 3.74597152e+01] [ 7.68782326e-01 -4.90375886e-02 6.37627674e-01 3.47796621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750371743 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:52.26, Y:37.45, Z:34.77 [[-4.82738844e-02 -9.98833020e-01 -1.49367105e-03 5.22568261e+01] [ 6.41106433e-01 -2.98380642e-02 -7.66871718e-01 3.74477577e+01] [ 7.65932225e-01 -3.79774788e-02 6.41798674e-01 3.47702475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780371743 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:52.27, Y:37.46, Z:34.78 [[-6.28779366e-02 -9.97020232e-01 -4.46880564e-02 5.22661035e+01] [ 6.26921802e-01 -4.61825362e-03 -7.79068499e-01 3.74627801e+01] [ 7.76540674e-01 -7.70021365e-02 6.25344107e-01 3.47800360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.810371743 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:52.24, Y:37.43, Z:34.78 [[-4.77917014e-02 -9.98074852e-01 3.95290277e-02 5.22357492e+01] [ 6.37864970e-01 -6.09497143e-02 -7.67732644e-01 3.74312162e+01] [ 7.68663927e-01 -1.14770672e-02 6.39549876e-01 3.47801964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.840371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:52.26, Y:37.46, Z:34.78 [[-6.15990152e-02 -9.97408483e-01 -3.71736441e-02 5.22613809e+01] [ 6.26580932e-01 -9.65248910e-03 -7.79296584e-01 3.74556856e+01] [ 7.76918205e-01 -7.12961986e-02 6.25551720e-01 3.47759240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87037174299999 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:52.24, Y:37.44, Z:34.79 [[-4.83654170e-02 -9.98225938e-01 3.47240894e-02 5.22367614e+01] [ 6.35601656e-01 -5.75762205e-02 -7.69867206e-01 3.74365507e+01] [ 7.70500696e-01 -1.51642598e-02 6.37258757e-01 3.47851473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900371743 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:52.26, Y:37.44, Z:34.76 [[-4.74216178e-02 -9.98843325e-01 -7.94992536e-03 5.22554655e+01] [ 6.37497147e-01 -2.41370297e-02 -7.70074536e-01 3.74419612e+01] [ 7.68991923e-01 -4.15862351e-02 6.37904387e-01 3.47638817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930371743 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:52.26, Y:37.44, Z:34.76 [[-4.75348156e-02 -9.98744658e-01 -1.57971034e-02 5.22583664e+01] [ 6.35949118e-01 -1.80646275e-02 -7.71519532e-01 3.74376128e+01] [ 7.70265643e-01 -4.67201927e-02 6.36009484e-01 3.47563884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960371743 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:52.26, Y:37.43, Z:34.76 [[-4.92305566e-02 -9.98607685e-01 -1.89484295e-02 5.22573013e+01] [ 6.28997658e-01 -1.62611229e-02 -7.77237108e-01 3.74342898e+01] [ 7.75846826e-01 -5.01823332e-02 6.28922440e-01 3.47589543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990371743 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:52.25, Y:37.42, Z:34.75 [[-4.71035236e-02 -9.98884850e-01 -3.21177639e-03 5.22505962e+01] [ 6.28916506e-01 -2.71589248e-02 -7.76998341e-01 3.74212718e+01] [ 7.76044642e-01 -3.86192989e-02 6.29494450e-01 3.47526021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020371743 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.76 [[-4.54979591e-02 -9.98948116e-01 5.70943415e-03 5.22470939e+01] [ 6.33571281e-01 -3.32744136e-02 -7.72968463e-01 3.74301081e+01] [ 7.72345368e-01 -3.15511540e-02 6.34418756e-01 3.47637170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050371743 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:52.25, Y:37.44, Z:34.77 [[-4.40042854e-02 -9.99022054e-01 -4.30791864e-03 5.22508908e+01] [ 6.34725150e-01 -2.46275097e-02 -7.72345434e-01 3.74379449e+01] [ 7.71484029e-01 -3.67208532e-02 6.35188139e-01 3.47657327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080371743 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:52.25, Y:37.44, Z:34.77 [[-5.50589600e-02 -9.98318871e-01 -1.81091662e-02 5.22505683e+01] [ 6.27365150e-01 -2.04793141e-02 -7.78455886e-01 3.74393654e+01] [ 7.76776338e-01 -5.42220313e-02 6.27438038e-01 3.47684382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110371743 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:52.24, Y:37.42, Z:34.77 [[-5.46241743e-02 -9.98346960e-01 1.78758776e-02 5.22355842e+01] [ 6.26606980e-01 -4.82122066e-02 -7.77842707e-01 3.74225957e+01] [ 7.77418737e-01 -3.12878659e-02 6.28204725e-01 3.47716972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140371743 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:52.24, Y:37.41, Z:34.76 [[-4.78625403e-02 -9.98682918e-01 1.84825851e-02 5.22406778e+01] [ 6.28467918e-01 -4.44915438e-02 -7.76562025e-01 3.74120345e+01] [ 7.76361548e-01 -2.55525194e-02 6.29769652e-01 3.47555986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170371743 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:52.25, Y:37.42, Z:34.76 [[-4.82403474e-02 -9.98794734e-01 9.05253816e-03 5.22459839e+01] [ 6.32158431e-01 -3.75468172e-02 -7.73928908e-01 3.74236964e+01] [ 7.73336011e-01 -3.16119611e-02 6.33207784e-01 3.47597557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.200371743 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.76 [[-5.25488444e-02 -9.98595898e-01 -6.69717689e-03 5.22523041e+01] [ 6.27703403e-01 -2.78140363e-02 -7.77955537e-01 3.74280148e+01] [ 7.76676932e-01 -4.50845052e-02 6.28283638e-01 3.47598991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23037174299999 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.77 [[-5.54212881e-02 -9.98451879e-01 4.72515363e-03 5.22475448e+01] [ 6.25933224e-01 -3.84300802e-02 -7.78929219e-01 3.74293163e+01] [ 7.77904930e-01 -4.02116299e-02 6.27094048e-01 3.47704824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260371743 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:52.24, Y:37.43, Z:34.78 [[-6.37339140e-02 -9.97907668e-01 1.08754316e-02 5.22419015e+01] [ 6.25234907e-01 -4.84212142e-02 -7.78933051e-01 3.74344996e+01] [ 7.77829866e-01 -4.28447526e-02 6.27012781e-01 3.47810852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290371743 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:52.24, Y:37.42, Z:34.76 [[-6.05002395e-02 -9.97863777e-01 2.46496070e-02 5.22424416e+01] [ 6.26867051e-01 -5.72011284e-02 -7.77023636e-01 3.74168230e+01] [ 7.76773726e-01 -3.15580896e-02 6.28988605e-01 3.47644708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320371743 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.76 [[-6.27725366e-02 -9.98009640e-01 6.03057596e-03 5.22512158e+01] [ 6.27293366e-01 -4.41536334e-02 -7.77530378e-01 3.74255234e+01] [ 7.76249085e-01 -4.50246138e-02 6.28816462e-01 3.47623899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350371743 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.77 [[-6.61165128e-02 -9.97803973e-01 3.97978893e-03 5.22527579e+01] [ 6.26236688e-01 -4.46002228e-02 -7.78356236e-01 3.74318951e+01] [ 7.76824444e-01 -4.89699102e-02 6.27810267e-01 3.47691889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380371743 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.76 [[-6.71345627e-02 -9.97710128e-01 8.21288929e-03 5.22517641e+01] [ 6.26914085e-01 -4.85849692e-02 -7.77572010e-01 3.74257181e+01] [ 7.76190492e-01 -4.70531808e-02 6.28740263e-01 3.47635091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410371743 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:52.25, Y:37.42, Z:34.76 [[-6.88163087e-02 -9.97605932e-01 6.83526827e-03 5.22522465e+01] [ 6.26105666e-01 -4.85218360e-02 -7.78227041e-01 3.74208747e+01] [ 7.76695572e-01 -4.92751121e-02 6.27945819e-01 3.47581374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440371743 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:52.25, Y:37.41, Z:34.75 [[-6.85518389e-02 -9.97592498e-01 1.04810692e-02 5.22506451e+01] [ 6.26908623e-01 -5.12471574e-02 -7.77405498e-01 3.74135043e+01] [ 7.76071017e-01 -4.67219038e-02 6.28912426e-01 3.47508674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470371743 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.77 [[-6.91122912e-02 -9.97559309e-01 9.94569879e-03 5.22504827e+01] [ 6.28738877e-01 -5.12958760e-02 -7.75922778e-01 3.74313745e+01] [ 7.74539163e-01 -4.73725535e-02 6.30749495e-01 3.47706160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500371743 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:52.25, Y:37.42, Z:34.75 [[-7.07448874e-02 -9.97486086e-01 4.08285534e-03 5.22529713e+01] [ 6.27871783e-01 -4.77104374e-02 -7.76853100e-01 3.74208226e+01] [ 7.75094952e-01 -5.23948754e-02 6.29668637e-01 3.47543725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530371743 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:52.25, Y:37.41, Z:34.75 [[-6.92637079e-02 -9.97451741e-01 1.71044605e-02 5.22485787e+01] [ 6.31057638e-01 -5.70874324e-02 -7.73632524e-01 3.74113905e+01] [ 7.72637558e-01 -4.27907567e-02 6.33403627e-01 3.47468515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.560371743 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:52.26, Y:37.42, Z:34.75 [[-7.14177689e-02 -9.97444970e-01 -1.74162504e-03 5.22567297e+01] [ 6.30257720e-01 -4.37734202e-02 -7.75151014e-01 3.74209680e+01] [ 7.73094243e-01 -5.64572286e-02 6.31773593e-01 3.47472000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.590371743 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:52.25, Y:37.42, Z:34.75 [[-7.27781572e-02 -9.97320893e-01 7.37400696e-03 5.22523779e+01] [ 6.28518177e-01 -5.16034738e-02 -7.76081171e-01 3.74169000e+01] [ 7.74382491e-01 -5.18470600e-02 6.30589915e-01 3.47490029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62037174299999 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:52.25, Y:37.43, Z:34.76 [[-7.46229478e-02 -9.97177392e-01 8.28639234e-03 5.22507680e+01] [ 6.28945753e-01 -5.35117995e-02 -7.75605394e-01 3.74283404e+01] [ 7.73859584e-01 -5.26662696e-02 6.31163694e-01 3.47632360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650371743 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:52.25, Y:37.42, Z:34.75 [[-7.50693963e-02 -9.97152567e-01 7.16546050e-03 5.22513453e+01] [ 6.29846125e-01 -5.29856324e-02 -7.74910563e-01 3.74208485e+01] [ 7.73083724e-01 -5.36589306e-02 6.32030280e-01 3.47529624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:52.25, Y:37.41, Z:34.73 [[-7.66344245e-02 -9.97055343e-01 2.79431708e-03 5.22529189e+01] [ 6.28227148e-01 -5.04619039e-02 -7.76391813e-01 3.74057017e+01] [ 7.74246611e-01 -5.77428739e-02 6.30244354e-01 3.47344715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710371743 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.73 [[-7.94200211e-02 -9.96840748e-01 9.91763730e-04 5.22534684e+01] [ 6.26768992e-01 -5.07093594e-02 -7.77553337e-01 3.74031918e+01] [ 7.75147142e-01 -6.11316957e-02 6.28816209e-01 3.47324232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740371743 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:52.25, Y:37.41, Z:34.74 [[-8.17177763e-02 -9.96647614e-01 3.96707187e-03 5.22518191e+01] [ 6.25325911e-01 -5.43707503e-02 -7.78467293e-01 3.74070699e+01] [ 7.76073263e-01 -6.11339033e-02 6.27672634e-01 3.47406606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770371743 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.73 [[-8.38227936e-02 -9.96454708e-01 7.19404185e-03 5.22507548e+01] [ 6.24390408e-01 -5.81480635e-02 -7.78945070e-01 3.74004439e+01] [ 7.76601801e-01 -6.08014611e-02 6.27050894e-01 3.47342076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800371743 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.73 [[-8.59516406e-02 -9.96297666e-01 1.80981118e-03 5.22528718e+01] [ 6.21115369e-01 -5.50044157e-02 -7.81786552e-01 3.73985169e+01] [ 7.78991665e-01 -6.60717351e-02 6.23543513e-01 3.47307660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830371743 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:52.25, Y:37.39, Z:34.73 [[-8.74078037e-02 -9.96096388e-01 1.23231950e-02 5.22485545e+01] [ 6.20387888e-01 -6.41096805e-02 -7.81670530e-01 3.73916065e+01] [ 7.79409228e-01 -6.06789433e-02 6.23569821e-01 3.47288432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.74 [[-8.81501224e-02 -9.95922030e-01 1.92058627e-02 5.22457741e+01] [ 6.23614075e-01 -7.02111416e-02 -7.78572978e-01 3.74038764e+01] [ 7.76746446e-01 -5.66542569e-02 6.27260116e-01 3.47449643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.74 [[-8.86017699e-02 -9.96000838e-01 1.14916201e-02 5.22492093e+01] [ 6.24001494e-01 -6.44947420e-02 -7.78757064e-01 3.74047135e+01] [ 7.76383837e-01 -6.18284661e-02 6.27220359e-01 3.47409108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920371743 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.73 [[-8.85313899e-02 -9.95965433e-01 1.46645566e-02 5.22480668e+01] [ 6.24867575e-01 -6.69975378e-02 -7.77850785e-01 3.73956208e+01] [ 7.75694983e-01 -5.97008052e-02 6.28277890e-01 3.47308988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.950371743 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:52.25, Y:37.39, Z:34.73 [[-8.85172268e-02 -9.95985267e-01 1.33435116e-02 5.22485160e+01] [ 6.25476918e-01 -6.60043297e-02 -7.77445853e-01 3.73947229e+01] [ 7.75205344e-01 -6.04712924e-02 6.28808315e-01 3.47289173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98037174299999 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.74 [[-8.87982658e-02 -9.96009113e-01 8.98412115e-03 5.22494574e+01] [ 6.25511678e-01 -6.27817211e-02 -7.77684767e-01 3.74049816e+01] [ 7.75145154e-01 -6.34373859e-02 6.28590239e-01 3.47389245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010371743 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.74 [[-8.71113724e-02 -9.96097830e-01 1.41676172e-02 5.22457358e+01] [ 6.26654138e-01 -6.58469534e-02 -7.76510637e-01 3.74024809e+01] [ 7.74413456e-01 -5.87647114e-02 6.29944846e-01 3.47381287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040371743 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:52.24, Y:37.40, Z:34.73 [[-8.36598006e-02 -9.96308697e-01 1.92358703e-02 5.22434447e+01] [ 6.29151155e-01 -6.77796152e-02 -7.74322121e-01 3.73986262e+01] [ 7.72767663e-01 -5.26773643e-02 6.32499197e-01 3.47333935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.73 [[-8.06306939e-02 -9.96712857e-01 7.88496112e-03 5.22484747e+01] [ 6.32210774e-01 -5.72563390e-02 -7.72677973e-01 3.74045826e+01] [ 7.70589533e-01 -5.73166038e-02 6.34749225e-01 3.47306815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100371743 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:52.25, Y:37.40, Z:34.72 [[-7.44036442e-02 -9.97187537e-01 9.00636875e-03 5.22464734e+01] [ 6.33036474e-01 -5.42075908e-02 -7.72221704e-01 3.73964542e+01] [ 7.70538072e-01 -5.17547490e-02 6.35289324e-01 3.47208997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130371743 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:52.25, Y:37.42, Z:34.74 [[-8.46899060e-02 -9.96160640e-01 -2.21720523e-02 5.22515052e+01] [ 6.19116286e-01 -3.51737212e-02 -7.84511207e-01 3.74170298e+01] [ 7.80719312e-01 -8.01672590e-02 6.19718135e-01 3.47429326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160371743 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:52.23, Y:37.37, Z:34.73 [[-7.77055261e-02 -9.96531745e-01 2.97713488e-02 5.22280758e+01] [ 6.17635986e-01 -7.15588888e-02 -7.83201835e-01 3.73734795e+01] [ 7.82615895e-01 -4.24712542e-02 6.21054388e-01 3.47264792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190371743 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:52.23, Y:37.37, Z:34.72 [[-7.49039286e-02 -9.96731923e-01 3.02468982e-02 5.22272261e+01] [ 6.18302079e-01 -7.02199308e-02 -7.82797356e-01 3.73670466e+01] [ 7.82363049e-01 -3.99328772e-02 6.21541169e-01 3.47199298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220371743 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:52.22, Y:37.36, Z:34.71 [[-6.03321871e-02 -9.96753950e-01 5.33065672e-02 5.22233537e+01] [ 6.31469733e-01 -7.94721903e-02 -7.71317151e-01 3.73619428e+01] [ 7.73049806e-01 -1.28737669e-02 6.34214682e-01 3.47140339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250371743 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:52.24, Y:37.38, Z:34.71 [[-5.63454929e-02 -9.98380733e-01 7.81651866e-03 5.22421639e+01] [ 6.33377850e-01 -4.17955922e-02 -7.72713160e-01 3.73823156e+01] [ 7.71788627e-01 -3.85880940e-02 6.34707235e-01 3.47085914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280371743 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:52.24, Y:37.37, Z:34.69 [[-5.42709381e-02 -9.98444028e-01 1.28136068e-02 5.22405860e+01] [ 6.35123095e-01 -4.44188317e-02 -7.71132687e-01 3.73671525e+01] [ 7.70501991e-01 -3.37118768e-02 6.36545513e-01 3.46918734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.310371743 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:52.24, Y:37.38, Z:34.70 [[-5.55605540e-02 -9.98453114e-01 2.09864617e-03 5.22444280e+01] [ 6.33204716e-01 -3.68607004e-02 -7.73106122e-01 3.73758965e+01] [ 7.71987572e-01 -4.16253318e-02 6.34273222e-01 3.46976838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.340371743 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:52.24, Y:37.37, Z:34.69 [[-5.58184009e-02 -9.98402133e-01 8.80263444e-03 5.22417847e+01] [ 6.31795620e-01 -4.21463020e-02 -7.73988362e-01 3.73661417e+01] [ 7.73122630e-01 -3.76413268e-02 6.33138634e-01 3.46923607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37037174299999 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:52.24, Y:37.36, Z:34.69 [[-5.45398836e-02 -9.98320983e-01 1.95093809e-02 5.22381796e+01] [ 6.33338122e-01 -4.96922897e-02 -7.72278124e-01 3.73617787e+01] [ 7.71950921e-01 -2.97639243e-02 6.34984948e-01 3.46922789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400371743 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:52.25, Y:37.38, Z:34.71 [[-6.86206106e-02 -9.97525306e-01 -1.53126212e-02 5.22471969e+01] [ 6.21047548e-01 -3.07002287e-02 -7.83171398e-01 3.73789373e+01] [ 7.80763188e-01 -6.32515654e-02 6.21617313e-01 3.47053131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:52.22, Y:37.36, Z:34.71 [[-5.76228865e-02 -9.96810692e-01 5.52091161e-02 5.22249888e+01] [ 6.32767108e-01 -7.92409035e-02 -7.70277007e-01 3.73551400e+01] [ 7.72195176e-01 -9.45107180e-03 6.35315108e-01 3.47068953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:52.24, Y:37.37, Z:34.70 [[-6.03276371e-02 -9.98035884e-01 1.68804758e-02 5.22429089e+01] [ 6.32168838e-01 -5.12888137e-02 -7.73131307e-01 3.73685824e+01] [ 7.72478567e-01 -3.59698742e-02 6.34021318e-01 3.46970376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:52.25, Y:37.37, Z:34.69 [[-6.18204362e-02 -9.98049706e-01 8.66132033e-03 5.22471841e+01] [ 6.31145865e-01 -4.58136098e-02 -7.74310022e-01 3.73707649e+01] [ 7.73196696e-01 -4.24016268e-02 6.32747163e-01 3.46947026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:52.25, Y:37.36, Z:34.69 [[-6.38848307e-02 -9.97834994e-01 1.56221781e-02 5.22463650e+01] [ 6.32878146e-01 -5.26127552e-02 -7.72461747e-01 3.73625600e+01] [ 7.71611289e-01 -3.94616528e-02 6.34869118e-01 3.46883968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550371743 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:52.25, Y:37.37, Z:34.69 [[-6.64991443e-02 -9.97763496e-01 6.77278455e-03 5.22502955e+01] [ 6.32159585e-01 -4.73820328e-02 -7.73388131e-01 3.73662475e+01] [ 7.71979354e-01 -4.71481683e-02 6.33896622e-01 3.46897191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580371743 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:52.25, Y:37.36, Z:34.69 [[-6.69037170e-02 -9.97596253e-01 1.80446463e-02 5.22464832e+01] [ 6.34213154e-01 -5.64810741e-02 -7.71092448e-01 3.73604544e+01] [ 7.70258117e-01 -4.01447989e-02 6.36467460e-01 3.46881705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610371743 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:52.25, Y:37.36, Z:34.68 [[-6.67013381e-02 -9.97694932e-01 1.24801659e-02 5.22499723e+01] [ 6.36967334e-01 -5.22056694e-02 -7.69121046e-01 3.73601793e+01] [ 7.67999705e-01 -4.33519449e-02 6.38981269e-01 3.46827768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640371743 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:52.25, Y:37.37, Z:34.70 [[-6.81073591e-02 -9.97628135e-01 9.97453864e-03 5.22504999e+01] [ 6.36905563e-01 -5.11721599e-02 -7.69241648e-01 3.73704676e+01] [ 7.67927530e-01 -4.60381780e-02 6.38880110e-01 3.46955284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670371743 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:52.25, Y:37.36, Z:34.69 [[-6.86342295e-02 -9.97611979e-01 7.72540667e-03 5.22513267e+01] [ 6.35977986e-01 -4.97179529e-02 -7.70103971e-01 3.73623453e+01] [ 7.68649038e-01 -4.79423041e-02 6.37871610e-01 3.46864837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.700371743 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:52.26, Y:37.35, Z:34.67 [[-7.13686487e-02 -9.97428372e-01 -6.56946555e-03 5.22560657e+01] [ 6.28409122e-01 -3.98476168e-02 -7.76861727e-01 3.73480067e+01] [ 7.74602150e-01 -5.95718837e-02 6.29636959e-01 3.46693402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73037174299999 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:52.24, Y:37.34, Z:34.68 [[-7.09307857e-02 -9.97215063e-01 2.30421643e-02 5.22439413e+01] [ 6.31446131e-01 -6.27724949e-02 -7.72874762e-01 3.73440280e+01] [ 7.72168769e-01 -4.02707286e-02 6.34140096e-01 3.46795906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:52.25, Y:37.36, Z:34.69 [[-8.26586441e-02 -9.96570041e-01 -3.96261642e-03 5.22491807e+01] [ 6.21956208e-01 -4.84793567e-02 -7.81549888e-01 3.73560810e+01] [ 7.78677098e-01 -6.70664279e-02 6.23830162e-01 3.46883254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790371743 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:52.23, Y:37.35, Z:34.70 [[-7.21836572e-02 -9.96023186e-01 5.22238675e-02 5.22311352e+01] [ 6.29501549e-01 -8.61101149e-02 -7.72212955e-01 3.73463166e+01] [ 7.73639011e-01 -2.28661498e-02 6.33213881e-01 3.47006884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820371743 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:52.24, Y:37.33, Z:34.66 [[-6.84571053e-02 -9.97310046e-01 2.61972830e-02 5.22438767e+01] [ 6.35939784e-01 -6.38544949e-02 -7.69092449e-01 3.73338471e+01] [ 7.68696440e-01 -3.59899483e-02 6.38600429e-01 3.46616947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850371743 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:52.26, Y:37.37, Z:34.68 [[-7.39464236e-02 -9.97190571e-01 -1.19536861e-02 5.22580815e+01] [ 6.30404252e-01 -3.74529154e-02 -7.75362985e-01 3.73683153e+01] [ 7.72736958e-01 -6.48709743e-02 6.31402685e-01 3.46841708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880371743 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:52.24, Y:37.36, Z:34.70 [[-8.45650375e-02 -9.96353468e-01 1.13367479e-02 5.22413156e+01] [ 6.20101560e-01 -6.15298086e-02 -7.82104941e-01 3.73557402e+01] [ 7.79950518e-01 -5.91087986e-02 6.23043610e-01 3.46969005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910371743 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:52.23, Y:37.32, Z:34.67 [[-7.35312368e-02 -9.95983600e-01 5.10864558e-02 5.22318951e+01] [ 6.28338734e-01 -8.60464576e-02 -7.73166504e-01 3.73212329e+01] [ 7.74456966e-01 -2.47522903e-02 6.32142177e-01 3.46715366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940371743 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:52.24, Y:37.34, Z:34.68 [[-7.69807859e-02 -9.96906395e-01 1.58618774e-02 5.22440417e+01] [ 6.24147397e-01 -6.05904677e-02 -7.78953671e-01 3.73385615e+01] [ 7.77504975e-01 -5.00643163e-02 6.26880833e-01 3.46753980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:52.24, Y:37.34, Z:34.68 [[-7.82746901e-02 -9.96726731e-01 2.02211699e-02 5.22423360e+01] [ 6.23739436e-01 -6.47862081e-02 -7.78942786e-01 3.73373228e+01] [ 7.77703150e-01 -4.83587640e-02 6.26768890e-01 3.46783481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000371743 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:52.23, Y:37.33, Z:34.67 [[-7.29830788e-02 -9.96228651e-01 4.69248983e-02 5.22341579e+01] [ 6.34722812e-01 -8.26884145e-02 -7.68303051e-01 3.73252937e+01] [ 7.69285657e-01 -2.62888188e-02 6.38363905e-01 3.46704916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030371743 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:52.25, Y:37.35, Z:34.67 [[-8.69921497e-02 -9.96108027e-01 -1.41832155e-02 5.22536383e+01] [ 6.22495497e-01 -4.32373367e-02 -7.81428109e-01 3.73463542e+01] [ 7.77773568e-01 -7.68070988e-02 6.23834070e-01 3.46707310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.060371743 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:52.23, Y:37.33, Z:34.68 [[-7.99558970e-02 -9.95419943e-01 5.24041119e-02 5.22308268e+01] [ 6.27910278e-01 -9.11273338e-02 -7.72932398e-01 3.73290756e+01] [ 7.74167771e-01 -2.88954227e-02 6.32320581e-01 3.46834797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.090371743 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:52.24, Y:37.36, Z:34.70 [[-8.16797642e-02 -9.96391134e-01 2.30894947e-02 5.22423704e+01] [ 6.28626597e-01 -6.94818817e-02 -7.74597231e-01 3.73560618e+01] [ 7.73406114e-01 -4.87542487e-02 6.32033231e-01 3.46960811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12037174299999 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:52.24, Y:37.34, Z:34.67 [[-8.22472892e-02 -9.96393790e-01 2.08518123e-02 5.22447291e+01] [ 6.29358851e-01 -6.81506454e-02 -7.74120744e-01 3.73364870e+01] [ 7.72750167e-01 -5.05460601e-02 6.32694457e-01 3.46702317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150371743 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:52.24, Y:37.34, Z:34.68 [[-8.29116072e-02 -9.96250665e-01 2.47038030e-02 5.22427912e+01] [ 6.30270908e-01 -7.16229457e-02 -7.73064510e-01 3.73422506e+01] [ 7.71935391e-01 -4.85259326e-02 6.33846184e-01 3.46798592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:52.24, Y:37.33, Z:34.67 [[-8.31888758e-02 -9.96266428e-01 2.30827733e-02 5.22440947e+01] [ 6.31527903e-01 -7.06226760e-02 -7.72130135e-01 3.73326321e+01] [ 7.70877499e-01 -4.96552225e-02 6.35045069e-01 3.46657063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210371743 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:52.24, Y:37.34, Z:34.67 [[-8.19824122e-02 -9.96359015e-01 2.34007901e-02 5.22443315e+01] [ 6.32157915e-01 -7.01386246e-02 -7.71658567e-01 3.73364884e+01] [ 7.70490269e-01 -4.84694360e-02 6.35606371e-01 3.46699544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:52.25, Y:37.33, Z:34.66 [[-8.17685742e-02 -9.96467947e-01 1.91188517e-02 5.22463465e+01] [ 6.32714195e-01 -6.67221049e-02 -7.71505612e-01 3.73331162e+01] [ 7.70056263e-01 -5.09881449e-02 6.35935186e-01 3.46629408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270371743 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:52.25, Y:37.34, Z:34.67 [[-9.07739785e-02 -9.95870311e-01 1.55190205e-03 5.22488050e+01] [ 6.21651805e-01 -5.78811103e-02 -7.81152233e-01 3.73352338e+01] [ 7.78016143e-01 -6.99435533e-02 6.24338675e-01 3.46676318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300371743 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:52.23, Y:37.32, Z:34.67 [[-7.91214885e-02 -9.94943568e-01 6.18634523e-02 5.22295395e+01] [ 6.33368265e-01 -9.80959276e-02 -7.67607862e-01 3.73153321e+01] [ 7.69795058e-01 -2.15519292e-02 6.37927177e-01 3.46688842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330371743 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:52.25, Y:37.33, Z:34.66 [[-7.65280132e-02 -9.96836137e-01 2.14750648e-02 5.22457480e+01] [ 6.33470264e-01 -6.52421620e-02 -7.71011598e-01 3.73273330e+01] [ 7.69973303e-01 -4.54001708e-02 6.36458904e-01 3.46586862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360371743 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:52.25, Y:37.32, Z:34.65 [[-7.33653408e-02 -9.97115814e-01 1.94314478e-02 5.22478186e+01] [ 6.33663727e-01 -6.16512932e-02 -7.71148104e-01 3.73174302e+01] [ 7.70121943e-01 -4.42625399e-02 6.36359191e-01 3.46457190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390371743 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:52.25, Y:37.32, Z:34.64 [[-7.12090076e-02 -9.97270196e-01 1.95303429e-02 5.22484618e+01] [ 6.35305915e-01 -6.04407450e-02 -7.69891753e-01 3.73153052e+01] [ 7.68970528e-01 -4.24154854e-02 6.37875579e-01 3.46425545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:52.25, Y:37.34, Z:34.67 [[-7.06650073e-02 -9.97422686e-01 1.24274848e-02 5.22501842e+01] [ 6.34025264e-01 -5.45303460e-02 -7.71387325e-01 3.73355740e+01] [ 7.70076893e-01 -4.66307517e-02 6.36244569e-01 3.46655780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.450371743 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:52.24, Y:37.31, Z:34.64 [[-6.58196339e-02 -9.97299310e-01 3.25862386e-02 5.22443578e+01] [ 6.39821791e-01 -6.72416776e-02 -7.65576013e-01 3.73085903e+01] [ 7.65699583e-01 -2.95405474e-02 6.42519653e-01 3.46409297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48037174299999 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:52.26, Y:37.32, Z:34.64 [[-6.82480896e-02 -9.97657150e-01 4.73380686e-03 5.22558614e+01] [ 6.37081991e-01 -4.72322295e-02 -7.69347551e-01 3.73209560e+01] [ 7.67768673e-01 -4.94906775e-02 6.38812913e-01 3.46414395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510371743 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:52.25, Y:37.31, Z:34.64 [[-6.81667923e-02 -9.97399353e-01 2.34055319e-02 5.22495771e+01] [ 6.37713541e-01 -6.16020082e-02 -7.67806377e-01 3.73112286e+01] [ 7.67251411e-01 -3.74128732e-02 6.40254284e-01 3.46406691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540371743 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:52.25, Y:37.30, Z:34.63 [[-6.38532905e-02 -9.97379671e-01 3.40080817e-02 5.22482327e+01] [ 6.43821340e-01 -6.72078100e-02 -7.62218599e-01 3.73010351e+01] [ 7.62506944e-01 -2.67750370e-02 6.46425756e-01 3.46283272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570371743 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:52.26, Y:37.31, Z:34.63 [[-6.51286099e-02 -9.97753651e-01 1.56816968e-02 5.22566782e+01] [ 6.43808425e-01 -5.40211833e-02 -7.63277422e-01 3.73149338e+01] [ 7.62409979e-01 -3.96151889e-02 6.45880531e-01 3.46313840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600371743 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:52.26, Y:37.31, Z:34.62 [[-6.58571706e-02 -9.97722205e-01 1.46025268e-02 5.22581186e+01] [ 6.43171560e-01 -5.36336410e-02 -7.63841461e-01 3.73060563e+01] [ 7.62884773e-01 -4.09125074e-02 6.45238707e-01 3.46192699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630371743 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:52.26, Y:37.31, Z:34.62 [[-6.78592038e-02 -9.97645852e-01 9.89357723e-03 5.22605107e+01] [ 6.40907276e-01 -5.11895509e-02 -7.65909585e-01 3.73060220e+01] [ 7.64612968e-01 -4.56331490e-02 6.42872168e-01 3.46163733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660371743 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:52.26, Y:37.31, Z:34.63 [[-7.36149350e-02 -9.97275301e-01 4.77645506e-03 5.22626368e+01] [ 6.35265161e-01 -5.05837360e-02 -7.70635751e-01 3.73148199e+01] [ 7.68777612e-01 -5.36959852e-02 6.37257973e-01 3.46265750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690371743 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:52.26, Y:37.33, Z:34.65 [[-7.81154276e-02 -9.96855900e-01 1.32775733e-02 5.22580607e+01] [ 6.31474221e-01 -5.97805807e-02 -7.73088993e-01 3.73274863e+01] [ 7.71452065e-01 -5.20057320e-02 6.34158588e-01 3.46508905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720371743 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:52.25, Y:37.31, Z:34.64 [[-7.89602471e-02 -9.96482928e-01 2.80544623e-02 5.22531037e+01] [ 6.31064135e-01 -7.17507469e-02 -7.72405261e-01 3.73097729e+01] [ 7.71701585e-01 -4.32851453e-02 6.34510094e-01 3.46393881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750371743 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:52.25, Y:37.31, Z:34.63 [[-8.02716546e-02 -9.96423120e-01 2.64088367e-02 5.22548523e+01] [ 6.32022277e-01 -7.13673103e-02 -7.71657015e-01 3.73064332e+01] [ 7.70781618e-01 -4.52512122e-02 6.35490382e-01 3.46347095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780371743 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:52.26, Y:37.31, Z:34.64 [[-8.04068853e-02 -9.96457857e-01 2.46266348e-02 5.22557018e+01] [ 6.32739529e-01 -7.01166380e-02 -7.71183730e-01 3.73125133e+01] [ 7.70178824e-01 -4.64262364e-02 6.36136136e-01 3.46415671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.810371743 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:52.25, Y:37.31, Z:34.64 [[-8.07659459e-02 -9.96325256e-01 2.85104567e-02 5.22542491e+01] [ 6.32610712e-01 -7.33441773e-02 -7.70989182e-01 3.73095300e+01] [ 7.70247070e-01 -4.42336503e-02 6.36209741e-01 3.46404774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.840371743 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:52.25, Y:37.30, Z:34.63 [[-8.10893078e-02 -9.96272614e-01 2.94177271e-02 5.22546094e+01] [ 6.34443815e-01 -7.43573024e-02 -7.69384194e-01 3.72991021e+01] [ 7.68703825e-01 -4.37249367e-02 6.38108580e-01 3.46286467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87037174299999 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:52.25, Y:37.29, Z:34.62 [[-7.77664617e-02 -9.96270791e-01 3.73749702e-02 5.22529318e+01] [ 6.37791675e-01 -7.85281731e-02 -7.66195213e-01 3.72897711e+01] [ 7.66272899e-01 -3.57468459e-02 6.41520075e-01 3.46193586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900371743 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:52.27, Y:37.31, Z:34.63 [[-9.07387977e-02 -9.95858112e-01 -5.75254225e-03 5.22655077e+01] [ 6.27098322e-01 -5.26495779e-02 -7.77158746e-01 3.73090257e+01] [ 7.73636973e-01 -7.41258599e-02 6.29278310e-01 3.46289067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930371743 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:52.24, Y:37.28, Z:34.64 [[-8.04754931e-02 -9.94312967e-01 6.97525485e-02 5.22406566e+01] [ 6.37530008e-01 -1.05139848e-01 -7.63217598e-01 3.72849220e+01] [ 7.66210927e-01 -1.69509697e-02 6.42365535e-01 3.46355105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960371743 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:52.26, Y:37.31, Z:34.63 [[-9.19774175e-02 -9.95755096e-01 3.45594912e-03 5.22637246e+01] [ 6.27842342e-01 -6.06866428e-02 -7.75971085e-01 3.73073608e+01] [ 7.72886892e-01 -6.92020253e-02 6.30759012e-01 3.46336692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990371743 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:52.24, Y:37.28, Z:34.63 [[-8.10764437e-02 -9.93803176e-01 7.60385295e-02 5.22396030e+01] [ 6.38296637e-01 -1.10363773e-01 -7.61838067e-01 3.72784410e+01] [ 7.65508990e-01 -1.32319835e-02 6.43289127e-01 3.46325704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020371743 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:52.26, Y:37.30, Z:34.62 [[-8.11025170e-02 -9.96366327e-01 2.60100654e-02 5.22618686e+01] [ 6.40295953e-01 -7.20824399e-02 -7.64738658e-01 3.72952111e+01] [ 7.63834717e-01 -4.53680904e-02 6.43815394e-01 3.46173175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050371743 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:52.26, Y:37.30, Z:34.62 [[-8.05342422e-02 -9.96416288e-01 2.58614891e-02 5.22634495e+01] [ 6.41372765e-01 -7.16642419e-02 -7.63875129e-01 3.72978372e+01] [ 7.62990965e-01 -4.49312499e-02 6.44845695e-01 3.46166578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080371743 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:52.26, Y:37.29, Z:34.61 [[-7.90422801e-02 -9.96448146e-01 2.90415433e-02 5.22637829e+01] [ 6.42278242e-01 -7.31848938e-02 -7.62969614e-01 3.72923330e+01] [ 7.62385059e-01 -4.16541066e-02 6.45781664e-01 3.46090209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:52.27, Y:37.31, Z:34.62 [[-7.86855676e-02 -9.96698767e-01 2.00037407e-02 5.22676615e+01] [ 6.41713121e-01 -6.59962879e-02 -7.64099968e-01 3.73075358e+01] [ 7.62897668e-01 -4.72869767e-02 6.44787632e-01 3.46203796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:52.27, Y:37.30, Z:34.61 [[-7.73004170e-02 -9.96843336e-01 1.81110425e-02 5.22693243e+01] [ 6.39782272e-01 -6.35276932e-02 -7.65926156e-01 3.72994779e+01] [ 7.64658937e-01 -4.76192873e-02 6.42673412e-01 3.46095813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170371743 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:52.27, Y:37.29, Z:34.61 [[-7.52820499e-02 -9.96897047e-01 2.29976423e-02 5.22677114e+01] [ 6.40345900e-01 -6.60102075e-02 -7.65244916e-01 3.72946353e+01] [ 7.64388475e-01 -4.28827600e-02 6.43328320e-01 3.46050474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.200371743 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:52.27, Y:37.30, Z:34.61 [[-8.51407623e-02 -9.96347848e-01 -6.48198997e-03 5.22723599e+01] [ 6.24225406e-01 -4.82689697e-02 -7.79751722e-01 3.72959266e+01] [ 7.76591072e-01 -7.04348789e-02 6.26055297e-01 3.46080609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23037174299999 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:52.25, Y:37.28, Z:34.63 [[-8.25921820e-02 -9.95400772e-01 4.85369472e-02 5.22484362e+01] [ 6.22889045e-01 -8.95789576e-02 -7.77164621e-01 3.72841056e+01] [ 7.77938152e-01 -3.39545891e-02 6.27422758e-01 3.46299142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260371743 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:52.24, Y:37.26, Z:34.61 [[-6.67451915e-02 -9.94964448e-01 7.47718294e-02 5.22449680e+01] [ 6.39303964e-01 -1.00180997e-01 -7.62400295e-01 3.72637142e+01] [ 7.66051905e-01 -3.08462668e-03 6.42771316e-01 3.46070976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290371743 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:52.27, Y:37.28, Z:34.60 [[-6.50746912e-02 -9.97606302e-01 2.33869766e-02 5.22662005e+01] [ 6.41504941e-01 -5.97748626e-02 -7.64786491e-01 3.72833897e+01] [ 7.64353777e-01 -3.47653837e-02 6.43859202e-01 3.45971377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:52.27, Y:37.29, Z:34.61 [[-7.77945821e-02 -9.96969376e-01 -2.58628829e-04 5.22694466e+01] [ 6.28882216e-01 -4.88710525e-02 -7.75963130e-01 3.72888289e+01] [ 7.73598838e-01 -6.05283745e-02 6.30778213e-01 3.46061595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350371743 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:52.25, Y:37.26, Z:34.60 [[-6.48231206e-02 -9.94891921e-01 7.73823512e-02 5.22458243e+01] [ 6.44216174e-01 -1.00943390e-01 -7.58152988e-01 3.72581012e+01] [ 7.62091519e-01 7.05119697e-04 6.47468933e-01 3.46017835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380371743 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:52.27, Y:37.28, Z:34.59 [[-6.60983833e-02 -9.97505896e-01 2.47586506e-02 5.22687064e+01] [ 6.44766442e-01 -6.16351280e-02 -7.61890639e-01 3.72769867e+01] [ 7.61516407e-01 -3.43961924e-02 6.47232310e-01 3.45905901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410371743 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:52.27, Y:37.28, Z:34.59 [[-6.48777789e-02 -9.97543683e-01 2.64097325e-02 5.22702380e+01] [ 6.47958231e-01 -6.22393565e-02 -7.59128707e-01 3.72755519e+01] [ 7.58907771e-01 -3.21381809e-02 6.50404591e-01 3.45850248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440371743 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:52.28, Y:37.29, Z:34.60 [[-8.56746926e-02 -9.96250680e-01 -1.20178767e-02 5.22807399e+01] [ 6.29029823e-01 -4.47326629e-02 -7.76093081e-01 3.72882469e+01] [ 7.72645668e-01 -7.40511390e-02 6.30503846e-01 3.45959238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470371743 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:52.25, Y:37.27, Z:34.61 [[-7.48115842e-02 -9.93935296e-01 8.05968681e-02 5.22497054e+01] [ 6.41255140e-01 -1.09846736e-01 -7.59424479e-01 3.72685260e+01] [ 7.63672097e-01 -5.13059243e-03 6.45583926e-01 3.46126074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:52.28, Y:37.28, Z:34.59 [[-7.70496583e-02 -9.96694103e-01 2.57723730e-02 5.22761233e+01] [ 6.45061894e-01 -6.95434255e-02 -7.60959175e-01 3.72814746e+01] [ 7.60235821e-01 -4.20068686e-02 6.48287683e-01 3.45858246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530371743 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:52.28, Y:37.29, Z:34.59 [[-8.44885175e-02 -9.96395467e-01 7.60022188e-03 5.22826007e+01] [ 6.36860517e-01 -5.98651072e-02 -7.68651320e-01 3.72877269e+01] [ 7.66335679e-01 -6.01019292e-02 6.39622846e-01 3.45899584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.560371743 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:52.27, Y:37.27, Z:34.59 [[-8.36746394e-02 -9.95557923e-01 4.31622113e-02 5.22692308e+01] [ 6.40609354e-01 -8.69186760e-02 -7.62931714e-01 3.72729717e+01] [ 7.63294315e-01 -3.61879197e-02 6.45036606e-01 3.45884617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.590371743 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:52.28, Y:37.29, Z:34.59 [[-9.00324485e-02 -9.95907370e-01 7.91640744e-03 5.22826036e+01] [ 6.35295522e-01 -6.35501609e-02 -7.69649905e-01 3.72883817e+01] [ 7.67003102e-01 -6.42642072e-02 6.38417069e-01 3.45916600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62037174299999 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:52.27, Y:37.27, Z:34.59 [[-8.88798590e-02 -9.95100656e-01 4.33019031e-02 5.22691403e+01] [ 6.41650965e-01 -9.04536624e-02 -7.61644388e-01 3.72715033e+01] [ 7.61829646e-01 -3.99101379e-02 6.46546805e-01 3.45870593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650371743 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:52.28, Y:37.30, Z:34.61 [[-9.60670054e-02 -9.95374007e-01 1.31007380e-03 5.22836015e+01] [ 6.34633550e-01 -6.22645309e-02 -7.70300841e-01 3.73024169e+01] [ 7.66819006e-01 -7.31690783e-02 6.37679307e-01 3.46072732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:52.27, Y:37.28, Z:34.60 [[-9.78938634e-02 -9.94685115e-01 3.19110324e-02 5.22696331e+01] [ 6.33040800e-01 -8.69795861e-02 -7.69216417e-01 3.72830078e+01] [ 7.67903729e-01 -5.51005814e-02 6.38191029e-01 3.46046641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:52.26, Y:37.27, Z:34.60 [[-9.19436499e-02 -9.94247202e-01 5.49442180e-02 5.22617482e+01] [ 6.43173513e-01 -1.01420412e-01 -7.58974132e-01 3.72744436e+01] [ 7.60180372e-01 -3.44441862e-02 6.48798428e-01 3.45988760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:52.28, Y:37.28, Z:34.58 [[-9.62496189e-02 -9.95352651e-01 3.01858388e-03 5.22822257e+01] [ 6.38140656e-01 -6.40344006e-02 -7.67252304e-01 3.72825305e+01] [ 7.63879908e-01 -7.19214608e-02 6.41338280e-01 3.45835203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:52.27, Y:37.28, Z:34.60 [[-1.09734922e-01 -9.93918575e-01 9.17133140e-03 5.22720016e+01] [ 6.27142297e-01 -7.63931426e-02 -7.75149422e-01 3.72816596e+01] [ 7.71136036e-01 -7.93092317e-02 6.31711374e-01 3.45997906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800371743 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:52.25, Y:37.26, Z:34.60 [[-9.89516560e-02 -9.92516955e-01 7.15448334e-02 5.22520800e+01] [ 6.36383595e-01 -1.18390985e-01 -7.62233229e-01 3.72566439e+01] [ 7.64999667e-01 -2.98942819e-02 6.43336492e-01 3.45974409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830371743 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:52.27, Y:37.27, Z:34.59 [[-1.00606727e-01 -9.94442214e-01 3.10317548e-02 5.22682622e+01] [ 6.38025306e-01 -8.84179242e-02 -7.64922205e-01 3.72699969e+01] [ 7.63414694e-01 -5.71572748e-02 6.43374736e-01 3.45881796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860371743 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:52.27, Y:37.27, Z:34.58 [[-1.04215872e-01 -9.94319265e-01 2.16391349e-02 5.22717327e+01] [ 6.35942565e-01 -8.33508245e-02 -7.67222063e-01 3.72705249e+01] [ 7.64667318e-01 -6.61954693e-02 6.41016422e-01 3.45849218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890371743 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:52.27, Y:37.25, Z:34.57 [[-1.03387342e-01 -9.94068344e-01 3.37518066e-02 5.22683742e+01] [ 6.35328262e-01 -9.21097620e-02 -7.66729281e-01 3.72490857e+01] [ 7.65290178e-01 -5.78266256e-02 6.41082697e-01 3.45656008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920371743 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:52.27, Y:37.29, Z:34.62 [[-1.20710869e-01 -9.92607441e-01 1.26235457e-02 5.22697065e+01] [ 6.24992645e-01 -8.58727461e-02 -7.75893076e-01 3.72949557e+01] [ 7.71241259e-01 -8.57691038e-02 6.30738124e-01 3.46158155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.950371743 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:52.25, Y:37.26, Z:34.61 [[-0.12132997 -0.99095651 0.05730818 52.25285023] [ 0.62107331 -0.12082597 -0.774383 37.26360544] [ 0.7743042 -0.05836329 0.63011645 34.60590849] [ 0. 0. 0. 1. ]] SLAMing on 91.98037174299999 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:52.26, Y:37.27, Z:34.60 [[-1.15236739e-01 -9.91512833e-01 6.01896628e-02 5.22556136e+01] [ 6.24238804e-01 -1.19418351e-01 -7.72052572e-01 3.72650086e+01] [ 7.72687783e-01 -5.13960975e-02 6.32702166e-01 3.46033970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010371743 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:52.26, Y:37.25, Z:34.57 [[-1.11230294e-01 -9.92254521e-01 5.53063002e-02 5.22596614e+01] [ 6.31168058e-01 -1.13520468e-01 -7.67293937e-01 3.72482397e+01] [ 7.67629275e-01 -5.04387599e-02 6.38906274e-01 3.45724750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:52.28, Y:37.27, Z:34.58 [[-1.20399362e-01 -9.92714591e-01 4.66197437e-03 5.22768669e+01] [ 6.21018505e-01 -7.89810785e-02 -7.79806390e-01 3.72745873e+01] [ 7.74493390e-01 -9.09930194e-02 6.26003403e-01 3.45842180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070371743 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:52.26, Y:37.26, Z:34.60 [[-1.19538734e-01 -9.91769190e-01 4.58733522e-02 5.22586090e+01] [ 6.19081626e-01 -1.10581041e-01 -7.77502266e-01 3.72638800e+01] [ 7.76175516e-01 -6.45422872e-02 6.27204800e-01 3.45968510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100371743 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:52.26, Y:37.26, Z:34.59 [[-1.19533333e-01 -9.91916108e-01 4.25936300e-02 5.22587631e+01] [ 6.18969195e-01 -1.07996408e-01 -7.77954955e-01 3.72632565e+01] [ 7.76266010e-01 -6.66274040e-02 6.26874685e-01 3.45949982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:52.25, Y:37.26, Z:34.59 [[-1.15960222e-01 -9.91947393e-01 5.09273588e-02 5.22534262e+01] [ 6.22616676e-01 -1.12542758e-01 -7.74391762e-01 3.72603954e+01] [ 7.73887396e-01 -5.80904181e-02 6.30653472e-01 3.45946274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160371743 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:52.26, Y:37.26, Z:34.59 [[-1.14536947e-01 -9.92693790e-01 3.79516489e-02 5.22553214e+01] [ 6.21321432e-01 -1.01392270e-01 -7.76968008e-01 3.72601632e+01] [ 7.75139320e-01 -6.54113706e-02 6.28395088e-01 3.45915630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190371743 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:52.25, Y:37.25, Z:34.59 [[-1.11995679e-01 -9.92395703e-01 5.10660049e-02 5.22494448e+01] [ 6.23788168e-01 -1.10213721e-01 -7.73783728e-01 3.72498910e+01] [ 7.73527821e-01 -5.48060640e-02 6.31388158e-01 3.45863337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220371743 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:52.25, Y:37.25, Z:34.59 [[-1.10534778e-01 -9.92689704e-01 4.84686885e-02 5.22493947e+01] [ 6.25996967e-01 -1.07416512e-01 -7.72392057e-01 3.72544591e+01] [ 7.71951980e-01 -5.50349328e-02 6.33294005e-01 3.45899358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250371743 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:52.25, Y:37.25, Z:34.58 [[-1.09943069e-01 -9.92877117e-01 4.59080732e-02 5.22499061e+01] [ 6.27144304e-01 -1.05129733e-01 -7.71775719e-01 3.72489016e+01] [ 7.71104755e-01 -5.60604048e-02 6.34235514e-01 3.45810141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280371743 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:52.25, Y:37.25, Z:34.58 [[-1.11138707e-01 -9.92970988e-01 4.07038787e-02 5.22503327e+01] [ 6.23667746e-01 -1.01575628e-01 -7.75061891e-01 3.72508321e+01] [ 7.73748493e-01 -6.07536798e-02 6.30572961e-01 3.45837250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.310371743 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:52.25, Y:37.25, Z:34.59 [[-1.12868230e-01 -9.92478679e-01 4.74007887e-02 5.22468525e+01] [ 6.21709692e-01 -1.07755273e-01 -7.75800142e-01 3.72518723e+01] [ 7.75072785e-01 -5.80936591e-02 6.29195761e-01 3.45909060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.340371743 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:52.25, Y:37.25, Z:34.59 [[-0.11449562 -0.99189911 0.05501741 52.24528842] [ 0.62113323 -0.11469933 -0.77526613 37.24756485] [ 0.77529624 -0.05459143 0.62923407 34.58896118] [ 0. 0. 0. 1. ]] SLAMing on 92.37037174299999 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:52.25, Y:37.25, Z:34.59 [[-1.17417526e-01 -9.91867416e-01 4.91136887e-02 5.22468902e+01] [ 6.18940604e-01 -1.11766619e-01 -7.77445015e-01 3.72513757e+01] [ 7.76611649e-01 -6.08872144e-02 6.27030378e-01 3.45912220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:52.25, Y:37.26, Z:34.60 [[-1.20246514e-01 -9.91505482e-01 4.95747357e-02 5.22455122e+01] [ 6.14919471e-01 -1.13593266e-01 -7.80365692e-01 3.72580018e+01] [ 7.79368218e-01 -6.33517842e-02 6.23355221e-01 3.46029658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430371743 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:52.24, Y:37.26, Z:34.61 [[-0.1207581 -0.99075271 0.06185911 52.23977924] [ 0.61332001 -0.12346292 -0.78012529 37.25989553] [ 0.78054855 -0.05626702 0.62255761 34.61290586] [ 0. 0. 0. 1. ]] SLAMing on 92.460371743 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:52.25, Y:37.26, Z:34.61 [[-1.23362496e-01 -9.91341371e-01 4.49886739e-02 5.22451714e+01] [ 6.06460423e-01 -1.11196859e-01 -7.87299825e-01 3.72593984e+01] [ 7.85485487e-01 -6.98394213e-02 6.14926829e-01 3.46073452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490371743 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:52.23, Y:37.25, Z:34.61 [[-1.21962886e-01 -9.88947754e-01 8.43053652e-02 5.22291399e+01] [ 6.15907451e-01 -1.42016729e-01 -7.74912421e-01 3.72512275e+01] [ 7.78320670e-01 -4.25862530e-02 6.26421060e-01 3.46130752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:52.24, Y:37.27, Z:34.62 [[-1.22043437e-01 -9.91478054e-01 4.55704783e-02 5.22443860e+01] [ 6.10031096e-01 -1.11149505e-01 -7.84543083e-01 3.72680065e+01] [ 7.82922385e-01 -6.79489254e-02 6.18397512e-01 3.46152832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:52.23, Y:37.22, Z:34.58 [[-1.19802329e-01 -9.89319644e-01 8.30303806e-02 5.22300590e+01] [ 6.16364441e-01 -1.39680096e-01 -7.74973771e-01 3.72236228e+01] [ 7.78294467e-01 -4.16666887e-02 6.26515450e-01 3.45802506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:52.24, Y:37.24, Z:34.59 [[-0.11684752 -0.99126707 0.06112488 52.23567954] [ 0.61914254 -0.12082891 -0.77592711 37.24231956] [ 0.77653665 -0.05282014 0.62785417 34.58890465] [ 0. 0. 0. 1. ]] SLAMing on 92.610371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:52.23, Y:37.24, Z:34.58 [[-1.15230437e-01 -9.91429475e-01 6.15592675e-02 5.22349787e+01] [ 6.20094867e-01 -1.20208657e-01 -7.75262688e-01 3.72364496e+01] [ 7.76018236e-01 -5.11612727e-02 6.28632024e-01 3.45818016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640371743 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:52.23, Y:37.24, Z:34.58 [[-1.13673383e-01 -9.91582054e-01 6.19950928e-02 5.22341106e+01] [ 6.21043065e-01 -1.19624071e-01 -7.74593824e-01 3.72356388e+01] [ 7.75489441e-01 -4.95490783e-02 6.29413231e-01 3.45812454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670371743 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:52.23, Y:37.24, Z:34.58 [[-1.10731875e-01 -9.91889474e-01 6.23997124e-02 5.22319893e+01] [ 6.22605233e-01 -1.18170727e-01 -7.73562152e-01 3.72365098e+01] [ 7.74661975e-01 -4.68075999e-02 6.30640843e-01 3.45830960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.700371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:52.23, Y:37.24, Z:34.59 [[-1.08457167e-01 -9.92634201e-01 5.39850567e-02 5.22342866e+01] [ 6.18100070e-01 -1.09867741e-01 -7.78383828e-01 3.72436145e+01] [ 7.78581625e-01 -5.10531372e-02 6.25463213e-01 3.45913502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73037174299999 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:52.23, Y:37.24, Z:34.59 [[-1.08731803e-01 -9.92221446e-01 6.06135132e-02 5.22318668e+01] [ 6.17750036e-01 -1.15215831e-01 -7.77888299e-01 3.72395566e+01] [ 7.78821089e-01 -4.71371975e-02 6.25472458e-01 3.45910624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760371743 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:52.23, Y:37.21, Z:34.56 [[-1.09282776e-01 -9.91546590e-01 6.99473745e-02 5.22284425e+01] [ 6.21928071e-01 -1.23099614e-01 -7.73338192e-01 3.72145175e+01] [ 7.75411342e-01 -4.10103085e-02 6.30123326e-01 3.45613539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790371743 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:52.23, Y:37.21, Z:34.55 [[-1.09655719e-01 -9.91889112e-01 6.42776223e-02 5.22313028e+01] [ 6.22236476e-01 -1.18930742e-01 -7.73742365e-01 3.72118611e+01] [ 7.75111212e-01 -4.48493945e-02 6.30231021e-01 3.45537516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820371743 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:52.23, Y:37.20, Z:34.53 [[-1.02770016e-01 -9.91964901e-01 7.37831825e-02 5.22316223e+01] [ 6.27823755e-01 -1.22220633e-01 -7.68699844e-01 3.71961513e+01] [ 7.71541092e-01 -3.26764607e-02 6.35339745e-01 3.45347478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850371743 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:52.24, Y:37.20, Z:34.53 [[-1.02958721e-01 -9.93364223e-01 5.12544842e-02 5.22411977e+01] [ 6.29242152e-01 -1.04952997e-01 -7.70090373e-01 3.72023100e+01] [ 7.70359537e-01 -4.70360380e-02 6.35872468e-01 3.45251853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880371743 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:52.24, Y:37.22, Z:34.54 [[-1.11908636e-01 -9.92953336e-01 3.89888465e-02 5.22418295e+01] [ 6.21990746e-01 -1.00591231e-01 -7.76536488e-01 3.72189665e+01] [ 7.74986432e-01 -6.26504376e-02 6.28864813e-01 3.45449343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910371743 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:52.23, Y:37.20, Z:34.53 [[-1.02178654e-01 -9.91351971e-01 8.23455696e-02 5.22299877e+01] [ 6.30339260e-01 -1.28562836e-01 -7.65600427e-01 3.71957104e+01] [ 7.69566072e-01 -2.63223757e-02 6.38024446e-01 3.45349744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:52.25, Y:37.22, Z:34.54 [[-1.12341014e-01 -9.93262498e-01 2.84447879e-02 5.22475486e+01] [ 6.21490891e-01 -9.25707515e-02 -7.77932985e-01 3.72224013e+01] [ 7.75324815e-01 -6.97156041e-02 6.27703087e-01 3.45396876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970371743 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:52.23, Y:37.20, Z:34.54 [[-9.94834333e-02 -9.91240316e-01 8.68658868e-02 5.22287195e+01] [ 6.31720352e-01 -1.30366742e-01 -7.64155684e-01 3.71970008e+01] [ 7.68786344e-01 -2.11458823e-02 6.39156013e-01 3.45367038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000371743 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:52.25, Y:37.22, Z:34.53 [[-1.10606644e-01 -9.93664943e-01 1.99035656e-02 5.22512811e+01] [ 6.21508649e-01 -8.47811002e-02 -7.78806243e-01 3.72175006e+01] [ 7.75559907e-01 -7.37709068e-02 6.26948710e-01 3.45284891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030371743 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:52.23, Y:37.17, Z:34.50 [[-8.99669363e-02 -9.90631035e-01 1.02742898e-01 5.22269330e+01] [ 6.40809919e-01 -1.36548988e-01 -7.55458154e-01 3.71672492e+01] [ 7.62409731e-01 -2.12758720e-03 6.47091087e-01 3.45025159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.060371743 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:52.26, Y:37.23, Z:34.52 [[-1.09454696e-01 -9.93945686e-01 -9.57305295e-03 5.22633069e+01] [ 6.23723828e-01 -6.11801350e-02 -7.79246801e-01 3.72279868e+01] [ 7.73943315e-01 -9.12631631e-02 6.26644061e-01 3.45218214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.090371743 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:52.23, Y:37.19, Z:34.52 [[-9.60952035e-02 -9.91738107e-01 8.49778739e-02 5.22310745e+01] [ 6.32500204e-01 -1.26760582e-01 -7.64117299e-01 3.71859330e+01] [ 7.68576088e-01 -1.96794847e-02 6.39455639e-01 3.45224925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12037174299999 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:52.25, Y:37.20, Z:34.50 [[-9.64245654e-02 -9.94673274e-01 3.64332520e-02 5.22513203e+01] [ 6.33348241e-01 -8.95524221e-02 -7.68667918e-01 3.71956217e+01] [ 7.67836121e-01 -5.10435338e-02 6.38609622e-01 3.45019632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150371743 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:52.25, Y:37.21, Z:34.52 [[-9.86731309e-02 -9.94557137e-01 3.34621340e-02 5.22510338e+01] [ 6.30550442e-01 -8.85022722e-02 -7.71085915e-01 3.72066509e+01] [ 7.69850475e-01 -5.49858981e-02 6.35851239e-01 3.45171013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180371743 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:52.25, Y:37.20, Z:34.52 [[-1.00433231e-01 -9.94011284e-01 4.30666231e-02 5.22467948e+01] [ 6.28065299e-01 -9.69108462e-02 -7.72102498e-01 3.72015219e+01] [ 7.71652218e-01 -5.04960971e-02 6.34037064e-01 3.45194913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210371743 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:52.24, Y:37.21, Z:34.53 [[-1.00773882e-01 -9.93613900e-01 5.07547213e-02 5.22428998e+01] [ 6.27647915e-01 -1.03073314e-01 -7.71643691e-01 3.72099966e+01] [ 7.71947355e-01 -4.59054352e-02 6.34026791e-01 3.45345622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240371743 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:52.25, Y:37.19, Z:34.51 [[-1.03317285e-01 -9.93672923e-01 4.40415902e-02 5.22469765e+01] [ 6.25128348e-01 -9.93109509e-02 -7.74178198e-01 3.71946216e+01] [ 7.73653725e-01 -5.24543430e-02 6.31433651e-01 3.45129403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270371743 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:52.24, Y:37.20, Z:34.52 [[-1.12064847e-01 -9.92556749e-01 4.76714796e-02 5.22414294e+01] [ 6.20042291e-01 -1.07333737e-01 -7.77191756e-01 3.71971293e+01] [ 7.76523681e-01 -5.75375416e-02 6.27455500e-01 3.45227105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300371743 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:52.23, Y:37.19, Z:34.53 [[-1.12774174e-01 -9.91223589e-01 6.89766789e-02 5.22325597e+01] [ 6.18621348e-01 -1.24366996e-01 -7.75783783e-01 3.71927525e+01] [ 7.77553608e-01 -4.48179293e-02 6.27217458e-01 3.45334657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330371743 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:52.23, Y:37.18, Z:34.52 [[-1.00200354e-01 -9.90103607e-01 9.82585160e-02 5.22271615e+01] [ 6.35182194e-01 -1.39667725e-01 -7.59629191e-01 3.71775705e+01] [ 7.65835145e-01 -1.37030543e-02 6.42890937e-01 3.45192691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360371743 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:52.25, Y:37.21, Z:34.52 [[-1.13648060e-01 -9.93415341e-01 1.44940664e-02 5.22542859e+01] [ 6.21406942e-01 -8.24575084e-02 -7.79136812e-01 3.72072810e+01] [ 7.75201606e-01 -7.95406733e-02 6.26686326e-01 3.45152122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390371743 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:52.23, Y:37.18, Z:34.52 [[-1.12583284e-01 -9.91199485e-01 6.96317746e-02 5.22310648e+01] [ 6.19681608e-01 -1.24819448e-01 -7.74864382e-01 3.71815442e+01] [ 7.76736576e-01 -4.40872471e-02 6.28280675e-01 3.45246041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420371743 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:52.23, Y:37.18, Z:34.53 [[-1.12832265e-01 -9.91139605e-01 7.00796952e-02 5.22303055e+01] [ 6.20008447e-01 -1.25345548e-01 -7.74517927e-01 3.71834824e+01] [ 7.76439570e-01 -4.39406088e-02 6.28657949e-01 3.45276905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.450371743 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:52.23, Y:37.18, Z:34.52 [[-1.12921868e-01 -9.91095620e-01 7.05558237e-02 5.22300034e+01] [ 6.19967868e-01 -1.25772015e-01 -7.74481273e-01 3.71796149e+01] [ 7.76458946e-01 -4.37135282e-02 6.28649849e-01 3.45236953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48037174299999 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:52.23, Y:37.18, Z:34.52 [[-1.13459104e-01 -9.91000182e-01 7.10328935e-02 5.22298694e+01] [ 6.19863740e-01 -1.26478861e-01 -7.74449509e-01 3.71764025e+01] [ 7.76463763e-01 -4.38376321e-02 6.28635257e-01 3.45203855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:52.23, Y:37.18, Z:34.52 [[-1.14292731e-01 -9.90870902e-01 7.14984471e-02 5.22291807e+01] [ 6.19867233e-01 -1.27370385e-01 -7.74300586e-01 3.71797084e+01] [ 7.76338705e-01 -4.41773842e-02 6.28765914e-01 3.45247347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540371743 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:52.23, Y:37.18, Z:34.52 [[-1.14759242e-01 -9.90783297e-01 7.19636979e-02 5.22293593e+01] [ 6.19933181e-01 -1.28032973e-01 -7.74138495e-01 3.71753539e+01] [ 7.76217217e-01 -4.42268629e-02 6.28912408e-01 3.45192509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570371743 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:52.22, Y:37.19, Z:34.53 [[-1.02935412e-01 -9.89432371e-01 1.02117009e-01 5.22201777e+01] [ 6.36734884e-01 -1.44416031e-01 -7.57438247e-01 3.71859349e+01] [ 7.64181254e-01 -1.29457560e-02 6.44871630e-01 3.45347689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600371743 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:52.24, Y:37.19, Z:34.51 [[-1.04329436e-01 -9.93442686e-01 4.67653558e-02 5.22420543e+01] [ 6.36347324e-01 -1.02817008e-01 -7.64519945e-01 3.71940697e+01] [ 7.64315021e-01 -5.00029259e-02 6.42901436e-01 3.45081871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630371743 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:52.24, Y:37.19, Z:34.50 [[-1.05136538e-01 -9.93504959e-01 4.35224586e-02 5.22428562e+01] [ 6.32466802e-01 -1.00575172e-01 -7.68030194e-01 3.71858692e+01] [ 7.67419086e-01 -5.32215255e-02 6.38933029e-01 3.44991298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660371743 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:52.24, Y:37.19, Z:34.51 [[-1.06046559e-01 -9.92880522e-01 5.42438545e-02 5.22373869e+01] [ 6.31831298e-01 -1.09406241e-01 -7.67345741e-01 3.71851772e+01] [ 7.67817256e-01 -4.71014104e-02 6.38935144e-01 3.45050727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690371743 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:52.24, Y:37.19, Z:34.51 [[-1.14111876e-01 -9.92672082e-01 3.97569879e-02 5.22379077e+01] [ 6.19294719e-01 -1.02368121e-01 -7.78456690e-01 3.71899851e+01] [ 7.76822071e-01 -6.42098610e-02 6.26437996e-01 3.45146780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720371743 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:52.22, Y:37.19, Z:34.54 [[-1.06507607e-01 -9.90218784e-01 9.01270699e-02 5.22189013e+01] [ 6.27769488e-01 -1.37260314e-01 -7.66201721e-01 3.71897169e+01] [ 7.71078206e-01 -2.50272869e-02 6.36248406e-01 3.45391033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750371743 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:52.23, Y:37.21, Z:34.54 [[-1.08773983e-01 -9.92301068e-01 5.92183401e-02 5.22277892e+01] [ 6.27504492e-01 -1.14744302e-01 -7.70111588e-01 3.72127410e+01] [ 7.70977518e-01 -4.66083306e-02 6.35154572e-01 3.45444589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:52.23, Y:37.19, Z:34.51 [[-1.09143847e-01 -9.92300721e-01 5.85397357e-02 5.22297929e+01] [ 6.27615729e-01 -1.14460953e-01 -7.70063106e-01 3.71888437e+01] [ 7.70834689e-01 -4.73071912e-02 6.35276249e-01 3.45144565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.810371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:52.23, Y:37.19, Z:34.52 [[-1.09661159e-01 -9.92073035e-01 6.13638602e-02 5.22276003e+01] [ 6.27455073e-01 -1.16973603e-01 -7.69816411e-01 3.71907383e+01] [ 7.70892056e-01 -4.59158944e-02 6.35308720e-01 3.45181414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.840371743 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:52.23, Y:37.16, Z:34.49 [[-1.08645941e-01 -9.92127848e-01 6.22767411e-02 5.22280474e+01] [ 6.27768778e-01 -1.17050967e-01 -7.69548850e-01 3.71649329e+01] [ 7.70780397e-01 -4.45129649e-02 6.35544000e-01 3.44882734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87037174299999 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:52.23, Y:37.16, Z:34.48 [[-1.08248812e-01 -9.92508369e-01 5.66509763e-02 5.22295745e+01] [ 6.27398922e-01 -1.12409265e-01 -7.70541854e-01 3.71643648e+01] [ 7.71137333e-01 -4.78674786e-02 6.34866850e-01 3.44848133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:52.22, Y:37.16, Z:34.49 [[-1.05161476e-01 -9.92449107e-01 6.31334621e-02 5.22241971e+01] [ 6.29928783e-01 -1.15603713e-01 -7.68000983e-01 3.71649894e+01] [ 7.69500352e-01 -4.09945321e-02 6.37329315e-01 3.44908048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930371743 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:52.22, Y:37.16, Z:34.48 [[-1.03789400e-01 -9.92843684e-01 5.90692735e-02 5.22249544e+01] [ 6.29707316e-01 -1.11566584e-01 -7.68779288e-01 3.71594222e+01] [ 7.69867818e-01 -4.25947877e-02 6.36780360e-01 3.44829544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960371743 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:52.22, Y:37.16, Z:34.48 [[-1.02001949e-01 -9.92786633e-01 6.30103447e-02 5.22226794e+01] [ 6.30568154e-01 -1.13516578e-01 -7.67787594e-01 3.71550992e+01] [ 7.69401979e-01 -3.85835139e-02 6.37598547e-01 3.44810186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:52.22, Y:37.16, Z:34.48 [[-1.06474485e-01 -9.93211587e-01 4.68393873e-02 5.22245185e+01] [ 6.21823938e-01 -1.03271703e-01 -7.76318198e-01 3.71575737e+01] [ 7.75885413e-01 -5.35322280e-02 6.28598542e-01 3.44847325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020371743 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:52.21, Y:37.14, Z:34.48 [[-9.95748483e-02 -9.90963320e-01 8.98696208e-02 5.22110345e+01] [ 6.29120945e-01 -1.32674789e-01 -7.65900932e-01 3.71363792e+01] [ 7.70903163e-01 -1.97256083e-02 6.36646852e-01 3.44814934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050371743 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:52.22, Y:37.15, Z:34.48 [[-1.00154599e-01 -9.92922152e-01 6.38330290e-02 5.22206623e+01] [ 6.30990745e-01 -1.12989354e-01 -7.67518134e-01 3.71517049e+01] [ 7.69298210e-01 -3.65924203e-02 6.37841092e-01 3.44797878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080371743 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:52.22, Y:37.16, Z:34.48 [[-9.98601071e-02 -9.92948466e-01 6.38850768e-02 5.22204656e+01] [ 6.31938650e-01 -1.12885562e-01 -7.66753149e-01 3.71571936e+01] [ 7.68558066e-01 -3.61966024e-02 6.38755278e-01 3.44848225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110371743 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:52.22, Y:37.14, Z:34.47 [[-9.87676582e-02 -9.92943205e-01 6.56410023e-02 5.22219499e+01] [ 6.33892039e-01 -1.13627162e-01 -7.65029248e-01 3.71434379e+01] [ 7.67089194e-01 -3.39508385e-02 6.40641482e-01 3.44662523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140371743 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:52.23, Y:37.16, Z:34.48 [[-9.85892852e-02 -9.93514264e-01 5.66529740e-02 5.22253915e+01] [ 6.33196859e-01 -1.06548882e-01 -7.66621858e-01 3.71598631e+01] [ 7.67686063e-01 -3.97082158e-02 6.39594690e-01 3.44763980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170371743 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:52.23, Y:37.15, Z:34.46 [[-9.85033110e-02 -9.93365244e-01 5.93514036e-02 5.22254950e+01] [ 6.32776829e-01 -1.08554812e-01 -7.66687249e-01 3.71481286e+01] [ 7.68043347e-01 -3.79650396e-02 6.39271517e-01 3.44636507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.200371743 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:52.23, Y:37.16, Z:34.47 [[-1.08667787e-01 -9.93357615e-01 3.78412621e-02 5.22285798e+01] [ 6.19023061e-01 -9.74049086e-02 -7.79309139e-01 3.71554234e+01] [ 7.77818592e-01 -6.12611859e-02 6.25496047e-01 3.44727762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23037174299999 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:52.21, Y:37.13, Z:34.48 [[-9.54612592e-02 -9.89373193e-01 1.09671479e-01 5.22057170e+01] [ 6.36118066e-01 -1.45375583e-01 -7.57772886e-01 3.71346676e+01] [ 7.65663735e-01 -2.57394454e-03 6.43235898e-01 3.44808030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:52.23, Y:37.16, Z:34.46 [[-1.08491840e-01 -9.93847439e-01 2.22887369e-02 5.22346973e+01] [ 6.20329507e-01 -8.52034315e-02 -7.79699736e-01 3.71570811e+01] [ 7.76801663e-01 -7.07646982e-02 6.25756769e-01 3.44648233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290371743 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:52.21, Y:37.13, Z:34.48 [[-1.07827772e-01 -9.91049904e-01 7.86972674e-02 5.22126761e+01] [ 6.19050652e-01 -1.28871462e-01 -7.74705387e-01 3.71313162e+01] [ 7.77913531e-01 -3.48171611e-02 6.27406012e-01 3.44759454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:52.21, Y:37.12, Z:34.46 [[-9.59716244e-02 -9.90538653e-01 9.80949725e-02 5.22124261e+01] [ 6.31602270e-01 -1.36769475e-01 -7.63133464e-01 3.71157098e+01] [ 7.69329591e-01 -1.12821509e-02 6.38752450e-01 3.44559938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:52.23, Y:37.15, Z:34.46 [[-1.09262499e-01 -9.93395664e-01 3.50251448e-02 5.22308853e+01] [ 6.21101273e-01 -9.57400554e-02 -7.77860560e-01 3.71474457e+01] [ 7.76076616e-01 -6.32368265e-02 6.27460110e-01 3.44629860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380371743 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:52.22, Y:37.12, Z:34.46 [[-1.00632128e-01 -9.91369989e-01 8.40161855e-02 5.22180988e+01] [ 6.24574585e-01 -1.28679683e-01 -7.70290936e-01 3.71177013e+01] [ 7.74454493e-01 -2.50416418e-02 6.32133810e-01 3.44567442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410371743 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:52.23, Y:37.13, Z:34.45 [[-1.01573982e-01 -9.92862789e-01 6.24996610e-02 5.22268663e+01] [ 6.25141593e-01 -1.12573223e-01 -7.72350476e-01 3.71289766e+01] [ 7.73873837e-01 -3.93795761e-02 6.32114336e-01 3.44546556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440371743 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:52.23, Y:37.13, Z:34.45 [[-1.02709329e-01 -9.92767523e-01 6.21565669e-02 5.22275330e+01] [ 6.25150464e-01 -1.13028335e-01 -7.72276824e-01 3.71284426e+01] [ 7.73716803e-01 -4.04628274e-02 6.32238142e-01 3.44541023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470371743 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:52.23, Y:37.12, Z:34.44 [[-1.00802631e-01 -9.92415553e-01 7.03576547e-02 5.22268455e+01] [ 6.28920422e-01 -1.18357881e-01 -7.68407779e-01 3.71164490e+01] [ 7.70907214e-01 -3.32081595e-02 6.36081195e-01 3.44439176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500371743 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:52.23, Y:37.13, Z:34.45 [[-1.05247129e-01 -9.93218225e-01 4.94024299e-02 5.22340096e+01] [ 6.24516405e-01 -1.04674211e-01 -7.73965483e-01 3.71283014e+01] [ 7.73887784e-01 -5.06050170e-02 6.31297735e-01 3.44475377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530371743 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:52.23, Y:37.13, Z:34.45 [[-1.05430157e-01 -9.92965733e-01 5.38844607e-02 5.22338097e+01] [ 6.28830865e-01 -1.08548446e-01 -7.69927905e-01 3.71262947e+01] [ 7.70361101e-01 -4.72894082e-02 6.35851780e-01 3.44466419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.560371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:52.22, Y:37.12, Z:34.46 [[-1.03308791e-01 -9.90051391e-01 9.55276718e-02 5.22189211e+01] [ 6.30005826e-01 -1.39452493e-01 -7.63967055e-01 3.71169559e+01] [ 7.69688218e-01 -1.87415232e-02 6.38144813e-01 3.44598048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.590371743 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:52.24, Y:37.13, Z:34.44 [[-1.03329300e-01 -9.92953699e-01 5.80172973e-02 5.22354435e+01] [ 6.31416728e-01 -1.10552426e-01 -7.67522688e-01 3.71277827e+01] [ 7.68528446e-01 -4.26744899e-02 6.38390881e-01 3.44440303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62037174299999 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:52.23, Y:37.12, Z:34.44 [[-1.03666534e-01 -9.92665685e-01 6.21939574e-02 5.22340183e+01] [ 6.31287011e-01 -1.13990005e-01 -7.67126449e-01 3.71245369e+01] [ 7.68589591e-01 -4.02631030e-02 6.38473901e-01 3.44430960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650371743 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:52.23, Y:37.12, Z:34.44 [[-1.01273237e-01 -9.92503085e-01 6.84204425e-02 5.22329614e+01] [ 6.32874003e-01 -1.17335856e-01 -7.65312220e-01 3.71212258e+01] [ 7.67602911e-01 -3.42041264e-02 6.40012382e-01 3.44401588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680371743 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:52.24, Y:37.13, Z:34.43 [[-1.00922089e-01 -9.93656138e-01 4.96206748e-02 5.22410192e+01] [ 6.32244426e-01 -1.02564291e-01 -7.67950228e-01 3.71267393e+01] [ 7.68167767e-01 -4.61307465e-02 6.38584557e-01 3.44330140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:52.23, Y:37.12, Z:34.45 [[-9.78980608e-02 -9.91546979e-01 8.51502138e-02 5.22255447e+01] [ 6.34766725e-01 -1.28110647e-01 -7.62009755e-01 3.71203254e+01] [ 7.66477119e-01 -2.05487549e-02 6.41942813e-01 3.44490512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740371743 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:52.24, Y:37.13, Z:34.44 [[-9.71533820e-02 -9.93542189e-01 5.86100560e-02 5.22362239e+01] [ 6.34022797e-01 -1.07176176e-01 -7.65851396e-01 3.71253203e+01] [ 7.67187274e-01 -3.72449415e-02 6.40340926e-01 3.44378202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770371743 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:52.24, Y:37.13, Z:34.43 [[-9.34149570e-02 -9.94313200e-01 5.11361565e-02 5.22414990e+01] [ 6.41216213e-01 -9.93737318e-02 -7.60898568e-01 3.71275634e+01] [ 7.61653080e-01 -3.82899744e-02 6.46852737e-01 3.44303978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800371743 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:52.23, Y:37.12, Z:34.44 [[-9.18160937e-02 -9.92357794e-01 8.24367216e-02 5.22285809e+01] [ 6.37359402e-01 -1.22173011e-01 -7.60819787e-01 3.71171439e+01] [ 7.65076988e-01 -1.73136813e-02 6.43706019e-01 3.44417070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830371743 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:52.24, Y:37.13, Z:34.43 [[-9.40506331e-02 -9.94708751e-01 4.13397901e-02 5.22443996e+01] [ 6.29024365e-01 -9.15578824e-02 -7.71975066e-01 3.71285374e+01] [ 7.71675337e-01 -4.66010084e-02 6.34307118e-01 3.44344533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860371743 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:52.23, Y:37.11, Z:34.44 [[-9.91115737e-02 -9.93325715e-01 5.89993166e-02 5.22345897e+01] [ 6.21315519e-01 -1.08088544e-01 -7.76069516e-01 3.71117150e+01] [ 7.77266957e-01 -4.02602800e-02 6.27881508e-01 3.44362138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:52.22, Y:37.11, Z:34.45 [[-9.73139963e-02 -9.91753065e-01 8.34017012e-02 5.22249968e+01] [ 6.20991350e-01 -1.25991846e-01 -7.73625101e-01 3.71102951e+01] [ 7.77753000e-01 -2.34928152e-02 6.28130845e-01 3.44521239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920371743 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:52.22, Y:37.12, Z:34.46 [[-8.61216442e-02 -9.90903486e-01 1.03408623e-01 5.22220355e+01] [ 6.33341738e-01 -1.34574373e-01 -7.62081348e-01 3.71169732e+01] [ 7.69065215e-01 -1.38701440e-04 6.39170303e-01 3.44609819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.950371743 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:52.24, Y:37.12, Z:34.43 [[-9.29231302e-02 -9.94510128e-01 4.81133813e-02 5.22426702e+01] [ 6.23316572e-01 -9.57862538e-02 -7.76080824e-01 3.71150472e+01] [ 7.76428840e-01 -4.21259916e-02 6.28795402e-01 3.44311677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98037174299999 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:52.23, Y:37.09, Z:34.43 [[-8.03681848e-02 -9.90842449e-01 1.08499750e-01 5.22274881e+01] [ 6.45138270e-01 -1.34684796e-01 -7.52101468e-01 3.70949163e+01] [ 7.59827327e-01 9.55231152e-03 6.50054756e-01 3.44292058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010371743 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:52.24, Y:37.11, Z:34.43 [[-7.63663966e-02 -9.93648669e-01 8.26468153e-02 5.22387293e+01] [ 6.44345538e-01 -1.12436481e-01 -7.56423734e-01 3.71108912e+01] [ 7.60911954e-01 -4.51224822e-03 6.48839455e-01 3.44294600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:52.26, Y:37.12, Z:34.42 [[-8.74709235e-02 -9.95856468e-01 2.48743224e-02 5.22581746e+01] [ 6.26158529e-01 -7.43848227e-02 -7.76139417e-01 3.71166765e+01] [ 7.74773731e-01 -5.23143625e-02 6.30070530e-01 3.44171012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070371743 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:52.24, Y:37.10, Z:34.44 [[-8.72138411e-02 -9.92583893e-01 8.46815335e-02 5.22352096e+01] [ 6.25498826e-01 -1.20722426e-01 -7.70828979e-01 3.71024041e+01] [ 7.75335388e-01 -1.42587562e-02 6.31388726e-01 3.44421333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100371743 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:52.24, Y:37.09, Z:34.43 [[-8.93137665e-02 -9.92357871e-01 8.51405099e-02 5.22413904e+01] [ 6.25332280e-01 -1.22403907e-01 -7.70698919e-01 3.70902661e+01] [ 7.75230670e-01 -1.55929142e-02 6.31485764e-01 3.44261844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130371743 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:52.24, Y:37.07, Z:34.41 [[-7.70946973e-02 -9.89431428e-01 1.22808213e-01 5.22378973e+01] [ 6.48058946e-01 -1.43334892e-01 -7.47980421e-01 3.70744456e+01] [ 7.57678038e-01 2.19216368e-02 6.52260249e-01 3.44077473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160371743 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:52.28, Y:37.12, Z:34.42 [[-9.75674385e-02 -9.95029114e-01 1.99413252e-02 5.22762731e+01] [ 6.26576241e-01 -7.69815778e-02 -7.75548871e-01 3.71203072e+01] [ 7.73228821e-01 -6.31735562e-02 6.30972498e-01 3.44164676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190371743 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:52.25, Y:37.09, Z:34.42 [[-8.81376107e-02 -9.89689301e-01 1.12901940e-01 5.22484070e+01] [ 6.41233359e-01 -1.43107205e-01 -7.53883351e-01 3.70884848e+01] [ 7.62267368e-01 5.95101314e-03 6.47234922e-01 3.44235039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220371743 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:52.28, Y:37.11, Z:34.42 [[-1.02758156e-01 -9.94065051e-01 3.57132511e-02 5.22758522e+01] [ 6.25974461e-01 -9.25271455e-02 -7.74335006e-01 3.71121867e+01] [ 7.73043812e-01 -5.72136538e-02 6.31767254e-01 3.44174357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250371743 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:52.26, Y:37.08, Z:34.41 [[-9.17969758e-02 -9.88062217e-01 1.23718919e-01 5.22556895e+01] [ 6.46185804e-01 -1.53638752e-01 -7.47555377e-01 3.70781706e+01] [ 7.57639243e-01 1.13220864e-02 6.52575350e-01 3.44097823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280371743 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:52.29, Y:37.12, Z:34.42 [[-1.10703372e-01 -9.93700204e-01 1.74547354e-02 5.22927594e+01] [ 6.25458155e-01 -8.33064847e-02 -7.75797735e-01 3.71224787e+01] [ 7.72364461e-01 -7.49662186e-02 6.30740205e-01 3.44152567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.310371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:52.26, Y:37.08, Z:34.41 [[-9.78904696e-02 -9.86810158e-01 1.28930866e-01 5.22636164e+01] [ 6.47596287e-01 -1.61534398e-01 -7.44664816e-01 3.70846293e+01] [ 7.55669574e-01 1.05995617e-02 6.54867272e-01 3.44141475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.340371743 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:52.30, Y:37.13, Z:34.41 [[-1.04536907e-01 -9.93886218e-01 3.55277336e-02 5.23018651e+01] [ 6.40942195e-01 -9.46433575e-02 -7.61732064e-01 3.71275132e+01] [ 7.60437465e-01 -5.68578907e-02 6.46917338e-01 3.44121881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37037174299999 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:52.30, Y:37.12, Z:34.42 [[-1.20067167e-01 -9.91937799e-01 4.05373712e-02 5.22962683e+01] [ 6.23775598e-01 -1.07143826e-01 -7.74224905e-01 3.71178476e+01] [ 7.72326278e-01 -6.76727680e-02 6.31611049e-01 3.44215769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400371743 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:52.28, Y:37.10, Z:34.43 [[-1.23785758e-01 -9.88452400e-01 8.74010212e-02 5.22834196e+01] [ 6.22471140e-01 -1.45942315e-01 -7.68915158e-01 3.71015879e+01] [ 7.72791541e-01 -4.07761321e-02 6.33348672e-01 3.44315989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430371743 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:52.29, Y:37.11, Z:34.44 [[-1.26229524e-01 -9.88104160e-01 8.78423379e-02 5.22850669e+01] [ 6.22396732e-01 -1.47840268e-01 -7.68612752e-01 3.71082362e+01] [ 7.72456093e-01 -4.23488377e-02 6.33654607e-01 3.44395502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460371743 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:52.29, Y:37.10, Z:34.43 [[-1.29763452e-01 -9.87606325e-01 8.82903938e-02 5.22911080e+01] [ 6.22101332e-01 -1.50428274e-01 -7.68349704e-01 3.70995150e+01] [ 7.72108399e-01 -4.47781387e-02 6.33911302e-01 3.44286386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490371743 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:52.29, Y:37.09, Z:34.41 [[-1.16877790e-01 -9.85472021e-01 1.23225311e-01 5.22872104e+01] [ 6.41290164e-01 -1.69628106e-01 -7.48313592e-01 3.70851163e+01] [ 7.58344584e-01 -8.43805869e-03 6.51799272e-01 3.44118925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520371743 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:52.32, Y:37.13, Z:34.42 [[-1.23204858e-01 -9.91424725e-01 4.35611883e-02 5.23184277e+01] [ 6.34952690e-01 -1.12488459e-01 -7.64317622e-01 3.71253051e+01] [ 7.62663520e-01 -6.65083505e-02 6.43366921e-01 3.44192682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550371743 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:52.31, Y:37.11, Z:34.42 [[-1.26062484e-01 -9.89582935e-01 6.95259992e-02 5.23123141e+01] [ 6.32457651e-01 -1.34167288e-01 -7.62886924e-01 3.71119330e+01] [ 7.64267996e-01 -5.21991705e-02 6.42782761e-01 3.44192858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580371743 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:52.31, Y:37.11, Z:34.42 [[-1.27046237e-01 -9.89195840e-01 7.31494610e-02 5.23131290e+01] [ 6.32424128e-01 -1.37595826e-01 -7.62303818e-01 3.71082509e+01] [ 7.64132826e-01 -5.05863471e-02 6.43072348e-01 3.44157100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610371743 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:52.32, Y:37.11, Z:34.42 [[-0.129951 -0.98957388 0.06209887 52.32001845] [ 0.62895395 -0.13068706 -0.76637968 37.11285255] [ 0.76650484 -0.06053448 0.63937932 34.41835945] [ 0. 0. 0. 1. ]] SLAMing on 95.640371743 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:52.32, Y:37.11, Z:34.42 [[-1.30086133e-01 -9.88560671e-01 7.63242975e-02 5.23153669e+01] [ 6.29801574e-01 -1.41839558e-01 -7.63695959e-01 3.71090524e+01] [ 7.65785594e-01 -5.12770912e-02 6.41048426e-01 3.44215551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670371743 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:52.32, Y:37.10, Z:34.42 [[-1.29878334e-01 -9.88424765e-01 7.84098327e-02 5.23152965e+01] [ 6.30789245e-01 -1.43380252e-01 -7.62592310e-01 3.71037171e+01] [ 7.65007547e-01 -4.95841397e-02 6.42109700e-01 3.44164164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.700371743 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:52.32, Y:37.10, Z:34.42 [[-0.13048378 -0.98885901 0.07163694 52.3185187 ] [ 0.62928816 -0.13843806 -0.76474265 37.10493551] [ 0.76613993 -0.05470623 0.64034118 34.41586188] [ 0. 0. 0. 1. ]] SLAMing on 95.73037174299999 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:52.32, Y:37.10, Z:34.41 [[-0.12975738 -0.98880608 0.07365842 52.31883518] [ 0.62923606 -0.13952819 -0.76458738 37.10279181] [ 0.76630607 -0.05286232 0.64029726 34.41432225] [ 0. 0. 0. 1. ]] SLAMing on 95.760371743 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:52.32, Y:37.10, Z:34.41 [[-1.29358763e-01 -9.88707967e-01 7.56496327e-02 5.23192985e+01] [ 6.29203993e-01 -1.40808059e-01 -7.64379112e-01 3.70982554e+01] [ 7.66399795e-01 -5.12800857e-02 6.40313757e-01 3.44102506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790371743 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:52.32, Y:37.08, Z:34.40 [[-1.24671390e-01 -9.88666652e-01 8.36378840e-02 5.23180073e+01] [ 6.33845827e-01 -1.44212958e-01 -7.59896105e-01 3.70846144e+01] [ 7.63345605e-01 -4.17237801e-02 6.44641461e-01 3.43957968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820371743 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:52.32, Y:37.10, Z:34.41 [[-1.34873854e-01 -9.89574171e-01 5.05173524e-02 5.23246356e+01] [ 6.23209727e-01 -1.24355882e-01 -7.72104430e-01 3.71012418e+01] [ 7.70336732e-01 -7.26537948e-02 6.33484606e-01 3.44083772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850371743 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:52.30, Y:37.07, Z:34.40 [[-1.19056694e-01 -9.85565249e-01 1.20360471e-01 5.23042931e+01] [ 6.38873926e-01 -1.68836606e-01 -7.50555999e-01 3.70741617e+01] [ 7.60043164e-01 -1.24635493e-02 6.49753068e-01 3.43994907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880371743 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:52.33, Y:37.09, Z:34.39 [[-1.19572734e-01 -9.90934902e-01 6.12403566e-02 5.23277240e+01] [ 6.38625784e-01 -1.23995974e-01 -7.59461722e-01 3.70923904e+01] [ 7.60170685e-01 -5.17012441e-02 6.47663116e-01 3.43882259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910371743 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:52.33, Y:37.10, Z:34.40 [[-1.30860960e-01 -9.90298224e-01 4.67422357e-02 5.23273476e+01] [ 6.24732723e-01 -1.18979389e-01 -7.71720759e-01 3.70958004e+01] [ 7.69795059e-01 -7.17867155e-02 6.34241464e-01 3.43991989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:52.31, Y:37.07, Z:34.40 [[-1.19754174e-01 -9.86434778e-01 1.12273620e-01 5.23078546e+01] [ 6.35173273e-01 -1.63039042e-01 -7.54965684e-01 3.70732079e+01] [ 7.63029391e-01 -1.90970892e-02 6.46081612e-01 3.43979656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970371743 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:52.33, Y:37.09, Z:34.40 [[-1.30450874e-01 -9.90087962e-01 5.20422616e-02 5.23273035e+01] [ 6.25383254e-01 -1.22902639e-01 -7.70578177e-01 3.70922826e+01] [ 7.69336308e-01 -6.79762376e-02 6.35217188e-01 3.43968816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000371743 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:52.31, Y:37.07, Z:34.39 [[-1.18813273e-01 -9.86157008e-01 1.15662276e-01 5.23095107e+01] [ 6.39726671e-01 -1.65116454e-01 -7.50657274e-01 3.70722329e+01] [ 7.59363676e-01 -1.51958051e-02 6.50488966e-01 3.43932199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030371743 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:52.33, Y:37.09, Z:34.39 [[-1.20544701e-01 -9.90112384e-01 7.17387093e-02 5.23258920e+01] [ 6.35943336e-01 -1.32510910e-01 -7.60274248e-01 3.70869494e+01] [ 7.62263109e-01 -4.60252779e-02 6.45628861e-01 3.43907253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.060371743 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:52.33, Y:37.09, Z:34.39 [[-1.31016776e-01 -9.90013675e-01 5.20339161e-02 5.23290060e+01] [ 6.24433184e-01 -1.23175299e-01 -7.71304767e-01 3.70884372e+01] [ 7.70011560e-01 -6.85621602e-02 6.34335422e-01 3.43926936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.090371743 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:52.31, Y:37.07, Z:34.39 [[-1.20183571e-01 -9.85442513e-01 1.20245431e-01 5.23083808e+01] [ 6.36154938e-01 -1.69433974e-01 -7.52727722e-01 3.70696484e+01] [ 7.62143559e-01 -1.39707812e-02 6.47257300e-01 3.43947937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12037174299999 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:52.32, Y:37.09, Z:34.39 [[-1.17395265e-01 -9.89712435e-01 8.17780401e-02 5.23244653e+01] [ 6.42031544e-01 -1.38462384e-01 -7.54071393e-01 3.70889668e+01] [ 7.57637016e-01 -3.60203293e-02 6.51681431e-01 3.43893382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150371743 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:52.34, Y:37.09, Z:34.38 [[-1.29551587e-01 -9.90983731e-01 3.41706070e-02 5.23391146e+01] [ 6.24565585e-01 -1.08318464e-01 -7.73424166e-01 3.70912077e+01] [ 7.70152073e-01 -7.88565426e-02 6.32967163e-01 3.43830530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180371743 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:52.31, Y:37.07, Z:34.40 [[-1.25518877e-01 -9.87588769e-01 9.44109857e-02 5.23149860e+01] [ 6.23622750e-01 -1.52554283e-01 -7.66695413e-01 3.70733695e+01] [ 7.71582580e-01 -3.73579087e-02 6.35031266e-01 3.43966742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210371743 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:52.30, Y:37.07, Z:34.39 [[-1.11814178e-01 -9.83950997e-01 1.39061228e-01 5.23023738e+01] [ 6.46129155e-01 -1.78306457e-01 -7.42107757e-01 3.70684030e+01] [ 7.54993182e-01 6.87334500e-03 6.55696616e-01 3.43944609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240371743 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:52.33, Y:37.09, Z:34.37 [[-1.05191515e-01 -9.92253152e-01 6.60940875e-02 5.23306863e+01] [ 6.48961175e-01 -1.18854378e-01 -7.51480559e-01 3.70874517e+01] [ 7.53514525e-01 -3.61568818e-02 6.56436243e-01 3.43738970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270371743 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:52.33, Y:37.09, Z:34.37 [[-1.04850312e-01 -9.92874895e-01 5.66202628e-02 5.23335889e+01] [ 6.46085380e-01 -1.11289625e-01 -7.55108138e-01 3.70863344e+01] [ 7.56029162e-01 -4.25918000e-02 6.53150706e-01 3.43701081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300371743 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:52.32, Y:37.08, Z:34.37 [[-1.02151404e-01 -9.91418979e-01 8.15689782e-02 5.23231400e+01] [ 6.48243626e-01 -1.28539922e-01 -7.50504957e-01 3.70775417e+01] [ 7.54549728e-01 -2.37885646e-02 6.55811567e-01 3.43713024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330371743 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:52.33, Y:37.08, Z:34.36 [[-1.02099189e-01 -9.92825794e-01 6.22310149e-02 5.23307320e+01] [ 6.45867288e-01 -1.13738557e-01 -7.54929790e-01 3.70793028e+01] [ 7.56591833e-01 -3.68847422e-02 6.52846317e-01 3.43646437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360371743 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:52.32, Y:37.07, Z:34.36 [[-1.00108596e-01 -9.91887833e-01 7.83376968e-02 5.23245697e+01] [ 6.47028615e-01 -1.24710229e-01 -7.52197667e-01 3.70711037e+01] [ 7.55865227e-01 -2.46147212e-02 6.54264377e-01 3.43623138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:52.33, Y:37.07, Z:34.36 [[-1.00391609e-01 -9.92642611e-01 6.76917443e-02 5.23292057e+01] [ 6.47543880e-01 -1.16840674e-01 -7.53017384e-01 3.70718422e+01] [ 7.55386291e-01 -3.17632518e-02 6.54509471e-01 3.43559325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:52.33, Y:37.06, Z:34.35 [[-9.88469017e-02 -9.92197076e-01 7.59885055e-02 5.23268383e+01] [ 6.50795243e-01 -1.22224853e-01 -7.49350811e-01 3.70648694e+01] [ 7.52791367e-01 -2.46180480e-02 6.57798685e-01 3.43502498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.450371743 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:52.33, Y:37.07, Z:34.34 [[-1.00778647e-01 -9.93079752e-01 6.03014893e-02 5.23333235e+01] [ 6.50047509e-01 -1.11609043e-01 -7.51652618e-01 3.70650165e+01] [ 7.53181187e-01 -3.65517008e-02 6.56796828e-01 3.43425306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48037174299999 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:52.34, Y:37.08, Z:34.36 [[-1.20094547e-01 -9.92441468e-01 2.52434795e-02 5.23394915e+01] [ 6.29085858e-01 -9.57467243e-02 -7.71416586e-01 3.70806186e+01] [ 7.68002789e-01 -7.67626091e-02 6.35829551e-01 3.43637976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510371743 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:52.31, Y:37.06, Z:34.38 [[-1.19872388e-01 -9.88022738e-01 9.71683070e-02 5.23106550e+01] [ 6.26888631e-01 -1.51222835e-01 -7.64292024e-01 3.70565117e+01] [ 7.69831965e-01 -3.07038034e-02 6.37507664e-01 3.43773228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540371743 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:52.30, Y:37.03, Z:34.35 [[-1.07059071e-01 -9.84467363e-01 1.39148724e-01 5.23028446e+01] [ 6.47383037e-01 -1.75243030e-01 -7.41744622e-01 3.70309336e+01] [ 7.54608216e-01 1.06720334e-02 6.56088827e-01 3.43497149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570371743 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:52.34, Y:37.08, Z:34.36 [[-1.24189049e-01 -9.92049016e-01 2.03919048e-02 5.23418634e+01] [ 6.28644492e-01 -9.45635984e-02 -7.71922165e-01 3.70817170e+01] [ 7.67712956e-01 -8.30450208e-02 6.35389913e-01 3.43612083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600371743 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:52.30, Y:37.03, Z:34.35 [[-1.09198847e-01 -9.83224729e-01 1.46098406e-01 5.23004273e+01] [ 6.50280050e-01 -1.81824348e-01 -7.37614915e-01 3.70287641e+01] [ 7.51805472e-01 1.44581812e-02 6.59226435e-01 3.43469271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:52.35, Y:37.08, Z:34.36 [[-1.29266450e-01 -9.91569981e-01 8.89704255e-03 5.23456207e+01] [ 6.28407842e-01 -8.88566813e-02 -7.72792388e-01 3.70832920e+01] [ 7.67068295e-01 -9.43051574e-02 6.34596540e-01 3.43567938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660371743 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:52.30, Y:37.04, Z:34.36 [[-1.18302665e-01 -9.84709627e-01 1.27872712e-01 5.23048927e+01] [ 6.42366798e-01 -1.74094980e-01 -7.46361732e-01 3.70418436e+01] [ 7.57211580e-01 -6.15539725e-03 6.53140670e-01 3.43586438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690371743 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:52.33, Y:37.06, Z:34.34 [[-1.19020622e-01 -9.90517441e-01 6.86242670e-02 5.23291949e+01] [ 6.44008566e-01 -1.29619199e-01 -7.53957446e-01 3.70591052e+01] [ 7.55703022e-01 -4.55418681e-02 6.53329075e-01 3.43442956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720371743 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:52.33, Y:37.08, Z:34.36 [[-1.35856474e-01 -9.90129432e-01 3.44489080e-02 5.23341667e+01] [ 6.27724135e-01 -1.12927635e-01 -7.70201116e-01 3.70757590e+01] [ 7.66489027e-01 -8.30123969e-02 6.36870092e-01 3.43637067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750371743 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:52.31, Y:37.05, Z:34.38 [[-1.38650913e-01 -9.85421351e-01 9.85935346e-02 5.23076458e+01] [ 6.24520576e-01 -1.64265070e-01 -7.63538497e-01 3.70527037e+01] [ 7.68602612e-01 -4.42916189e-02 6.38191412e-01 3.43754683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780371743 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:52.30, Y:37.04, Z:34.36 [[-1.25029977e-01 -9.83333414e-01 1.31995844e-01 5.23026321e+01] [ 6.42982401e-01 -1.81628432e-01 -7.44032758e-01 3.70371294e+01] [ 7.55606470e-01 -8.15539381e-03 6.54975078e-01 3.43565042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.810371743 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:52.33, Y:37.08, Z:34.36 [[-1.43633608e-01 -9.89063387e-01 3.35112466e-02 5.23319421e+01] [ 6.26082191e-01 -1.17041072e-01 -7.70923133e-01 3.70764246e+01] [ 7.66414037e-01 -8.97496765e-02 6.36046004e-01 3.43648188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.840371743 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:52.31, Y:37.05, Z:34.37 [[-1.44612165e-01 -9.84470667e-01 9.95229964e-02 5.23056084e+01] [ 6.22361626e-01 -1.68689727e-01 -7.64336171e-01 3.70517402e+01] [ 7.69255047e-01 -4.85930148e-02 6.37091352e-01 3.43746084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87037174299999 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:52.30, Y:37.05, Z:34.37 [[-1.45480837e-01 -9.84290064e-01 1.00041969e-01 5.23048780e+01] [ 6.21714970e-01 -1.69610138e-01 -7.64658681e-01 3.70503652e+01] [ 7.69614074e-01 -4.90455952e-02 6.36622892e-01 3.43742037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900371743 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:52.30, Y:37.05, Z:34.37 [[-1.46170380e-01 -9.84135802e-01 1.00553189e-01 5.23036918e+01] [ 6.21170651e-01 -1.70415595e-01 -7.64921922e-01 3.70468020e+01] [ 7.69922881e-01 -4.93482379e-02 6.36225989e-01 3.43709682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930371743 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:52.30, Y:37.04, Z:34.37 [[-1.45129886e-01 -9.84238262e-01 1.01056225e-01 5.23006524e+01] [ 6.21003462e-01 -1.70127983e-01 -7.65121670e-01 3.70449171e+01] [ 7.70254514e-01 -4.82857553e-02 6.35906023e-01 3.43714486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960371743 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:52.30, Y:37.04, Z:34.37 [[-1.44548106e-01 -9.84272661e-01 1.01553800e-01 5.22995018e+01] [ 6.20810367e-01 -1.70129538e-01 -7.65278008e-01 3.70411780e+01] [ 7.70519522e-01 -4.75738346e-02 6.35638574e-01 3.43680979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990371743 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:52.30, Y:37.04, Z:34.37 [[-1.42606072e-01 -9.84509117e-01 1.02006405e-01 5.22971216e+01] [ 6.21270472e-01 -1.69263739e-01 -7.65096587e-01 3.70398506e+01] [ 7.70510551e-01 -4.57338518e-02 6.35784481e-01 3.43678551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020371743 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:52.30, Y:37.04, Z:34.36 [[-1.41577807e-01 -9.84609369e-01 1.02470066e-01 5.22961999e+01] [ 6.21469514e-01 -1.68976386e-01 -7.64998447e-01 3.70352858e+01] [ 7.70539660e-01 -4.46247802e-02 6.35828012e-01 3.43636782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050371743 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:52.29, Y:37.03, Z:34.36 [[-1.40697760e-01 -9.84689269e-01 1.02913480e-01 5.22946344e+01] [ 6.21825333e-01 -1.68776953e-01 -7.64753291e-01 3.70342459e+01] [ 7.70413782e-01 -4.36048656e-02 6.36051272e-01 3.43633824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080371743 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:52.29, Y:37.03, Z:34.36 [[-1.38182262e-01 -9.84996062e-01 1.03384821e-01 5.22928171e+01] [ 6.22201038e-01 -1.67551230e-01 -7.64717238e-01 3.70265216e+01] [ 7.70565721e-01 -4.13442145e-02 6.36018180e-01 3.43552295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:52.29, Y:37.03, Z:34.36 [[-1.37539698e-01 -9.85035758e-01 1.03862344e-01 5.22913498e+01] [ 6.22190202e-01 -1.67509693e-01 -7.64735154e-01 3.70263993e+01] [ 7.70689421e-01 -4.05593095e-02 6.35918830e-01 3.43555425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140371743 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:52.28, Y:37.02, Z:34.35 [[-1.20072655e-01 -9.82220345e-01 1.44311300e-01 5.22820238e+01] [ 6.46247764e-01 -1.87679091e-01 -7.39689385e-01 3.70188293e+01] [ 7.53622176e-01 4.44438615e-03 6.57292829e-01 3.43461384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170371743 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:52.31, Y:37.03, Z:34.32 [[-1.16293816e-01 -9.90126038e-01 7.82699039e-02 5.23082698e+01] [ 6.49727691e-01 -1.35442828e-01 -7.48003454e-01 3.70347338e+01] [ 7.51218794e-01 -3.61340523e-02 6.59063468e-01 3.43203475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.200371743 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:52.31, Y:37.04, Z:34.32 [[-1.17278758e-01 -9.91351235e-01 5.88933031e-02 5.23142847e+01] [ 6.46851628e-01 -1.21252284e-01 -7.52914906e-01 3.70434305e+01] [ 7.53544069e-01 -5.02056958e-02 6.55477478e-01 3.43219668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23037174299999 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:52.32, Y:37.05, Z:34.33 [[-1.33057758e-01 -9.90616426e-01 3.12206547e-02 5.23152252e+01] [ 6.24809838e-01 -1.08292730e-01 -7.73230465e-01 3.70457947e+01] [ 7.69355769e-01 -8.33773398e-02 6.33356076e-01 3.43326559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260371743 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:52.28, Y:37.00, Z:34.32 [[-1.13162437e-01 -9.82202213e-01 1.49910225e-01 5.22798303e+01] [ 6.51570122e-01 -1.87266786e-01 -7.35110554e-01 3.70009843e+01] [ 7.50100419e-01 1.44901219e-02 6.61165182e-01 3.43229054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290371743 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:52.32, Y:37.04, Z:34.32 [[-1.31710071e-01 -9.90988465e-01 2.43786799e-02 5.23185006e+01] [ 6.25809107e-01 -1.02197179e-01 -7.73252028e-01 3.70437212e+01] [ 7.68775272e-01 -8.65886796e-02 6.33630004e-01 3.43249040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320371743 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:52.29, Y:37.02, Z:34.34 [[-1.31073611e-01 -9.85769137e-01 1.05256430e-01 5.22858726e+01] [ 6.23078348e-01 -1.64496086e-01 -7.64666208e-01 3.70159459e+01] [ 7.71098620e-01 -3.46445581e-02 6.35772501e-01 3.43432308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350371743 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:52.28, Y:37.00, Z:34.32 [[-1.14002185e-01 -9.82266217e-01 1.48850869e-01 5.22781284e+01] [ 6.47826600e-01 -1.87091329e-01 -7.38456181e-01 3.69982462e+01] [ 7.53209266e-01 1.22439339e-02 6.57667004e-01 3.43234537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:52.31, Y:37.03, Z:34.31 [[-1.12343861e-01 -9.90925678e-01 7.37913141e-02 5.23078736e+01] [ 6.52008445e-01 -1.29551413e-01 -7.47061858e-01 3.70271554e+01] [ 7.49842547e-01 -3.58152533e-02 6.60646216e-01 3.43070082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410371743 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:52.32, Y:37.03, Z:34.30 [[-1.15665803e-01 -9.92086671e-01 4.88411673e-02 5.23172645e+01] [ 6.47502896e-01 -1.12596490e-01 -7.53698899e-01 3.70330742e+01] [ 7.53233975e-01 -5.55523913e-02 6.55402556e-01 3.43037657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440371743 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:52.31, Y:37.05, Z:34.34 [[-1.38090478e-01 -9.89929101e-01 3.11672137e-02 5.23139674e+01] [ 6.25021361e-01 -1.11512368e-01 -7.72601637e-01 3.70493254e+01] [ 7.68296374e-01 -8.72087548e-02 6.34125630e-01 3.43365613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470371743 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:52.27, Y:37.00, Z:34.33 [[-1.19986109e-01 -9.79692700e-01 1.60641051e-01 5.22729587e+01] [ 6.48421476e-01 -1.99863565e-01 -7.34577528e-01 3.69993176e+01] [ 7.51766535e-01 1.60240078e-02 6.59234639e-01 3.43332427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500371743 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:52.32, Y:37.05, Z:34.33 [[-1.40602746e-01 -9.89836079e-01 2.13402019e-02 5.23166751e+01] [ 6.25005604e-01 -1.05455229e-01 -7.73464407e-01 3.70486540e+01] [ 7.67853412e-01 -9.54134739e-02 6.33480391e-01 3.43302282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:52.27, Y:37.00, Z:34.33 [[-1.19528409e-01 -9.79550421e-01 1.61845393e-01 5.22726065e+01] [ 6.55077202e-01 -2.00305241e-01 -7.28527055e-01 3.70021031e+01] [ 7.46047464e-01 1.89415471e-02 6.65623316e-01 3.43298850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.560371743 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:52.32, Y:37.05, Z:34.32 [[-1.42583731e-01 -9.89740987e-01 9.09170861e-03 5.23215363e+01] [ 6.24518591e-01 -9.70878532e-02 -7.74951920e-01 3.70491850e+01] [ 7.67884372e-01 -1.04817595e-01 6.31954795e-01 3.43230835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.590371743 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:52.28, Y:37.01, Z:34.33 [[-1.26150661e-01 -9.81520459e-01 1.43887451e-01 5.22759444e+01] [ 6.41471601e-01 -1.91351976e-01 -7.42898787e-01 3.70060065e+01] [ 7.56703506e-01 -1.41745981e-03 6.53756678e-01 3.43335591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62037174299999 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:52.31, Y:37.02, Z:34.31 [[-1.24710527e-01 -9.89810378e-01 6.87218996e-02 5.23054754e+01] [ 6.40714928e-01 -1.33224232e-01 -7.56132055e-01 3.70215903e+01] [ 7.57582778e-01 -5.02664804e-02 6.50800749e-01 3.43052557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:52.30, Y:37.02, Z:34.30 [[-1.20010046e-01 -9.89174301e-01 8.44499359e-02 5.22999258e+01] [ 6.50712053e-01 -1.42619599e-01 -7.45810616e-01 3.70187822e+01] [ 7.49780910e-01 -3.45521755e-02 6.60783424e-01 3.43023015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680371743 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:52.31, Y:37.03, Z:34.31 [[-0.12252675 -0.99102849 0.05338276 52.30931442] [ 0.64390021 -0.12030991 -0.75559119 37.03492371] [ 0.75523487 -0.05820696 0.65286464 34.31051098] [ 0. 0. 0. 1. ]] SLAMing on 97.710371743 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:52.30, Y:37.02, Z:34.31 [[-1.20297649e-01 -9.89849690e-01 7.56707778e-02 5.22996314e+01] [ 6.45194493e-01 -1.35886763e-01 -7.51836986e-01 3.70245243e+01] [ 7.54488265e-01 -4.16218525e-02 6.54992427e-01 3.43109061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740371743 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:52.31, Y:37.03, Z:34.32 [[-1.32876246e-01 -9.90692037e-01 2.95498108e-02 5.23057969e+01] [ 6.24055923e-01 -1.06789169e-01 -7.74047982e-01 3.70339143e+01] [ 7.69998772e-01 -8.44118553e-02 6.32436977e-01 3.43190189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770371743 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:52.27, Y:37.00, Z:34.34 [[-1.28562240e-01 -9.85827001e-01 1.07781602e-01 5.22738699e+01] [ 6.22342571e-01 -1.64819743e-01 -7.65195515e-01 3.70038078e+01] [ 7.72114936e-01 -3.12981697e-02 6.34711706e-01 3.43350670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800371743 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:52.27, Y:36.98, Z:34.31 [[-1.01908993e-01 -9.83203485e-01 1.51411572e-01 5.22660133e+01] [ 6.52261498e-01 -1.80961264e-01 -7.36076055e-01 3.69812448e+01] [ 7.51112172e-01 2.37471696e-02 6.59747358e-01 3.43077690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830371743 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:52.30, Y:37.02, Z:34.31 [[-1.17818093e-01 -9.92697252e-01 2.59048773e-02 5.23031812e+01] [ 6.27344102e-01 -9.46272587e-02 -7.72971577e-01 3.70242059e+01] [ 7.69778068e-01 -7.48187652e-02 6.33911570e-01 3.43052621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860371743 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:52.26, Y:36.98, Z:34.30 [[-9.38495016e-02 -9.83758441e-01 1.53008501e-01 5.22642113e+01] [ 6.54009470e-01 -1.76793385e-01 -7.35537703e-01 3.69756536e+01] [ 7.50642315e-01 3.10391619e-02 6.59979307e-01 3.43024128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890371743 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:52.30, Y:37.02, Z:34.30 [[-1.11561766e-01 -9.93539690e-01 2.08052221e-02 5.23043700e+01] [ 6.28168238e-01 -8.67270427e-02 -7.73228999e-01 3.70208015e+01] [ 7.70038075e-01 -7.31936130e-02 6.33785499e-01 3.42978027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920371743 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:52.26, Y:36.96, Z:34.29 [[-8.60705371e-02 -9.83441376e-01 1.59483296e-01 5.22619573e+01] [ 6.57154000e-01 -1.76356740e-01 -7.32834852e-01 3.69638054e+01] [ 7.48826070e-01 4.17295966e-02 6.61451554e-01 3.42911356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.950371743 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.26 [[-8.45255872e-02 -9.95035006e-01 5.25429449e-02 5.23046426e+01] [ 6.55096184e-01 -9.52271990e-02 -7.49520360e-01 3.69994513e+01] [ 7.50802514e-01 -2.89329658e-02 6.59892771e-01 3.42640293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98037174299999 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.26 [[-8.50476874e-02 -9.94536865e-01 6.05253230e-02 5.23027260e+01] [ 6.55494464e-01 -1.01596537e-01 -7.48334920e-01 3.69953168e+01] [ 7.50395828e-01 -2.39701402e-02 6.60553960e-01 3.42646832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010371743 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:52.31, Y:37.00, Z:34.27 [[-8.72228583e-02 -9.94752203e-01 5.34810934e-02 5.23052941e+01] [ 6.54091323e-01 -9.76795313e-02 -7.50082162e-01 3.70037023e+01] [ 7.51369892e-01 -3.04427910e-02 6.59178672e-01 3.42722425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040371743 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.27 [[-8.72309538e-02 -9.94203938e-01 6.28433743e-02 5.23031245e+01] [ 6.57615764e-01 -1.04854658e-01 -7.46020782e-01 3.69995343e+01] [ 7.48286220e-01 -2.37493108e-02 6.62950755e-01 3.42692742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070371743 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:52.31, Y:37.01, Z:34.27 [[-9.46442702e-02 -9.94783700e-01 3.80506639e-02 5.23131491e+01] [ 6.48228378e-01 -9.05913943e-02 -7.56037809e-01 3.70068674e+01] [ 7.55541152e-01 -4.68891266e-02 6.53420981e-01 3.42710210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100371743 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:52.30, Y:36.99, Z:34.27 [[-9.22214465e-02 -9.92101542e-01 8.50278471e-02 5.22971902e+01] [ 6.56886626e-01 -1.24790612e-01 -7.43590790e-01 3.69880069e+01] [ 7.48328247e-01 -1.27213627e-02 6.63206606e-01 3.42696131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130371743 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:52.31, Y:37.00, Z:34.27 [[-9.72180890e-02 -9.94079190e-01 4.85304825e-02 5.23134572e+01] [ 6.54939316e-01 -1.00614738e-01 -7.48953381e-01 3.70046027e+01] [ 7.49401852e-01 -4.10272955e-02 6.60843117e-01 3.42678947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160371743 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:52.31, Y:37.00, Z:34.27 [[-1.00652416e-01 -9.93269200e-01 5.73183046e-02 5.23104891e+01] [ 6.52716494e-01 -1.09403180e-01 -7.49661338e-01 3.69993838e+01] [ 7.50886322e-01 -3.80426221e-02 6.59334884e-01 3.42701262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190371743 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:52.32, Y:37.02, Z:34.29 [[-1.25314561e-01 -9.91975330e-01 1.67691821e-02 5.23158029e+01] [ 6.28337989e-01 -9.24346666e-02 -7.72429417e-01 3.70162119e+01] [ 7.67780979e-01 -8.62599391e-02 6.34879194e-01 3.42915566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220371743 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:52.28, Y:36.98, Z:34.31 [[-1.29069985e-01 -9.85505033e-01 1.10094365e-01 5.22808871e+01] [ 6.25806001e-01 -1.67072633e-01 -7.61875045e-01 3.69838747e+01] [ 7.69225447e-01 -2.94374869e-02 6.38299026e-01 3.43148391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250371743 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:52.28, Y:36.98, Z:34.31 [[-1.19145523e-01 -9.84381128e-01 1.29607635e-01 5.22823641e+01] [ 6.37801627e-01 -1.75923916e-01 -7.49839890e-01 3.69782276e+01] [ 7.60929320e-01 -6.67610539e-03 6.48800432e-01 3.43077814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280371743 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.30 [[-1.27711761e-01 -9.88319090e-01 8.31569720e-02 5.23023395e+01] [ 6.38030927e-01 -1.46059426e-01 -7.56031204e-01 3.69994984e+01] [ 7.59345931e-01 -4.34973565e-02 6.49231652e-01 3.43023438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.310371743 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:52.31, Y:37.00, Z:34.30 [[-1.32065755e-01 -9.88068409e-01 7.92430141e-02 5.23055467e+01] [ 6.34636474e-01 -1.45693838e-01 -7.58953129e-01 3.70006428e+01] [ 7.61442829e-01 -4.99412111e-02 6.46305418e-01 3.43028004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.340371743 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.31 [[-1.36449605e-01 -9.86745127e-01 8.78382630e-02 5.23037133e+01] [ 6.33680491e-01 -1.55092814e-01 -7.57888682e-01 3.69991117e+01] [ 7.61466047e-01 -4.77522176e-02 6.46443489e-01 3.43067826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37037174299999 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.30 [[-1.41275718e-01 -9.85852092e-01 9.02043501e-02 5.23045618e+01] [ 6.32876625e-01 -1.60007153e-01 -7.57538704e-01 3.69962005e+01] [ 7.61254458e-01 -4.99335999e-02 6.46527870e-01 3.43042925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400371743 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:52.30, Y:36.99, Z:34.30 [[-1.41629559e-01 -9.85728031e-01 9.10017364e-02 5.23045801e+01] [ 6.32814670e-01 -1.60846729e-01 -7.57412651e-01 3.69942382e+01] [ 7.61240213e-01 -4.96847861e-02 6.46563810e-01 3.43024465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430371743 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.31 [[-1.43155414e-01 -9.85250457e-01 9.37446725e-02 5.23033304e+01] [ 6.33578542e-01 -1.63999166e-01 -7.56096888e-01 3.69991251e+01] [ 7.60318853e-01 -4.88447497e-02 6.47710917e-01 3.43085203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460371743 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:52.31, Y:36.99, Z:34.30 [[-0.14560944 -0.9852968 0.08937616 52.30651987] [ 0.63183026 -0.1621279 -0.75796112 36.99365745] [ 0.76130704 -0.05389574 0.64614769 34.30037169] [ 0. 0. 0. 1. ]] SLAMing on 98.490371743 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:52.30, Y:37.00, Z:34.30 [[-1.45021824e-01 -9.84810439e-01 9.54833514e-02 5.23043249e+01] [ 6.33246745e-01 -1.66532482e-01 -7.55821071e-01 3.69951188e+01] [ 7.60241560e-01 -4.91460286e-02 6.47778849e-01 3.43036780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520371743 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:52.31, Y:36.99, Z:34.30 [[-0.14484384 -0.98545322 0.08889435 52.30763245] [ 0.63320084 -0.16135384 -0.75698193 36.99340047] [ 0.76031372 -0.05335619 0.64736092 34.29769208] [ 0. 0. 0. 1. ]] SLAMing on 98.550371743 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:52.31, Y:36.99, Z:34.30 [[-1.43302703e-01 -9.85145809e-01 9.46153799e-02 5.23054516e+01] [ 6.33723172e-01 -1.64772817e-01 -7.55807422e-01 3.69879825e+01] [ 7.60170557e-01 -4.83492881e-02 6.47922117e-01 3.42953468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:52.31, Y:36.99, Z:34.29 [[-0.15226092 -0.98526617 0.07789212 52.3069779 ] [ 0.62555136 -0.15708706 -0.76420492 36.98850203] [ 0.7651811 -0.06763302 0.64025281 34.29356396] [ 0. 0. 0. 1. ]] SLAMing on 98.610371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:52.29, Y:36.97, Z:34.30 [[-1.39307492e-01 -9.81004322e-01 1.34996086e-01 5.22907629e+01] [ 6.37567359e-01 -1.93165251e-01 -7.45784854e-01 3.69699103e+01] [ 7.57694718e-01 -1.78243193e-02 6.52365701e-01 3.42963673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640371743 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:52.31, Y:36.99, Z:34.29 [[-1.37980636e-01 -9.86413389e-01 8.91626103e-02 5.23080908e+01] [ 6.39186684e-01 -1.57452764e-01 -7.52760925e-01 3.69869239e+01] [ 7.56572354e-01 -4.68748780e-02 6.52227735e-01 3.42865591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670371743 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:52.31, Y:36.99, Z:34.29 [[-0.14831698 -0.98644731 0.07016967 52.30947773] [ 0.62665318 -0.14863698 -0.76499206 36.98728201] [ 0.76505416 -0.06948927 0.64020573 34.28719599] [ 0. 0. 0. 1. ]] SLAMing on 98.700371743 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:52.29, Y:36.97, Z:34.30 [[-1.45409624e-01 -9.82699955e-01 1.14703266e-01 5.22919454e+01] [ 6.24526188e-01 -1.81087298e-01 -7.59719969e-01 3.69708212e+01] [ 7.67348084e-01 -3.88354020e-02 6.40053693e-01 3.42967009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73037174299999 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:52.29, Y:36.96, Z:34.29 [[-1.29814604e-01 -9.80147685e-01 1.49862214e-01 5.22855986e+01] [ 6.44647718e-01 -1.98267324e-01 -7.38322008e-01 3.69590101e+01] [ 7.53377388e-01 7.63354598e-04 6.57587963e-01 3.42852282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760371743 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:52.32, Y:36.99, Z:34.28 [[-1.40132990e-01 -9.88881951e-01 4.97516968e-02 5.23163356e+01] [ 6.27609609e-01 -1.27576725e-01 -7.68004139e-01 3.69892725e+01] [ 7.65812590e-01 -7.63980737e-02 6.38509523e-01 3.42761358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790371743 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:52.28, Y:36.97, Z:34.29 [[-1.25380903e-01 -9.81350402e-01 1.45708671e-01 5.22843078e+01] [ 6.43488102e-01 -1.92225497e-01 -7.40926731e-01 3.69662006e+01] [ 7.55117667e-01 8.63734188e-04 6.55588714e-01 3.42931855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820371743 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:52.31, Y:36.98, Z:34.27 [[-0.13501913 -0.98905728 0.05946038 52.31267121] [ 0.62812412 -0.13184941 -0.76686102 36.98182997] [ 0.76630929 -0.06619241 0.63905293 34.27216456] [ 0. 0. 0. 1. ]] SLAMing on 98.850371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:52.29, Y:36.96, Z:34.28 [[-1.29022888e-01 -9.84869929e-01 1.15690608e-01 5.22912505e+01] [ 6.26782810e-01 -1.71400068e-01 -7.60108759e-01 3.69563973e+01] [ 7.68437638e-01 -2.55585427e-02 6.39414074e-01 3.42779576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880371743 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:52.29, Y:36.94, Z:34.26 [[-1.14480987e-01 -9.82484992e-01 1.47028377e-01 5.22858360e+01] [ 6.44716342e-01 -1.86077912e-01 -7.41428249e-01 3.69427412e+01] [ 7.55800861e-01 9.91215973e-03 6.54726514e-01 3.42645663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910371743 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.25 [[-1.12156872e-01 -9.90055972e-01 8.49117657e-02 5.23096716e+01] [ 6.44435287e-01 -1.37515248e-01 -7.52191942e-01 3.69617982e+01] [ 7.56388787e-01 -2.96433575e-02 6.53450284e-01 3.42481305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940371743 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.25 [[-1.09243598e-01 -9.89593149e-01 9.36548745e-02 5.23054360e+01] [ 6.48432167e-01 -1.42357754e-01 -7.47843563e-01 3.69628625e+01] [ 7.53393364e-01 -2.09682881e-02 6.57235703e-01 3.42524227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970371743 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.25 [[-1.07781259e-01 -9.90133158e-01 8.95518262e-02 5.23084362e+01] [ 6.50531733e-01 -1.38354929e-01 -7.46770633e-01 3.69595356e+01] [ 7.51792302e-01 -2.22315742e-02 6.59025108e-01 3.42450788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000371743 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.24 [[-1.09544246e-01 -9.90931365e-01 7.78144467e-02 5.23135100e+01] [ 6.48002625e-01 -1.30558156e-01 -7.50364689e-01 3.69590622e+01] [ 7.53719216e-01 -3.17741684e-02 6.56428021e-01 3.42411304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030371743 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.25 [[-1.09578146e-01 -9.89267606e-01 9.66552349e-02 5.23060463e+01] [ 6.50124936e-01 -1.44888208e-01 -7.45885363e-01 3.69579436e+01] [ 7.51884431e-01 -1.88947572e-02 6.59024120e-01 3.42492915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.060371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.25 [[-1.10370419e-01 -9.89413487e-01 9.42301583e-02 5.23069301e+01] [ 6.51220925e-01 -1.43613892e-01 -7.45175387e-01 3.69636916e+01] [ 7.50819338e-01 -2.08806692e-02 6.60177491e-01 3.42521842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.090371743 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:52.32, Y:36.97, Z:34.25 [[-1.27636356e-01 -9.90833095e-01 4.42576390e-02 5.23212854e+01] [ 6.30655460e-01 -1.15517583e-01 -7.67417344e-01 3.69733930e+01] [ 7.65495037e-01 -7.00390316e-02 6.39618544e-01 3.42524925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12037174299999 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:52.29, Y:36.95, Z:34.27 [[-1.29260695e-01 -9.84617945e-01 1.17554985e-01 5.22934424e+01] [ 6.28620107e-01 -1.73049729e-01 -7.58215374e-01 3.69462659e+01] [ 7.66895322e-01 -2.41100190e-02 6.41319166e-01 3.42666517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150371743 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:52.29, Y:36.94, Z:34.26 [[-1.21641473e-01 -9.80980741e-01 1.51261819e-01 5.22880759e+01] [ 6.44822185e-01 -1.93956023e-01 -7.39314149e-01 3.69375518e+01] [ 7.54591083e-01 7.60571472e-03 6.56151241e-01 3.42594450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180371743 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.24 [[-1.23045015e-01 -9.87678634e-01 9.66997387e-02 5.23100426e+01] [ 6.48570348e-01 -1.53783731e-01 -7.45457623e-01 3.69572414e+01] [ 7.51143413e-01 -2.90082612e-02 6.59501398e-01 3.42435960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:52.32, Y:36.98, Z:34.25 [[-1.40144946e-01 -9.89037785e-01 4.65150941e-02 5.23225764e+01] [ 6.27810860e-01 -1.25090945e-01 -7.68248514e-01 3.69750696e+01] [ 7.65645426e-01 -7.84634653e-02 6.38459527e-01 3.42541748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:52.29, Y:36.95, Z:34.27 [[-1.33620049e-01 -9.79390884e-01 1.51456852e-01 5.22872455e+01] [ 6.43560543e-01 -2.01970576e-01 -7.38266696e-01 3.69505449e+01] [ 7.53641500e-01 -1.17557833e-03 6.57284648e-01 3.42742153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270371743 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:52.32, Y:36.97, Z:34.26 [[-0.14935449 -0.98696985 0.05986438 52.31817188] [ 0.62683899 -0.14133228 -0.76622325 36.96858289] [ 0.76470002 -0.07691356 0.6397798 34.25607443] [ 0. 0. 0. 1. ]] SLAMing on 99.300371743 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:52.29, Y:36.94, Z:34.26 [[-1.40161035e-01 -9.78787618e-01 1.49431202e-01 5.22899345e+01] [ 6.42000608e-01 -2.04735588e-01 -7.38863018e-01 3.69404875e+01] [ 7.53783858e-01 -7.62488283e-03 6.57078197e-01 3.42627848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330371743 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:52.32, Y:36.97, Z:34.26 [[-0.15816024 -0.98538497 0.06325975 52.31751712] [ 0.62600222 -0.14961014 -0.76533524 36.97186361] [ 0.76361414 -0.08144486 0.64051555 34.26216656] [ 0. 0. 0. 1. ]] SLAMing on 99.360371743 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:52.30, Y:36.95, Z:34.27 [[-1.51356894e-01 -9.79356365e-01 1.33985825e-01 5.22955076e+01] [ 6.32959978e-01 -2.00138133e-01 -7.47867899e-01 3.69479403e+01] [ 7.59244860e-01 -2.83872979e-02 6.50185669e-01 3.42691237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390371743 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.26 [[-1.54787237e-01 -9.82635052e-01 1.02319432e-01 5.23075931e+01] [ 6.34136614e-01 -1.78236243e-01 -7.52397897e-01 3.69571233e+01] [ 7.57569578e-01 -5.15770929e-02 6.50713561e-01 3.42594163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420371743 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:52.31, Y:36.96, Z:34.27 [[-0.15624189 -0.98239172 0.10244503 52.30566272] [ 0.63366119 -0.17925645 -0.75255606 36.96358441] [ 0.75766877 -0.05266534 0.65051087 34.26752058] [ 0. 0. 0. 1. ]] SLAMing on 99.450371743 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:52.31, Y:36.94, Z:34.25 [[-1.54286747e-01 -9.81861679e-01 1.10196386e-01 5.23055331e+01] [ 6.35947030e-01 -1.84044876e-01 -7.49465716e-01 3.69441449e+01] [ 7.56152746e-01 -4.55535628e-02 6.52807704e-01 3.42462205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48037174299999 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:52.31, Y:36.97, Z:34.27 [[-0.16621584 -0.98346821 0.07185101 52.31271006] [ 0.62232791 -0.1611419 -0.76599038 36.96950215] [ 0.7649054 -0.08260485 0.63882405 34.26551645] [ 0. 0. 0. 1. ]] SLAMing on 99.510371743 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:52.29, Y:36.94, Z:34.27 [[-1.56408305e-01 -9.77128250e-01 1.44072291e-01 5.22905300e+01] [ 6.33525360e-01 -2.11158478e-01 -7.44350532e-01 3.69432991e+01] [ 7.57748019e-01 -2.51491553e-02 6.52062466e-01 3.42670584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540371743 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:52.31, Y:36.97, Z:34.27 [[-0.16561307 -0.98313827 0.07753361 52.30920604] [ 0.62211266 -0.16515205 -0.76531081 36.96911343] [ 0.76521118 -0.07851083 0.6389741 34.26958381] [ 0. 0. 0. 1. ]] SLAMing on 99.570371743 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:52.29, Y:36.94, Z:34.27 [[-1.64411424e-01 -9.78881656e-01 1.21489044e-01 5.22933545e+01] [ 6.19771581e-01 -1.98333476e-01 -7.59306934e-01 3.69417513e+01] [ 7.67366973e-01 -4.95432771e-02 6.39291320e-01 3.42667661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600371743 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:52.29, Y:36.94, Z:34.27 [[-1.63202975e-01 -9.79021425e-01 1.21991137e-01 5.22920339e+01] [ 6.19706451e-01 -1.97938180e-01 -7.59463226e-01 3.69414603e+01] [ 7.67677474e-01 -4.83479630e-02 6.39009993e-01 3.42673405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630371743 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:52.29, Y:36.94, Z:34.27 [[-1.61819442e-01 -9.79180854e-01 1.22553352e-01 5.22907920e+01] [ 6.19200653e-01 -1.97450315e-01 -7.60002582e-01 3.69388219e+01] [ 7.68378175e-01 -4.70980780e-02 6.38260724e-01 3.42654604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:52.29, Y:36.93, Z:34.26 [[-1.56641523e-01 -9.79957913e-01 1.23068772e-01 5.22890603e+01] [ 6.19818174e-01 -1.94551121e-01 -7.60246863e-01 3.69323146e+01] [ 7.68953096e-01 -4.28059644e-02 6.37870508e-01 3.42591814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690371743 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:52.28, Y:36.91, Z:34.24 [[-1.36498858e-01 -9.76975695e-01 1.63971196e-01 5.22790935e+01] [ 6.42698616e-01 -2.13293333e-01 -7.35829086e-01 3.69122662e+01] [ 7.53861095e-01 4.94423099e-03 6.57015223e-01 3.42417586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720371743 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:52.31, Y:36.95, Z:34.24 [[-1.47326939e-01 -9.87780551e-01 5.08365647e-02 5.23135348e+01] [ 6.24004344e-01 -1.32701940e-01 -7.70070629e-01 3.69537392e+01] [ 7.67406901e-01 -8.17299114e-02 6.35929926e-01 3.42378711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750371743 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:52.29, Y:36.92, Z:34.25 [[-1.42370840e-01 -9.82037005e-01 1.23829987e-01 5.22856564e+01] [ 6.22299876e-01 -1.86092661e-01 -7.60337021e-01 3.69193581e+01] [ 7.69722943e-01 -3.11904348e-02 6.37615674e-01 3.42455870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780371743 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:52.28, Y:36.91, Z:34.23 [[-1.22992245e-01 -9.80980314e-01 1.50168342e-01 5.22806297e+01] [ 6.40489070e-01 -1.94048083e-01 -7.43047167e-01 3.69071420e+01] [ 7.58054522e-01 4.79214223e-03 6.52173578e-01 3.42312576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.810371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:52.30, Y:36.93, Z:34.23 [[-0.13280993 -0.988642 0.07034568 52.30318996] [ 0.62570565 -0.13867472 -0.76763387 36.93393225] [ 0.76867025 -0.05793371 0.63701627 34.22737822] [ 0. 0. 0. 1. ]] SLAMing on 99.840371743 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:52.28, Y:36.90, Z:34.22 [[-1.12541223e-01 -9.80634634e-01 1.60281587e-01 5.22766999e+01] [ 6.48692072e-01 -1.94698165e-01 -7.35724962e-01 3.68956158e+01] [ 7.52683910e-01 2.11740073e-02 6.58041483e-01 3.42198026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87037174299999 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:52.30, Y:36.91, Z:34.19 [[-1.09887040e-01 -9.89892796e-01 8.96498202e-02 5.23049528e+01] [ 6.49309205e-01 -1.39782841e-01 -7.47568266e-01 3.69137940e+01] [ 7.52543948e-01 -2.39376107e-02 6.58106828e-01 3.41935706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900371743 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:52.31, Y:36.93, Z:34.21 [[-1.25997913e-01 -9.90705238e-01 5.12606808e-02 5.23103652e+01] [ 6.28855190e-01 -1.19728246e-01 -7.68248851e-01 3.69332229e+01] [ 7.67245512e-01 -6.45622071e-02 6.38095640e-01 3.42134458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:52.28, Y:36.88, Z:34.20 [[-1.07209117e-01 -9.80048088e-01 1.67367713e-01 5.22778205e+01] [ 6.54493840e-01 -1.96286435e-01 -7.30143444e-01 3.68800282e+01] [ 7.48427698e-01 3.12631026e-02 6.62479131e-01 3.42011440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:52.31, Y:36.94, Z:34.21 [[-1.25514302e-01 -9.91150122e-01 4.32156769e-02 5.23144433e+01] [ 6.29233397e-01 -1.13209388e-01 -7.68927153e-01 3.69365502e+01] [ 7.67014662e-01 -6.93186081e-02 6.37874156e-01 3.42122307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990371743 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:52.28, Y:36.89, Z:34.21 [[-1.09994489e-01 -9.79908045e-01 1.66377389e-01 5.22795164e+01] [ 6.53568779e-01 -1.97421818e-01 -7.30665777e-01 3.68858020e+01] [ 7.48831800e-01 2.83698584e-02 6.62152616e-01 3.42082858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020371743 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:52.32, Y:36.93, Z:34.21 [[-1.28625577e-01 -9.90587709e-01 4.68129407e-02 5.23161685e+01] [ 6.29785869e-01 -1.18058159e-01 -7.67744769e-01 3.69339981e+01] [ 7.66045182e-01 -6.92694852e-02 6.39043440e-01 3.42110449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:52.29, Y:36.91, Z:34.23 [[-1.29497050e-01 -9.83652277e-01 1.25134777e-01 5.22874121e+01] [ 6.28157458e-01 -1.79024604e-01 -7.57210934e-01 3.69067831e+01] [ 7.67234464e-01 -1.94522393e-02 6.41071672e-01 3.42306939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080371743 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:52.28, Y:36.90, Z:34.22 [[-1.18752959e-01 -9.79639371e-01 1.61877847e-01 5.22837301e+01] [ 6.51101872e-01 -1.99915786e-01 -7.32188521e-01 3.69024122e+01] [ 7.49642639e-01 1.84494156e-02 6.61585620e-01 3.42240190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110371743 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:52.32, Y:36.93, Z:34.22 [[-0.13513779 -0.98899633 0.06019997 52.31581725] [ 0.62828988 -0.13251378 -0.76661067 36.93277513] [ 0.76615247 -0.06577504 0.63928401 34.21638391] [ 0. 0. 0. 1. ]] SLAMing on 100.140371743 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:52.29, Y:36.90, Z:34.22 [[-1.21751354e-01 -9.79078413e-01 1.63040084e-01 5.22861873e+01] [ 6.48884589e-01 -2.02812696e-01 -7.33359257e-01 3.68998166e+01] [ 7.51082817e-01 1.65067156e-02 6.60001614e-01 3.42215117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170371743 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:52.31, Y:36.93, Z:34.21 [[-1.23565568e-01 -9.87619049e-01 9.66445265e-02 5.23138318e+01] [ 6.51056913e-01 -1.54183763e-01 -7.43204052e-01 3.69320299e+01] [ 7.48903496e-01 -2.89133438e-02 6.62048014e-01 3.42122130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.200371743 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:52.32, Y:36.93, Z:34.21 [[-1.26792262e-01 -9.87173273e-01 9.70188154e-02 5.23167023e+01] [ 6.51406061e-01 -1.56627740e-01 -7.42386621e-01 3.69299726e+01] [ 7.48060068e-01 -3.09302348e-02 6.62909839e-01 3.42100544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23037174299999 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:52.33, Y:36.93, Z:34.21 [[-0.14354742 -0.98817703 0.05385447 52.32832578] [ 0.62903524 -0.13311708 -0.76589458 36.9327369 ] [ 0.76400838 -0.07606584 0.64070678 34.21012788] [ 0. 0. 0. 1. ]] SLAMing on 100.260371743 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:52.29, Y:36.91, Z:34.23 [[-1.32089326e-01 -9.77306134e-01 1.65605345e-01 5.22933067e+01] [ 6.49860744e-01 -2.11535944e-01 -7.30022985e-01 3.69051555e+01] [ 7.48487424e-01 1.11921687e-02 6.63054531e-01 3.42256974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290371743 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:52.32, Y:36.92, Z:34.20 [[-1.36051321e-01 -9.86117207e-01 9.51992180e-02 5.23248289e+01] [ 6.48851085e-01 -1.61308574e-01 -7.43620746e-01 3.69244689e+01] [ 7.48653663e-01 -3.94004692e-02 6.61789465e-01 3.42030366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320371743 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:52.33, Y:36.92, Z:34.20 [[-1.36401835e-01 -9.86026810e-01 9.56329881e-02 5.23250202e+01] [ 6.48853348e-01 -1.61869449e-01 -7.43496882e-01 3.69226182e+01] [ 7.48587919e-01 -3.93625548e-02 6.61866087e-01 3.42010964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350371743 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:52.33, Y:36.93, Z:34.21 [[-0.15416922 -0.9861926 0.06046497 52.33282627] [ 0.62814506 -0.1450663 -0.76445376 36.93247068] [ 0.76267007 -0.07987447 0.64183676 34.21144998] [ 0. 0. 0. 1. ]] SLAMing on 100.380371743 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:52.30, Y:36.91, Z:34.23 [[-1.45276562e-01 -9.76541023e-01 1.58941344e-01 5.23031312e+01] [ 6.44566129e-01 -2.15291868e-01 -7.33610194e-01 3.69108008e+01] [ 7.50619228e-01 -4.12815976e-03 6.60722129e-01 3.42265030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410371743 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:52.33, Y:36.93, Z:34.21 [[-0.16051355 -0.98466007 0.0684101 52.33326843] [ 0.62685111 -0.15523173 -0.7635187 36.92991032] [ 0.76242579 -0.07967215 0.64215205 34.21258013] [ 0. 0. 0. 1. ]] SLAMing on 100.440371743 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:52.31, Y:36.91, Z:34.23 [[-1.61294664e-01 -9.78583682e-01 1.27898431e-01 5.23109239e+01] [ 6.24189656e-01 -2.01536373e-01 -7.54831348e-01 3.69100253e+01] [ 7.64441825e-01 -4.19173909e-02 6.43328554e-01 3.42266649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470371743 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:52.31, Y:36.90, Z:34.21 [[-1.50789380e-01 -9.76540927e-01 1.53721765e-01 5.23083409e+01] [ 6.39889187e-01 -2.14945932e-01 -7.37794060e-01 3.68990737e+01] [ 7.53527963e-01 -1.28866138e-02 6.57289543e-01 3.42134558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500371743 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:52.33, Y:36.92, Z:34.21 [[-1.53077876e-01 -9.83322373e-01 9.82052687e-02 5.23276076e+01] [ 6.38470847e-01 -1.74262441e-01 -7.49658309e-01 3.69243273e+01] [ 7.54269277e-01 -5.20549007e-02 6.54498392e-01 3.42101979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530371743 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:52.32, Y:36.91, Z:34.20 [[-1.53447915e-01 -9.82176896e-01 1.08546220e-01 5.23244777e+01] [ 6.38096208e-01 -1.82362676e-01 -7.48048851e-01 3.69121139e+01] [ 7.54511078e-01 -4.55236052e-02 6.54706525e-01 3.42024369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.560371743 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:52.32, Y:36.92, Z:34.21 [[-1.52599518e-01 -9.81745060e-01 1.13534243e-01 5.23218123e+01] [ 6.42568197e-01 -1.85843766e-01 -7.43349317e-01 3.69175523e+01] [ 7.50879151e-01 -4.04812532e-02 6.59197822e-01 3.42068036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59037174299999 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:52.33, Y:36.92, Z:34.20 [[-0.15529441 -0.98400495 0.08728067 52.33195947] [ 0.63825619 -0.16737821 -0.75140773 36.92193143] [ 0.7539978 -0.06098199 0.65404014 34.20084616] [ 0. 0. 0. 1. ]] SLAMing on 100.62037174299999 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:52.32, Y:36.91, Z:34.20 [[-1.55804085e-01 -9.81659399e-01 1.09863149e-01 5.23233931e+01] [ 6.38298380e-01 -1.84935931e-01 -7.47244190e-01 3.69091303e+01] [ 7.53856926e-01 -4.62982276e-02 6.55405377e-01 3.41990498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650371743 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:52.32, Y:36.92, Z:34.21 [[-0.1683068 -0.98220277 0.0833699 52.32486936] [ 0.62569297 -0.17180343 -0.76091517 36.92080713] [ 0.76169622 -0.07590323 0.64347305 34.20977233] [ 0. 0. 0. 1. ]] SLAMing on 100.680371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:52.31, Y:36.91, Z:34.22 [[-1.68526584e-01 -9.77052134e-01 1.30260959e-01 5.23058992e+01] [ 6.22986004e-01 -2.07989130e-01 -7.54074904e-01 3.69064020e+01] [ 7.63863358e-01 -4.59309135e-02 6.43741502e-01 3.42233918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710371743 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:52.30, Y:36.90, Z:34.21 [[-1.60211758e-01 -9.75313121e-01 1.51975355e-01 5.23027183e+01] [ 6.37467491e-01 -2.19784011e-01 -7.38464749e-01 3.68984693e+01] [ 7.53636113e-01 -2.14313871e-02 6.56942391e-01 3.42130158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740371743 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:52.32, Y:36.92, Z:34.21 [[-0.17190939 -0.98122264 0.0874602 52.32098898] [ 0.62532157 -0.17729405 -0.75996037 36.91698736] [ 0.76119649 -0.07595357 0.64405819 34.20806317] [ 0. 0. 0. 1. ]] SLAMing on 100.770371743 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:52.30, Y:36.90, Z:34.22 [[-1.72169086e-01 -9.76304547e-01 1.31100105e-01 5.23039404e+01] [ 6.23351666e-01 -2.11031130e-01 -7.52926665e-01 3.68996591e+01] [ 7.62751930e-01 -4.79092266e-02 6.44914103e-01 3.42167872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800371743 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:52.30, Y:36.90, Z:34.21 [[-1.73242617e-01 -9.76055428e-01 1.31540097e-01 5.23027197e+01] [ 6.23216640e-01 -2.12062062e-01 -7.52748764e-01 3.68963342e+01] [ 7.62619181e-01 -4.84301883e-02 6.45032171e-01 3.42139354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830371743 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:52.30, Y:36.89, Z:34.21 [[-1.73814050e-01 -9.75888386e-01 1.32024750e-01 5.23024093e+01] [ 6.22875875e-01 -2.12786913e-01 -7.52826257e-01 3.68927938e+01] [ 7.62767540e-01 -4.86167489e-02 6.44842688e-01 3.42105037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860371743 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:52.29, Y:36.89, Z:34.21 [[-1.63150765e-01 -9.72526844e-01 1.66052298e-01 5.22940546e+01] [ 6.40569506e-01 -2.32425314e-01 -7.31880579e-01 3.68874612e+01] [ 7.50368267e-01 -1.30388377e-02 6.60891408e-01 3.42079643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:52.32, Y:36.91, Z:34.19 [[-0.17343028 -0.98221173 0.07198646 52.32345996] [ 0.62533819 -0.16629524 -0.76242904 36.91177281] [ 0.76083775 -0.0872124 0.64305514 34.19354545] [ 0. 0. 0. 1. ]] SLAMing on 100.920371743 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:52.30, Y:36.89, Z:34.21 [[-1.71627002e-01 -9.76155043e-01 1.32911640e-01 5.22984843e+01] [ 6.22350020e-01 -2.12013660e-01 -7.53479038e-01 3.68926527e+01] [ 7.63691446e-01 -4.65997868e-02 6.43897379e-01 3.42113659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.950371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:52.29, Y:36.88, Z:34.20 [[-1.58526342e-01 -9.75316218e-01 1.53712958e-01 5.22934408e+01] [ 6.35365220e-01 -2.19933834e-01 -7.40229793e-01 3.68831656e+01] [ 7.55764802e-01 -1.96820537e-02 6.54547310e-01 3.42025536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98037174299999 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:52.31, Y:36.89, Z:34.18 [[-1.52349207e-01 -9.80443761e-01 1.24578293e-01 5.23057448e+01] [ 6.46057741e-01 -1.94184438e-01 -7.38174640e-01 3.68876480e+01] [ 7.47929886e-01 -3.19755503e-02 6.63007126e-01 3.41796855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010371743 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:52.31, Y:36.89, Z:34.17 [[-1.49604951e-01 -9.83218225e-01 1.04404412e-01 5.23128219e+01] [ 6.47286594e-01 -1.77212555e-01 -7.41360760e-01 3.68900266e+01] [ 7.47421183e-01 -4.33316635e-02 6.62935851e-01 3.41700663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040371743 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:52.31, Y:36.90, Z:34.17 [[-1.44967984e-01 -9.84675334e-01 9.69472548e-02 5.23130068e+01] [ 6.48749358e-01 -1.68575427e-01 -7.42096083e-01 3.68952141e+01] [ 7.47066633e-01 -4.46857040e-02 6.63245530e-01 3.41708197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070371743 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:52.31, Y:36.89, Z:34.17 [[-1.44725996e-01 -9.84255906e-01 1.01462792e-01 5.23100480e+01] [ 6.45109137e-01 -1.71612023e-01 -7.44569348e-01 3.68901465e+01] [ 7.50259013e-01 -4.23039666e-02 6.59789199e-01 3.41708846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100371743 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:52.30, Y:36.89, Z:34.17 [[-1.36991126e-01 -9.83397978e-01 1.19003562e-01 5.23024788e+01] [ 6.52477836e-01 -1.79973275e-01 -7.36126547e-01 3.68850803e+01] [ 7.45322819e-01 -2.31956177e-02 6.66300127e-01 3.41700978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130371743 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:52.32, Y:36.90, Z:34.17 [[-0.14944096 -0.98727118 0.05443368 52.32020239] [ 0.6296519 -0.13746657 -0.76461848 36.90012444] [ 0.7623686 -0.07999105 0.64218031 34.16917116] [ 0. 0. 0. 1. ]] SLAMing on 101.160371743 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:52.28, Y:36.86, Z:34.18 [[-1.35011662e-01 -9.75859242e-01 1.71670007e-01 5.22805428e+01] [ 6.48419459e-01 -2.18022810e-01 -7.29395818e-01 3.68577684e+01] [ 7.49215628e-01 1.28372307e-02 6.62201743e-01 3.41781138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190371743 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:52.31, Y:36.88, Z:34.16 [[-1.33281838e-01 -9.86457936e-01 9.55860432e-02 5.23094010e+01] [ 6.46404356e-01 -1.59633330e-01 -7.46108979e-01 3.68827045e+01] [ 7.51263842e-01 -3.76555412e-02 6.58926930e-01 3.41576048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220371743 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:52.28, Y:37.02, Z:34.34 [[-0.15219049 -0.98518602 0.07903523 52.28344132] [ 0.62610386 -0.15797615 -0.76356891 37.02439466] [ 0.7647431 -0.06672367 0.64087124 34.3353776 ] [ 0. 0. 0. 1. ]] SLAMing on 101.250371743 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:52.28, Y:36.83, Z:34.16 [[-1.34570935e-01 -9.72723898e-01 1.88941475e-01 5.22789742e+01] [ 6.51366598e-01 -2.30527926e-01 -7.22895864e-01 3.68325928e+01] [ 7.46734369e-01 2.57893935e-02 6.64622215e-01 3.41589924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280371743 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:52.31, Y:36.88, Z:34.17 [[-0.14871775 -0.98511469 0.08620949 52.30825288] [ 0.62911967 -0.16151424 -0.76034308 36.88265607] [ 0.7629492 -0.05884042 0.64377506 34.16833005] [ 0. 0. 0. 1. ]] SLAMing on 101.310371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:52.29, Y:36.86, Z:34.18 [[-1.49926411e-01 -9.79254181e-01 1.36320650e-01 5.22902124e+01] [ 6.27816202e-01 -2.00807019e-01 -7.52012871e-01 3.68598440e+01] [ 7.63785892e-01 -2.71622778e-02 6.44897916e-01 3.41761689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34037174299999 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:52.29, Y:36.85, Z:34.17 [[-1.42219991e-01 -9.76122891e-01 1.64187623e-01 5.22865103e+01] [ 6.43921079e-01 -2.17214570e-01 -7.33609893e-01 3.68486345e+01] [ 7.51757354e-01 1.38987867e-03 6.59438359e-01 3.41667101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37037174299999 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:52.31, Y:36.87, Z:34.15 [[-1.42156395e-01 -9.83225867e-01 1.14273596e-01 5.23064469e+01] [ 6.47330776e-01 -1.79681818e-01 -7.40727555e-01 3.68662465e+01] [ 7.48835380e-01 -3.13263429e-02 6.62015283e-01 3.41508452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400371743 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:52.31, Y:36.87, Z:34.15 [[-1.44257989e-01 -9.83837672e-01 1.06080476e-01 5.23108554e+01] [ 6.48216029e-01 -1.74952673e-01 -7.41085381e-01 3.68684557e+01] [ 7.47666779e-01 -3.81444218e-02 6.62977669e-01 3.41460931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:52.31, Y:36.88, Z:34.15 [[-0.15026247 -0.98429861 0.09261445 52.31464379] [ 0.64044927 -0.16827721 -0.74933805 36.87668776] [ 0.75315731 -0.05328253 0.65567907 34.15346084] [ 0. 0. 0. 1. ]] SLAMing on 101.460371743 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:52.31, Y:36.87, Z:34.16 [[-1.52678613e-01 -9.81703534e-01 1.13786694e-01 5.23065601e+01] [ 6.38676759e-01 -1.85876247e-01 -7.46687363e-01 3.68709522e+01] [ 7.54175867e-01 -4.13302739e-02 6.55370560e-01 3.41609727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490371743 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:52.31, Y:36.88, Z:34.17 [[-0.16719228 -0.98119718 0.09643043 52.30956068] [ 0.62613819 -0.18122192 -0.7583598 36.87704589] [ 0.76157581 -0.06641313 0.64466394 34.16722346] [ 0. 0. 0. 1. ]] SLAMing on 101.520371743 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:52.29, Y:36.86, Z:34.18 [[-1.69847037e-01 -9.75682826e-01 1.38546047e-01 5.22945488e+01] [ 6.23827129e-01 -2.15283702e-01 -7.51327253e-01 3.68598421e+01] [ 7.62883804e-01 -4.11819245e-02 6.45222714e-01 3.41757170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550371743 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:52.29, Y:36.85, Z:34.17 [[-1.63689505e-01 -9.73454180e-01 1.59977202e-01 5.22943330e+01] [ 6.36085308e-01 -2.28100150e-01 -7.37133504e-01 3.68510554e+01] [ 7.54056515e-01 -1.89018711e-02 6.56537502e-01 3.41654613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580371743 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:52.31, Y:36.88, Z:34.17 [[-0.17687027 -0.97985567 0.09273498 52.31378788] [ 0.62394077 -0.18449429 -0.75938118 36.88044199] [ 0.76119302 -0.07645081 0.64400346 34.16790632] [ 0. 0. 0. 1. ]] SLAMing on 101.610371743 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:52.29, Y:36.85, Z:34.16 [[-1.65222113e-01 -9.70552597e-01 1.75297777e-01 5.22911454e+01] [ 6.41745121e-01 -2.40762688e-01 -7.28145952e-01 3.68451169e+01] [ 7.48909109e-01 -7.80931971e-03 6.62626714e-01 3.41611878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640371743 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:52.32, Y:36.89, Z:34.16 [[-0.17924527 -0.98116491 0.07201772 52.3233404 ] [ 0.62433491 -0.17001987 -0.76242978 36.88622328] [ 0.76031379 -0.09169875 0.64305076 34.16050297] [ 0. 0. 0. 1. ]] SLAMing on 101.670371743 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:52.29, Y:36.85, Z:34.17 [[-1.66731935e-01 -9.71562029e-01 1.68129965e-01 5.22927855e+01] [ 6.38657975e-01 -2.36327167e-01 -7.32301483e-01 3.68498099e+01] [ 7.51209993e-01 -1.47205004e-02 6.59899124e-01 3.41650909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.700371743 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:52.31, Y:36.87, Z:34.15 [[-1.65209354e-01 -9.79932492e-01 1.11526594e-01 5.23135437e+01] [ 6.39141613e-01 -1.92498823e-01 -7.44608758e-01 3.68684248e+01] [ 7.51135053e-01 -5.17350449e-02 6.58118239e-01 3.41510377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73037174299999 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:52.31, Y:36.87, Z:34.15 [[-0.16565622 -0.9805802 0.10497848 52.31473998] [ 0.63670584 -0.18763464 -0.74792975 36.87174992] [ 0.75310271 -0.0570588 0.65542399 34.1532611 ] [ 0. 0. 0. 1. ]] SLAMing on 101.760371743 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:52.31, Y:36.86, Z:34.15 [[-1.62153126e-01 -9.79100728e-01 1.22752307e-01 5.23066189e+01] [ 6.36833995e-01 -1.98860582e-01 -7.44914043e-01 3.68630214e+01] [ 7.53756477e-01 -4.26172986e-02 6.55770493e-01 3.41541122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790371743 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:52.31, Y:36.86, Z:34.15 [[-1.60288845e-01 -9.80020978e-01 1.17755548e-01 5.23078145e+01] [ 6.37641482e-01 -1.93871437e-01 -7.45538199e-01 3.68649081e+01] [ 7.53472513e-01 -4.44156345e-02 6.55977457e-01 3.41519332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:52.30, Y:36.86, Z:34.15 [[-1.57404368e-01 -9.80009728e-01 1.21674968e-01 5.23036942e+01] [ 6.36535427e-01 -1.94885404e-01 -7.46218687e-01 3.68584933e+01] [ 7.55014248e-01 -4.00076534e-02 6.54486725e-01 3.41483831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850371743 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:52.30, Y:36.86, Z:34.15 [[-1.55435374e-01 -9.80219147e-01 1.22516396e-01 5.23015380e+01] [ 6.37582680e-01 -1.94279714e-01 -7.45482206e-01 3.68602923e+01] [ 7.54538383e-01 -3.77599733e-02 6.55168691e-01 3.41504331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880371743 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:52.30, Y:36.86, Z:34.15 [[-0.16207411 -0.98140716 0.10282011 52.30434918] [ 0.62451855 -0.18269068 -0.75934228 36.85595329] [ 0.76400822 -0.05885666 0.64251641 34.14551473] [ 0. 0. 0. 1. ]] SLAMing on 101.910371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:52.28, Y:36.83, Z:34.15 [[-1.48742951e-01 -9.75308424e-01 1.63245253e-01 5.22837861e+01] [ 6.36811667e-01 -2.20767677e-01 -7.38737121e-01 3.68325671e+01] [ 7.56535812e-01 -5.92545777e-03 6.53925419e-01 3.41480736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:52.30, Y:36.85, Z:34.14 [[-1.46177935e-01 -9.81807595e-01 1.21185222e-01 5.22958890e+01] [ 6.37483076e-01 -1.87163003e-01 -7.47385669e-01 3.68538104e+01] [ 7.56470316e-01 -3.19977657e-02 6.53244827e-01 3.41448094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970371743 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:52.30, Y:36.85, Z:34.14 [[-0.15391549 -0.98279873 0.10206215 52.29905642] [ 0.62607367 -0.17691459 -0.75942938 36.8474437 ] [ 0.76442252 -0.05298952 0.6425343 34.13795385] [ 0. 0. 0. 1. ]] SLAMing on 102.000371743 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:52.28, Y:36.83, Z:34.15 [[-1.42680101e-01 -9.75862663e-01 1.65331340e-01 5.22784832e+01] [ 6.41553823e-01 -2.18382091e-01 -7.35335266e-01 3.68310047e+01] [ 7.53691635e-01 1.15124311e-03 6.57227201e-01 3.41474451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030371743 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:52.30, Y:36.84, Z:34.12 [[-1.41446170e-01 -9.82780956e-01 1.18888911e-01 5.22968202e+01] [ 6.41357943e-01 -1.82459052e-01 -7.45230624e-01 3.68355888e+01] [ 7.54090823e-01 -2.91596705e-02 6.56122507e-01 3.41222089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.060371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:52.30, Y:36.84, Z:34.13 [[-1.49902916e-01 -9.83484816e-01 1.01423527e-01 5.22957481e+01] [ 6.27770589e-01 -1.73928953e-01 -7.58717871e-01 3.68411028e+01] [ 7.63827994e-01 -5.00633135e-02 6.43475299e-01 3.41321946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09037174299999 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:52.28, Y:36.82, Z:34.14 [[-1.49294572e-01 -9.78414147e-01 1.42887675e-01 5.22804581e+01] [ 6.27498996e-01 -2.05429278e-01 -7.51028509e-01 3.68230579e+01] [ 7.64170230e-01 -2.24626074e-02 6.44623371e-01 3.41399501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12037174299999 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:52.28, Y:36.81, Z:34.13 [[-1.40152739e-01 -9.77007455e-01 1.60666248e-01 5.22793656e+01] [ 6.40404775e-01 -2.13204509e-01 -7.37851991e-01 3.68148037e+01] [ 7.55141664e-01 -5.20545147e-04 6.55561435e-01 3.41288051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150371743 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:52.29, Y:36.82, Z:34.11 [[-1.38223520e-01 -9.82218434e-01 1.27048047e-01 5.22930188e+01] [ 6.44041342e-01 -1.86594632e-01 -7.41884892e-01 3.68211265e+01] [ 7.52399500e-01 -2.07217464e-02 6.58381046e-01 3.41098654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:52.30, Y:36.83, Z:34.11 [[-1.39030437e-01 -9.83283449e-01 1.17576344e-01 5.22958871e+01] [ 6.43819762e-01 -1.79962003e-01 -7.43713514e-01 3.68266310e+01] [ 7.52440463e-01 -2.77008408e-02 6.58077512e-01 3.41102828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:52.30, Y:36.82, Z:34.11 [[-1.39378276e-01 -9.83174874e-01 1.18071432e-01 5.22961018e+01] [ 6.43792159e-01 -1.80565547e-01 -7.43591110e-01 3.68247408e+01] [ 7.52399729e-01 -2.76269851e-02 6.58127189e-01 3.41083795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240371743 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:52.30, Y:36.82, Z:34.11 [[-1.40484619e-01 -9.82714926e-01 1.20563038e-01 5.22962814e+01] [ 6.43459175e-01 -1.83169771e-01 -7.43242306e-01 3.68196401e+01] [ 7.52478812e-01 -2.68367193e-02 6.58069471e-01 3.41053055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:52.30, Y:36.83, Z:34.11 [[-1.43326638e-01 -9.83944064e-01 1.06355788e-01 5.23015141e+01] [ 6.40597376e-01 -1.74150909e-01 -7.47867945e-01 3.68268895e+01] [ 7.54382182e-01 -3.90581595e-02 6.55272450e-01 3.41063882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300371743 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:52.29, Y:36.82, Z:34.11 [[-1.44588374e-01 -9.81281151e-01 1.27206547e-01 5.22948481e+01] [ 6.41467565e-01 -1.90839843e-01 -7.43033995e-01 3.68200100e+01] [ 7.53401331e-01 -2.58352036e-02 6.57053253e-01 3.41102955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330371743 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:52.30, Y:36.82, Z:34.10 [[-1.46089064e-01 -9.82402904e-01 1.16372332e-01 5.23005370e+01] [ 6.40762739e-01 -1.83590555e-01 -7.45464701e-01 3.68206351e+01] [ 7.53711548e-01 -3.43371865e-02 6.56307748e-01 3.41033833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360371743 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:52.30, Y:36.82, Z:34.11 [[-1.47859357e-01 -9.82057257e-01 1.17051928e-01 5.23012990e+01] [ 6.41750140e-01 -1.85322328e-01 -7.44185725e-01 3.68246197e+01] [ 7.52525328e-01 -3.49167319e-02 6.57637022e-01 3.41051802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390371743 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:52.30, Y:36.82, Z:34.10 [[-1.45124399e-01 -9.80706491e-01 1.30972089e-01 5.22983587e+01] [ 6.46918555e-01 -1.94211243e-01 -7.37413300e-01 3.68154964e+01] [ 7.48622262e-01 -2.22883872e-02 6.62622016e-01 3.40985575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420371743 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:52.31, Y:36.83, Z:34.10 [[-1.49336580e-01 -9.83166339e-01 1.05273619e-01 5.23080866e+01] [ 6.41199068e-01 -1.77337256e-01 -7.46602474e-01 3.68274681e+01] [ 7.52703356e-01 -4.39937136e-02 6.56888279e-01 3.41001656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.450371743 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:52.30, Y:36.82, Z:34.10 [[-1.47409430e-01 -9.80402198e-01 1.30698085e-01 5.23003478e+01] [ 6.48262808e-01 -1.95569865e-01 -7.35872108e-01 3.68182835e+01] [ 7.47011240e-01 -2.37477806e-02 6.64387124e-01 3.41001741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48037174299999 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:52.32, Y:36.84, Z:34.11 [[-0.1661057 -0.98365509 0.06950938 52.31500886] [ 0.62614662 -0.15966457 -0.76318257 36.843157 ] [ 0.7618066 -0.08324591 0.64243351 34.11108085] [ 0. 0. 0. 1. ]] SLAMing on 102.510371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:52.28, Y:36.80, Z:34.12 [[-1.51507823e-01 -9.71233121e-01 1.83716097e-01 5.22817950e+01] [ 6.45900814e-01 -2.37969474e-01 -7.25384497e-01 3.67987789e+01] [ 7.48236272e-01 8.76095056e-03 6.63374500e-01 3.41171451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540371743 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:52.32, Y:36.84, Z:34.11 [[-0.15761783 -0.98327932 0.09120527 52.31653473] [ 0.638326 -0.17191953 -0.75032233 36.83715954] [ 0.7534564 -0.06004548 0.65475033 34.10556662] [ 0. 0. 0. 1. ]] SLAMing on 102.570371743 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:52.30, Y:36.82, Z:34.11 [[-1.54823055e-01 -9.79104355e-01 1.31850234e-01 5.23036651e+01] [ 6.44291886e-01 -2.01239110e-01 -7.37828426e-01 3.68193779e+01] [ 7.48944449e-01 -2.92828146e-02 6.61985445e-01 3.41052568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600371743 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:52.31, Y:36.83, Z:34.10 [[-1.56501406e-01 -9.81364359e-01 1.11495759e-01 5.23123067e+01] [ 6.43290209e-01 -1.86939535e-01 -7.42449538e-01 3.68269901e+01] [ 7.49456481e-01 -4.44702661e-02 6.60558384e-01 3.41002344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630371743 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.09 [[-1.55994140e-01 -9.80943384e-01 1.15827052e-01 5.23130618e+01] [ 6.44767869e-01 -1.89958172e-01 -7.40398736e-01 3.68232750e+01] [ 7.48291537e-01 -4.08163028e-02 6.62113137e-01 3.40947392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:52.32, Y:36.84, Z:34.11 [[-0.17283435 -0.98199353 0.07626921 52.31984123] [ 0.6239648 -0.16907603 -0.76294248 36.84038518] [ 0.76209987 -0.08427337 0.64195154 34.10814263] [ 0. 0. 0. 1. ]] SLAMing on 102.690371743 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:52.29, Y:36.81, Z:34.12 [[-1.59680376e-01 -9.73348200e-01 1.64606986e-01 5.22930782e+01] [ 6.34059777e-01 -2.28930277e-01 -7.38619745e-01 3.68065144e+01] [ 7.56617722e-01 -1.35724096e-02 6.53716615e-01 3.41165931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720371743 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.10 [[-1.57533836e-01 -9.79477385e-01 1.25726464e-01 5.23087399e+01] [ 6.37671450e-01 -1.98111010e-01 -7.44397172e-01 3.68179571e+01] [ 7.54027992e-01 -3.70955648e-02 6.55793952e-01 3.41002701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.10 [[-1.54492774e-01 -9.80088835e-01 1.24731146e-01 5.23097180e+01] [ 6.41265638e-01 -1.95513384e-01 -7.41992519e-01 3.68162397e+01] [ 7.51605192e-01 -3.46466848e-02 6.58702697e-01 3.40959347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780371743 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.09 [[-1.52915024e-01 -9.81183850e-01 1.17878107e-01 5.23122297e+01] [ 6.43209345e-01 -1.89373720e-01 -7.41902509e-01 3.68199636e+01] [ 7.50265775e-01 -3.76277400e-02 6.60064709e-01 3.40939284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.810371743 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.09 [[-1.50683574e-01 -9.81708439e-01 1.16374400e-01 5.23139367e+01] [ 6.45144134e-01 -1.86847768e-01 -7.40862307e-01 3.68152818e+01] [ 7.49055076e-01 -3.65575181e-02 6.61498330e-01 3.40861771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84037174299999 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:52.32, Y:36.82, Z:34.09 [[-1.47312570e-01 -9.83001013e-01 1.09581093e-01 5.23159909e+01] [ 6.47017549e-01 -1.79569023e-01 -7.41028513e-01 3.68205726e+01] [ 7.48109149e-01 -3.82619245e-02 6.62471680e-01 3.40856532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87037174299999 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.09 [[-1.43448495e-01 -9.80790804e-01 1.32181420e-01 5.23067154e+01] [ 6.53272754e-01 -1.94171319e-01 -7.31800661e-01 3.68173870e+01] [ 7.43409199e-01 -1.86251835e-02 6.68577494e-01 3.40914320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900371743 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:52.32, Y:36.83, Z:34.08 [[-0.14442849 -0.98580863 0.08556722 52.32442414] [ 0.64549843 -0.15940426 -0.7469418 36.82980523] [ 0.74998146 -0.05264617 0.65936044 34.0822591 ] [ 0. 0. 0. 1. ]] SLAMing on 102.930371743 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.10 [[-0.15985624 -0.98243866 0.09623029 52.31145445] [ 0.6274735 -0.17638384 -0.75839682 36.81957059] [ 0.76205183 -0.06085251 0.64465028 34.09540654] [ 0. 0. 0. 1. ]] SLAMing on 102.960371743 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:52.29, Y:36.79, Z:34.09 [[-1.44098569e-01 -9.74312768e-01 1.73061352e-01 5.22913435e+01] [ 6.42970115e-01 -2.25124776e-01 -7.32057557e-01 3.67864587e+01] [ 7.52213423e-01 5.78483143e-03 6.58894151e-01 3.40949342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990371743 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:52.31, Y:36.82, Z:34.09 [[-1.45728454e-01 -9.83102277e-01 1.10784162e-01 5.23128342e+01] [ 6.40447391e-01 -1.79094429e-01 -7.46828177e-01 3.68163406e+01] [ 7.54049307e-01 -3.78826883e-02 6.55724442e-01 3.40897021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020371743 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:52.31, Y:36.81, Z:34.09 [[-0.16136236 -0.98157395 0.1023463 52.30915592] [ 0.62717124 -0.18206379 -0.75730378 36.81172541] [ 0.76198322 -0.05801167 0.6449932 34.09060308] [ 0. 0. 0. 1. ]] SLAMing on 103.050371743 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:52.29, Y:36.80, Z:34.11 [[-1.64430477e-01 -9.74858595e-01 1.50377316e-01 5.22908037e+01] [ 6.25232122e-01 -2.20921548e-01 -7.48517511e-01 3.67996105e+01] [ 7.62920319e-01 -2.90583630e-02 6.45839143e-01 3.41093318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080371743 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:52.29, Y:36.79, Z:34.10 [[-1.67112308e-01 -9.74328648e-01 1.50854770e-01 5.22924753e+01] [ 6.24416210e-01 -2.22999558e-01 -7.48582390e-01 3.67934255e+01] [ 7.63005815e-01 -3.09011667e-02 6.45652573e-01 3.41028417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110371743 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:52.30, Y:36.79, Z:34.09 [[-1.58381579e-01 -9.73883378e-01 1.62685098e-01 5.22967791e+01] [ 6.33810139e-01 -2.26615595e-01 -7.39547212e-01 3.67850895e+01] [ 7.57099718e-01 -1.40191911e-02 6.53148896e-01 3.40927222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140371743 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:52.31, Y:36.80, Z:34.08 [[-1.62443308e-01 -9.79683125e-01 1.17614397e-01 5.23148705e+01] [ 6.33565837e-01 -1.94940222e-01 -7.48727347e-01 3.67977353e+01] [ 7.56443323e-01 -4.71092830e-02 6.52360494e-01 3.40768991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170371743 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:52.32, Y:36.80, Z:34.09 [[-0.17202281 -0.97850442 0.11374204 52.31568678] [ 0.62581971 -0.19772268 -0.75449018 36.80087221] [ 0.76076136 -0.05860751 0.64638016 34.08519369] [ 0. 0. 0. 1. ]] SLAMing on 103.200371743 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:52.31, Y:36.80, Z:34.09 [[-1.75384386e-01 -9.76008329e-01 1.29027359e-01 5.23102449e+01] [ 6.24099268e-01 -2.11581708e-01 -7.52152435e-01 3.67974055e+01] [ 7.61406870e-01 -5.13899123e-02 6.46234211e-01 3.40922307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23037174299999 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:52.31, Y:36.80, Z:34.10 [[-0.18123757 -0.97510417 0.12776854 52.31136711] [ 0.61994043 -0.21413546 -0.75486414 36.79883914] [ 0.76343094 -0.05760086 0.64331589 34.09505708] [ 0. 0. 0. 1. ]] SLAMing on 103.260371743 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:52.30, Y:36.81, Z:34.11 [[-1.82420875e-01 -9.73157411e-01 1.40311358e-01 5.23048769e+01] [ 6.22174385e-01 -2.24753316e-01 -7.49923318e-01 3.68084907e+01] [ 7.61328877e-01 -4.95035352e-02 6.46473310e-01 3.41115720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:52.31, Y:36.80, Z:34.09 [[-0.18360638 -0.97402967 0.13249487 52.31078775] [ 0.62220705 -0.21950497 -0.75144924 36.79604204] [ 0.76101714 -0.05553163 0.64635064 34.0917574 ] [ 0. 0. 0. 1. ]] SLAMing on 103.320371743 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:52.31, Y:36.80, Z:34.09 [[-1.82647118e-01 -9.73194851e-01 1.39756262e-01 5.23072167e+01] [ 6.25815609e-01 -2.24710801e-01 -7.46900181e-01 3.67966932e+01] [ 7.58284151e-01 -4.89575152e-02 6.50083308e-01 3.40946003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350371743 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:52.31, Y:36.80, Z:34.10 [[-0.18209347 -0.97474258 0.12930143 52.30984857] [ 0.62586615 -0.21631943 -0.74933135 36.80449413] [ 0.75837559 -0.05552296 0.64944875 34.09738598] [ 0. 0. 0. 1. ]] SLAMing on 103.380371743 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:52.31, Y:36.79, Z:34.08 [[-1.78671787e-01 -9.74977001e-01 1.32273357e-01 5.23104240e+01] [ 6.27926660e-01 -2.16491745e-01 -7.47555640e-01 3.67911771e+01] [ 7.57485645e-01 -5.05091351e-02 6.50895018e-01 3.40831746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410371743 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:52.31, Y:36.79, Z:34.08 [[-1.76011648e-01 -9.75061504e-01 1.35184919e-01 5.23099174e+01] [ 6.31152088e-01 -2.17169706e-01 -7.44637066e-01 3.67889964e+01] [ 7.55425007e-01 -4.57425534e-02 6.53636503e-01 3.40799240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:52.31, Y:36.79, Z:34.08 [[-1.71596671e-01 -9.76125186e-01 1.33169828e-01 5.23095863e+01] [ 6.34354392e-01 -2.12900852e-01 -7.43147181e-01 3.67936816e+01] [ 7.53756651e-01 -4.30447173e-02 6.55742376e-01 3.40810067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470371743 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:52.31, Y:36.79, Z:34.08 [[-1.68313694e-01 -9.76531618e-01 1.34374473e-01 5.23095913e+01] [ 6.37957755e-01 -2.11834212e-01 -7.40362188e-01 3.67910663e+01] [ 7.51452196e-01 -3.88878576e-02 6.58640518e-01 3.40755744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500371743 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:52.31, Y:36.79, Z:34.07 [[-1.61962811e-01 -9.78447153e-01 1.28098467e-01 5.23114849e+01] [ 6.42895694e-01 -2.03107808e-01 -7.38533916e-01 3.67907680e+01] [ 7.48634206e-01 -3.72610755e-02 6.61935373e-01 3.40665524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530371743 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:52.30, Y:36.80, Z:34.08 [[-1.55469351e-01 -9.75068392e-01 1.58337965e-01 5.22974662e+01] [ 6.55466586e-01 -2.21743460e-01 -7.21937250e-01 3.67956213e+01] [ 7.39048602e-01 -8.45387047e-03 6.73599062e-01 3.40806488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.560371743 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:52.33, Y:36.82, Z:34.06 [[-0.15426342 -0.98490425 0.0785266 52.3274331 ] [ 0.64719792 -0.16078205 -0.7451738 36.82128266] [ 0.7465505 -0.0641308 0.66223076 34.0626089 ] [ 0. 0. 0. 1. ]] SLAMing on 103.59037174299999 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:52.32, Y:36.80, Z:34.06 [[-0.17056575 -0.98223902 0.07819102 52.32032003] [ 0.62168783 -0.16884191 -0.76485074 36.80305325] [ 0.76446816 -0.08184694 0.63944469 34.06370412] [ 0. 0. 0. 1. ]] SLAMing on 103.62037174299999 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:52.29, Y:36.77, Z:34.08 [[-1.66833660e-01 -9.73410764e-01 1.56965012e-01 5.22897848e+01] [ 6.19740136e-01 -2.27343793e-01 -7.51157083e-01 3.67695550e+01] [ 7.66869411e-01 -2.80407673e-02 6.41190316e-01 3.40795774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650371743 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:52.29, Y:36.76, Z:34.07 [[-1.66389774e-01 -9.73414218e-01 1.57414111e-01 5.22896554e+01] [ 6.19827405e-01 -2.27407110e-01 -7.51065905e-01 3.67637246e+01] [ 7.66895319e-01 -2.74001060e-02 6.41187027e-01 3.40736198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680371743 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:52.29, Y:36.76, Z:34.07 [[-1.66064191e-01 -9.73393922e-01 1.57882732e-01 5.22889500e+01] [ 6.19763221e-01 -2.27556421e-01 -7.51073648e-01 3.67619990e+01] [ 7.67017754e-01 -2.68765272e-02 6.41062725e-01 3.40726374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710371743 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:52.27, Y:36.74, Z:34.06 [[-0.14299828 -0.96010937 0.24029459 52.26944811] [ 0.66862953 -0.27272248 -0.69177814 36.73794728] [ 0.72971641 0.06174497 0.68095632 34.06083061] [ 0. 0. 0. 1. ]] SLAMing on 103.740371743 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:52.34, Y:36.81, Z:34.04 [[-1.69321918e-01 -9.85403949e-01 1.75825278e-02 5.23421654e+01] [ 6.24324508e-01 -1.21047595e-01 -7.71729479e-01 3.68145852e+01] [ 7.62593599e-01 -1.19693513e-01 6.35707846e-01 3.40379761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770371743 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:52.27, Y:36.74, Z:34.07 [[-0.14630824 -0.9587398 0.24374556 52.26752251] [ 0.67120708 -0.27721217 -0.68748416 36.74282855] [ 0.72668766 0.06301914 0.68407136 34.0674029 ] [ 0. 0. 0. 1. ]] SLAMing on 103.800371743 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:52.32, Y:36.81, Z:34.04 [[-1.43248936e-01 -9.85229464e-01 9.38224145e-02 5.23244220e+01] [ 6.70877245e-01 -1.66362058e-01 -7.22666859e-01 3.68077517e+01] [ 7.27601172e-01 -4.05779353e-02 6.84799216e-01 3.40350082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830371743 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:52.33, Y:36.81, Z:34.03 [[-0.14992797 -0.98512834 0.08392714 52.32856593] [ 0.666203 -0.16338212 -0.72765366 36.80788067] [ 0.73054443 -0.05318312 0.680791 34.03376388] [ 0. 0. 0. 1. ]] SLAMing on 103.860371743 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:52.32, Y:36.79, Z:34.03 [[-1.51574655e-01 -9.82814551e-01 1.05359780e-01 5.23215937e+01] [ 6.68456329e-01 -1.80442346e-01 -7.21530800e-01 3.67927708e+01] [ 7.28142335e-01 -3.89373706e-02 6.84319093e-01 3.40297203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890371743 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:52.33, Y:36.80, Z:34.03 [[-0.1588083 -0.98350246 0.08661894 52.32770065] [ 0.66301674 -0.17124168 -0.72875585 36.80297712] [ 0.73156594 -0.05830267 0.67927319 34.03470734] [ 0. 0. 0. 1. ]] SLAMing on 103.920371743 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:52.33, Y:36.81, Z:34.04 [[-0.16708581 -0.98340204 0.07073012 52.33237371] [ 0.65181439 -0.16400196 -0.74043322 36.80835781] [ 0.73974342 -0.07761298 0.668398 34.0405289 ] [ 0. 0. 0. 1. ]] SLAMing on 103.950371743 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:52.31, Y:36.78, Z:34.04 [[-1.67689075e-01 -9.77988794e-01 1.24170422e-01 5.23141038e+01] [ 6.53694747e-01 -2.04588614e-01 -7.28578532e-01 3.67787288e+01] [ 7.37945494e-01 -4.10051073e-02 6.73613413e-01 3.40383542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98037174299999 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:52.32, Y:36.79, Z:34.04 [[-0.17381333 -0.97989425 0.09796011 52.32405427] [ 0.64761105 -0.18867518 -0.73824224 36.79477025] [ 0.74188197 -0.06487629 0.6673846 34.04215275] [ 0. 0. 0. 1. ]] SLAMing on 104.010371743 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:52.31, Y:36.79, Z:34.06 [[-1.78082475e-01 -9.75839456e-01 1.26585894e-01 5.23118790e+01] [ 6.43630710e-01 -2.12820946e-01 -7.35150838e-01 3.67948745e+01] [ 7.44329323e-01 -4.94429122e-02 6.65979923e-01 3.40607081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:52.32, Y:36.80, Z:34.05 [[-0.17952041 -0.9771716 0.11361375 52.31838004] [ 0.64195372 -0.2038746 -0.73914178 36.79683417] [ 0.74543131 -0.05975627 0.6638986 34.05400234] [ 0. 0. 0. 1. ]] SLAMing on 104.070371743 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:52.31, Y:36.78, Z:34.05 [[-1.75185192e-01 -9.75225192e-01 1.35077657e-01 5.23120315e+01] [ 6.46561275e-01 -2.17426291e-01 -7.31221120e-01 3.67816841e+01] [ 7.42474691e-01 -4.07631300e-02 6.68632710e-01 3.40468752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100371743 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:52.33, Y:36.79, Z:34.04 [[-0.17925053 -0.97917204 0.09534866 52.32640504] [ 0.63708607 -0.18938365 -0.74716476 36.7915228 ] [ 0.74966032 -0.07318438 0.65776398 34.04132007] [ 0. 0. 0. 1. ]] SLAMing on 104.130371743 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:52.31, Y:36.78, Z:34.05 [[-1.79535781e-01 -9.75062625e-01 1.30459885e-01 5.23129659e+01] [ 6.35879850e-01 -2.16210613e-01 -7.40884463e-01 3.67765807e+01] [ 7.50615561e-01 -5.00584591e-02 6.58840217e-01 3.40480111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160371743 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:52.31, Y:36.77, Z:34.05 [[-1.75836043e-01 -9.74961564e-01 1.36130946e-01 5.23109383e+01] [ 6.38212719e-01 -2.18188583e-01 -7.38294161e-01 3.67730889e+01] [ 7.49510648e-01 -4.29382231e-02 6.60598287e-01 3.40468475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:52.32, Y:36.77, Z:34.04 [[-0.17083726 -0.97826343 0.11753847 52.31710808] [ 0.63663438 -0.2006421 -0.74460689 36.7714755 ] [ 0.75200485 -0.05237757 0.65707328 34.03755091] [ 0. 0. 0. 1. ]] SLAMing on 104.220371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:52.31, Y:36.76, Z:34.03 [[-1.60681509e-01 -9.76847157e-01 1.41248309e-01 5.23088824e+01] [ 6.43239322e-01 -2.12182531e-01 -7.35677748e-01 3.67552335e+01] [ 7.48615140e-01 -2.73533448e-02 6.62440312e-01 3.40321339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:52.31, Y:36.76, Z:34.02 [[-1.55489041e-01 -9.79572481e-01 1.27518286e-01 5.23141511e+01] [ 6.46072311e-01 -1.98494748e-01 -7.37014521e-01 3.67580075e+01] [ 7.47270853e-01 -3.22116475e-02 6.63738414e-01 3.40246851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280371743 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:52.32, Y:36.75, Z:34.01 [[-1.50968831e-01 -9.80918882e-01 1.22501258e-01 5.23176054e+01] [ 6.47912705e-01 -1.91779091e-01 -7.37176985e-01 3.67510915e+01] [ 7.46604004e-01 -3.19206263e-02 6.64502472e-01 3.40120352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.310371743 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:52.32, Y:36.75, Z:34.01 [[-1.45751582e-01 -9.82311357e-01 1.17562212e-01 5.23189860e+01] [ 6.47725344e-01 -1.84571305e-01 -7.39178809e-01 3.67530179e+01] [ 7.47802350e-01 -3.15884564e-02 6.63169522e-01 3.40118627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34037174299999 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:52.32, Y:36.75, Z:34.01 [[-1.43020950e-01 -9.82166726e-01 1.22039051e-01 5.23178869e+01] [ 6.49015665e-01 -1.86164364e-01 -7.37645915e-01 3.67472732e+01] [ 7.47210596e-01 -2.62935635e-02 6.64066995e-01 3.40078261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37037174299999 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:52.32, Y:36.74, Z:33.99 [[-1.38803101e-01 -9.84021155e-01 1.11517107e-01 5.23249383e+01] [ 6.48373373e-01 -1.75415316e-01 -7.40838334e-01 3.67379905e+01] [ 7.48562402e-01 -3.05259349e-02 6.62361305e-01 3.39905523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400371743 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:52.32, Y:36.74, Z:34.00 [[-1.39561822e-01 -9.82793055e-01 1.20997143e-01 5.23207176e+01] [ 6.47476539e-01 -1.83023714e-01 -7.39781353e-01 3.67369394e+01] [ 7.49197323e-01 -2.49024220e-02 6.61878569e-01 3.39967712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:52.32, Y:36.76, Z:34.02 [[-0.15861589 -0.98339105 0.0882215 52.32139268] [ 0.62600444 -0.16926223 -0.76122844 36.76048263] [ 0.76351781 -0.06551588 0.64245485 34.02369299] [ 0. 0. 0. 1. ]] SLAMing on 104.460371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:52.30, Y:36.73, Z:34.04 [[-1.57793734e-01 -9.74076766e-01 1.62097472e-01 5.22950427e+01] [ 6.25033726e-01 -2.25607800e-01 -7.47284392e-01 3.67294721e+01] [ 7.64482818e-01 -1.66004076e-02 6.44430328e-01 3.40395511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490371743 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:52.30, Y:36.73, Z:34.04 [[-1.58492741e-01 -9.73886407e-01 1.62558658e-01 5.22965154e+01] [ 6.24745791e-01 -2.26407361e-01 -7.47283349e-01 3.67258272e+01] [ 7.64573573e-01 -1.68811493e-02 6.44315357e-01 3.40352665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520371743 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:52.30, Y:36.72, Z:34.03 [[-1.60957395e-01 -9.73409107e-01 1.62995177e-01 5.22979006e+01] [ 6.24180374e-01 -2.28323344e-01 -7.47172879e-01 3.67242884e+01] [ 7.64520489e-01 -1.85246093e-02 6.44333191e-01 3.40338095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550371743 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:52.30, Y:36.73, Z:34.04 [[-1.63260701e-01 -9.72959772e-01 1.63386735e-01 5.22976034e+01] [ 6.23900541e-01 -2.30107484e-01 -7.46859198e-01 3.67267305e+01] [ 7.64260465e-01 -1.99956838e-02 6.44597637e-01 3.40369915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:52.29, Y:36.70, Z:34.02 [[-1.46910312e-01 -9.62069360e-01 2.29869325e-01 5.22872300e+01] [ 6.63007197e-01 -2.68234308e-01 -6.98907586e-01 3.67025501e+01] [ 7.34056413e-01 4.97282851e-02 6.77265295e-01 3.40203655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610371743 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:52.33, Y:36.76, Z:34.00 [[-1.47306098e-01 -9.83004690e-01 1.09556803e-01 5.23323476e+01] [ 6.61788844e-01 -1.80273051e-01 -7.27693035e-01 3.67556511e+01] [ 7.35075805e-01 -3.46901513e-02 6.77096857e-01 3.39970139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640371743 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:52.34, Y:36.76, Z:33.99 [[-1.50845506e-01 -9.83277839e-01 1.02031002e-01 5.23367079e+01] [ 6.61564695e-01 -1.77103006e-01 -7.28674605e-01 3.67582146e+01] [ 7.34559588e-01 -4.24171808e-02 6.77217096e-01 3.39948353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670371743 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:52.35, Y:36.77, Z:34.00 [[-0.16597565 -0.98307005 0.07762317 52.34571735] [ 0.64393573 -0.16766051 -0.7464829 36.76550255] [ 0.74685933 -0.07391365 0.6608615 34.00266843] [ 0. 0. 0. 1. ]] SLAMing on 104.700371743 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:52.32, Y:36.75, Z:34.03 [[-1.74104126e-01 -9.75166543e-01 1.36886694e-01 5.23228396e+01] [ 6.43229696e-01 -2.17877134e-01 -7.34019831e-01 3.67546381e+01] [ 7.45616061e-01 -3.97462945e-02 6.65189387e-01 3.40274856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73037174299999 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:52.33, Y:36.75, Z:34.02 [[-1.80926535e-01 -9.74844014e-01 1.30171951e-01 5.23291355e+01] [ 6.43121086e-01 -2.17406092e-01 -7.34254629e-01 3.67520112e+01] [ 7.44083905e-01 -4.91298190e-02 6.66277272e-01 3.40183718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:52.33, Y:36.75, Z:34.02 [[-1.83592672e-01 -9.73384628e-01 1.37171774e-01 5.23271227e+01] [ 6.43654056e-01 -2.24506708e-01 -7.31646222e-01 3.67499197e+01] [ 7.42969169e-01 -4.60337162e-02 6.67740751e-01 3.40195009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790371743 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:52.33, Y:36.76, Z:34.03 [[-0.19015084 -0.97421387 0.12144955 52.3324196 ] [ 0.63841881 -0.21668101 -0.73855993 36.7613581 ] [ 0.74583114 -0.06290212 0.66315853 34.02609149] [ 0. 0. 0. 1. ]] SLAMing on 104.820371743 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:52.33, Y:36.75, Z:34.02 [[-0.19142577 -0.97220484 0.13481068 52.32908984] [ 0.63685082 -0.22754183 -0.73664493 36.75127692] [ 0.74684483 -0.05515853 0.66270682 34.02357273] [ 0. 0. 0. 1. ]] SLAMing on 104.850371743 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:52.34, Y:36.75, Z:34.02 [[-0.19554965 -0.97358702 0.11785009 52.33563533] [ 0.62694506 -0.21651345 -0.74837278 36.74865898] [ 0.75412216 -0.07245851 0.6527247 34.01566039] [ 0. 0. 0. 1. ]] SLAMing on 104.880371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:52.32, Y:36.74, Z:34.03 [[-1.94815468e-01 -9.67618050e-01 1.60506205e-01 5.23181362e+01] [ 6.32165437e-01 -2.48987869e-01 -7.33738306e-01 3.67419528e+01] [ 7.49942527e-01 -4.14770962e-02 6.60201376e-01 3.40321497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910371743 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:52.32, Y:36.75, Z:34.03 [[-1.94015878e-01 -9.70514249e-01 1.43038219e-01 5.23233849e+01] [ 6.34747245e-01 -2.35367364e-01 -7.36001453e-01 3.67546614e+01] [ 7.47966426e-01 -5.20028530e-02 6.61696251e-01 3.40324683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940371743 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:52.33, Y:36.74, Z:34.02 [[-0.19335099 -0.97123327 0.13900117 52.32722727] [ 0.63536178 -0.23190311 -0.73657067 36.74457916] [ 0.74761675 -0.05410064 0.6619232 34.017713 ] [ 0. 0. 0. 1. ]] SLAMing on 104.970371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:52.33, Y:36.75, Z:34.02 [[-0.19062656 -0.97206156 0.13695926 52.32728855] [ 0.63686403 -0.22863334 -0.73629545 36.74545769] [ 0.74703796 -0.05313304 0.66265463 34.01618002] [ 0. 0. 0. 1. ]] SLAMing on 105.000371743 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:52.33, Y:36.74, Z:34.01 [[-0.18974975 -0.97233338 0.13624545 52.32866511] [ 0.6363084 -0.22746416 -0.73713749 36.73566156] [ 0.74773434 -0.05317753 0.66186517 34.00601966] [ 0. 0. 0. 1. ]] SLAMing on 105.030371743 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:52.33, Y:36.73, Z:34.00 [[-1.88099187e-01 -9.72460019e-01 1.37623425e-01 5.23273581e+01] [ 6.35792064e-01 -2.27366466e-01 -7.37613002e-01 3.67316072e+01] [ 7.48590106e-01 -5.12445244e-02 6.61049810e-01 3.40037680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.060371743 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:52.32, Y:36.72, Z:34.00 [[-1.80048016e-01 -9.70863891e-01 1.58132907e-01 5.23188103e+01] [ 6.46102392e-01 -2.37942343e-01 -7.25213859e-01 3.67233037e+01] [ 7.41710463e-01 -2.84032670e-02 6.70118529e-01 3.40008051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09037174299999 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:52.34, Y:36.75, Z:34.01 [[-0.19548221 -0.9767794 0.08768533 52.3360134 ] [ 0.6236232 -0.19281254 -0.75757338 36.75188165] [ 0.7568889 -0.09340951 0.64683372 34.00886527] [ 0. 0. 0. 1. ]] SLAMing on 105.12037174299999 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:52.31, Y:36.71, Z:34.01 [[-1.78873204e-01 -9.66422539e-01 1.84477242e-01 5.23069046e+01] [ 6.36289578e-01 -2.56641551e-01 -7.27509922e-01 3.67090717e+01] [ 7.50426512e-01 -1.27510844e-02 6.60830886e-01 3.40121494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150371743 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:52.32, Y:36.72, Z:34.00 [[-1.76801497e-01 -9.73025685e-01 1.48196648e-01 5.23196757e+01] [ 6.39799896e-01 -2.28034926e-01 -7.33931990e-01 3.67247002e+01] [ 7.47928689e-01 -3.49440743e-02 6.62858648e-01 3.40027658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180371743 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:52.32, Y:36.72, Z:33.99 [[-1.71114010e-01 -9.75052262e-01 1.41396896e-01 5.23234260e+01] [ 6.47972048e-01 -2.19481333e-01 -7.29355997e-01 3.67205374e+01] [ 7.42194194e-01 -3.31817933e-02 6.69362942e-01 3.39885742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210371743 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:52.32, Y:36.72, Z:33.99 [[-1.67840166e-01 -9.74674972e-01 1.47778137e-01 5.23198183e+01] [ 6.48492673e-01 -2.22065669e-01 -7.28109945e-01 3.67206274e+01] [ 7.42486991e-01 -2.63730547e-02 6.69341116e-01 3.39911039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240371743 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:52.33, Y:36.73, Z:33.99 [[-1.67011599e-01 -9.78030579e-01 1.24753005e-01 5.23272912e+01] [ 6.47323116e-01 -2.04209318e-01 -7.34350964e-01 3.67297090e+01] [ 7.43693425e-01 -4.18896250e-02 6.67207126e-01 3.39867151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270371743 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:52.32, Y:36.72, Z:33.98 [[-1.62021647e-01 -9.76969104e-01 1.38853720e-01 5.23220489e+01] [ 6.52702435e-01 -2.11635827e-01 -7.27454334e-01 3.67226181e+01] [ 7.40086831e-01 -2.72331882e-02 6.71959699e-01 3.39833855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300371743 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:52.33, Y:36.73, Z:33.98 [[-1.60216253e-01 -9.79137420e-01 1.24982662e-01 5.23254758e+01] [ 6.57381904e-01 -2.00295697e-01 -7.26450732e-01 3.67331544e+01] [ 7.36328584e-01 -3.42278736e-02 6.75757848e-01 3.39848644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330371743 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:52.32, Y:36.73, Z:33.99 [[-1.57615660e-01 -9.76005278e-01 1.50236485e-01 5.23150686e+01] [ 6.62372229e-01 -2.17328493e-01 -7.16959801e-01 3.67252032e+01] [ 7.32407218e-01 -1.34916171e-02 6.80733166e-01 3.39886392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360371743 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:52.32, Y:36.75, Z:34.00 [[-1.60516316e-01 -9.80496357e-01 1.13408140e-01 5.23239369e+01] [ 6.55717729e-01 -1.91808994e-01 -7.30235284e-01 3.67485377e+01] [ 7.37745737e-01 -4.28509502e-02 6.73717317e-01 3.39969994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390371743 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:52.32, Y:36.73, Z:33.98 [[-1.61283115e-01 -9.78772419e-01 1.26460699e-01 5.23219155e+01] [ 6.56874063e-01 -2.02095222e-01 -7.26411719e-01 3.67286875e+01] [ 7.36548859e-01 -3.40891919e-02 6.75524763e-01 3.39823491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420371743 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:52.33, Y:36.73, Z:33.98 [[-1.65254350e-01 -9.79697448e-01 1.13507310e-01 5.23261034e+01] [ 6.54573466e-01 -1.95037372e-01 -7.30406737e-01 3.67319361e+01] [ 7.37715784e-01 -4.64040174e-02 6.73514728e-01 3.39794228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.450371743 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:52.31, Y:36.73, Z:33.99 [[-1.67071370e-01 -9.76056268e-01 1.39288618e-01 5.23146789e+01] [ 6.54435081e-01 -2.15448706e-01 -7.24773467e-01 3.67252131e+01] [ 7.37429238e-01 -2.99335375e-02 6.74760774e-01 3.39886766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48037174299999 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:52.32, Y:36.73, Z:33.98 [[-1.70740346e-01 -9.78218583e-01 1.18051422e-01 5.23231902e+01] [ 6.49704170e-01 -2.01847104e-01 -7.32899882e-01 3.67254568e+01] [ 7.40764622e-01 -4.84370787e-02 6.70016137e-01 3.39778913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510371743 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:52.32, Y:36.73, Z:33.99 [[-0.18096862 -0.97629895 0.11870432 52.32031573] [ 0.638444 -0.20842747 -0.74090975 36.72502037] [ 0.74809065 -0.05829536 0.66103104 33.98638405] [ 0. 0. 0. 1. ]] SLAMing on 105.540371743 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:52.31, Y:36.71, Z:33.99 [[-0.18975932 -0.97245477 0.1353629 52.31404784] [ 0.63057137 -0.22638349 -0.74238148 36.71191491] [ 0.75257634 -0.05551784 0.65616051 33.98800381] [ 0. 0. 0. 1. ]] SLAMing on 105.570371743 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:52.31, Y:36.71, Z:33.99 [[-1.92330159e-01 -9.69440744e-01 1.52294959e-01 5.23077700e+01] [ 6.28927678e-01 -2.40899974e-01 -7.39200364e-01 3.67064697e+01] [ 7.53298802e-01 -4.63880081e-02 6.56040446e-01 3.39938309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:52.31, Y:36.70, Z:33.98 [[-0.19554805 -0.97006397 0.14400297 52.3120893 ] [ 0.62408108 -0.23636013 -0.74475278 36.69970738] [ 0.75649439 -0.05576542 0.65161833 33.98459093] [ 0. 0. 0. 1. ]] SLAMing on 105.630371743 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:52.30, Y:36.71, Z:34.01 [[-2.01011887e-01 -9.67056118e-01 1.56194384e-01 5.23026242e+01] [ 6.22621673e-01 -2.49225766e-01 -7.41774069e-01 3.67112062e+01] [ 7.56264817e-01 -5.18553963e-02 6.52207440e-01 3.40086541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660371743 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:52.30, Y:36.70, Z:34.00 [[-2.01363997e-01 -9.66157413e-01 1.61221570e-01 5.23025958e+01] [ 6.23678382e-01 -2.53380774e-01 -7.39475124e-01 3.66982297e+01] [ 7.55299819e-01 -4.83532588e-02 6.53593257e-01 3.39966652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690371743 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:52.30, Y:36.70, Z:34.00 [[-0.20309036 -0.9667209 0.15557957 52.30153281] [ 0.62269575 -0.25013535 -0.74140563 36.70360568] [ 0.75564827 -0.0536936 0.65277308 34.00016268] [ 0. 0. 0. 1. ]] SLAMing on 105.720371743 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:52.30, Y:36.70, Z:34.00 [[-2.01921431e-01 -9.65876382e-01 1.62205272e-01 5.22995872e+01] [ 6.24914496e-01 -2.54581240e-01 -7.38017794e-01 3.66986830e+01] [ 7.54128376e-01 -4.76571833e-02 6.54995561e-01 3.39967085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750371743 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:52.30, Y:36.70, Z:33.99 [[-0.2029201 -0.96786105 0.14855445 52.30429984] [ 0.62069244 -0.24447599 -0.74496468 36.69912135] [ 0.7573403 -0.05896168 0.65035313 33.99062405] [ 0. 0. 0. 1. ]] SLAMing on 105.780371743 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:52.29, Y:36.70, Z:34.01 [[-2.02279316e-01 -9.65978991e-01 1.61144863e-01 5.22949416e+01] [ 6.20107581e-01 -2.53694182e-01 -7.42365039e-01 3.67038355e+01] [ 7.57990545e-01 -5.02379409e-02 6.50327981e-01 3.40066200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.810371743 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:52.30, Y:36.69, Z:33.99 [[-2.01064315e-01 -9.66128396e-01 1.61768549e-01 5.22964329e+01] [ 6.20278877e-01 -2.53383776e-01 -7.42327944e-01 3.66890147e+01] [ 7.58173632e-01 -4.89140453e-02 6.50215472e-01 3.39904800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84037174299999 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:52.29, Y:36.69, Z:34.00 [[-2.00847705e-01 -9.66586025e-01 1.59284824e-01 5.22938341e+01] [ 6.19255881e-01 -2.51263977e-01 -7.43900912e-01 3.66938114e+01] [ 7.59066765e-01 -5.07727270e-02 6.49029874e-01 3.39964808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87037174299999 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:52.29, Y:36.69, Z:33.99 [[-2.00425379e-01 -9.66666857e-01 1.59326255e-01 5.22912980e+01] [ 6.17303786e-01 -2.50887576e-01 -7.45648349e-01 3.66877515e+01] [ 7.60766524e-01 -5.10941528e-02 6.47011348e-01 3.39927724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900371743 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:52.29, Y:36.68, Z:33.99 [[-1.99576862e-01 -9.65875486e-01 1.65086712e-01 5.22883986e+01] [ 6.16431349e-01 -2.54718901e-01 -7.45070918e-01 3.66822917e+01] [ 7.61696441e-01 -4.69342910e-02 6.46231928e-01 3.39922231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930371743 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:52.28, Y:36.68, Z:34.00 [[-1.99133812e-01 -9.65566459e-01 1.67413076e-01 5.22837611e+01] [ 6.16091418e-01 -2.56203097e-01 -7.44843163e-01 3.66836224e+01] [ 7.62087324e-01 -4.51816991e-02 6.45895909e-01 3.39960786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960371743 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:52.29, Y:36.67, Z:33.98 [[-1.99203650e-01 -9.65756113e-01 1.66231873e-01 5.22855338e+01] [ 6.15061868e-01 -2.55275110e-01 -7.46011740e-01 3.66701164e+01] [ 7.62900259e-01 -4.63653755e-02 6.44851493e-01 3.39802984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:52.28, Y:36.67, Z:33.99 [[-1.99186503e-01 -9.65495401e-01 1.67759849e-01 5.22810474e+01] [ 6.14374489e-01 -2.56403129e-01 -7.46191278e-01 3.66721810e+01] [ 7.63458397e-01 -4.55638599e-02 6.44247787e-01 3.39852215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:52.28, Y:36.67, Z:33.98 [[-1.99478986e-01 -9.64927661e-01 1.70653870e-01 5.22805192e+01] [ 6.14155375e-01 -2.58817349e-01 -7.45537897e-01 3.66692582e+01] [ 7.63558321e-01 -4.39111524e-02 6.44244132e-01 3.39840494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:52.28, Y:36.67, Z:33.98 [[-1.98378168e-01 -9.64016792e-01 1.76968154e-01 5.22773289e+01] [ 6.17313009e-01 -2.63135318e-01 -7.41407077e-01 3.66667616e+01] [ 7.61295443e-01 -3.78342344e-02 6.47300409e-01 3.39838660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080371743 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:52.28, Y:36.66, Z:33.97 [[-1.95527680e-01 -9.64602697e-01 1.76947912e-01 5.22772967e+01] [ 6.23591657e-01 -2.61545036e-01 -7.36700509e-01 3.66577218e+01] [ 7.56903146e-01 -3.37020993e-02 6.52657488e-01 3.39686909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:52.28, Y:36.68, Z:33.98 [[-1.95972865e-01 -9.67379948e-01 1.60532467e-01 5.22786664e+01] [ 6.22236493e-01 -2.49202418e-01 -7.42105048e-01 3.66764162e+01] [ 7.57902621e-01 -4.55432928e-02 6.50776018e-01 3.39790101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140371743 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:52.28, Y:36.67, Z:33.98 [[-1.95489914e-01 -9.67503533e-01 1.60376455e-01 5.22778834e+01] [ 6.20298158e-01 -2.48648107e-01 -7.43911496e-01 3.66742732e+01] [ 7.59614302e-01 -4.59459752e-02 6.48748857e-01 3.39791027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170371743 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:52.27, Y:36.65, Z:33.96 [[-1.89300603e-01 -9.65258974e-01 1.80112170e-01 5.22739443e+01] [ 6.30096058e-01 -2.60094801e-01 -7.31662253e-01 3.66490407e+01] [ 7.53089795e-01 -2.50161374e-02 6.57441977e-01 3.39598209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.200371743 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:52.28, Y:36.67, Z:33.97 [[-1.88165566e-01 -9.68842035e-01 1.61055364e-01 5.22773394e+01] [ 6.32122395e-01 -2.44972446e-01 -7.35125689e-01 3.66666552e+01] [ 7.51674795e-01 -3.65186391e-02 6.58522126e-01 3.39651251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23037174299999 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:52.28, Y:36.65, Z:33.95 [[-1.84545247e-01 -9.69017488e-01 1.64158945e-01 5.22786907e+01] [ 6.37168978e-01 -2.45132631e-01 -7.30702187e-01 3.66517270e+01] [ 7.48303912e-01 -3.02506285e-02 6.62665945e-01 3.39481100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260371743 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:52.28, Y:36.66, Z:33.94 [[-1.84310730e-01 -9.71031657e-01 1.52075886e-01 5.22826763e+01] [ 6.35491303e-01 -2.35768531e-01 -7.35230578e-01 3.66562061e+01] [ 7.49786875e-01 -3.88679815e-02 6.60536843e-01 3.39444657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:52.28, Y:36.66, Z:33.95 [[-1.86252410e-01 -9.71505321e-01 1.46585984e-01 5.22835282e+01] [ 6.27267896e-01 -2.32412458e-01 -7.43316512e-01 3.66564826e+01] [ 7.56204355e-01 -4.64958096e-02 6.52681479e-01 3.39455892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320371743 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:52.28, Y:36.63, Z:33.93 [[-1.83502948e-01 -9.69147904e-01 1.64557007e-01 5.22831477e+01] [ 6.29313647e-01 -2.44417974e-01 -7.37715520e-01 3.66322165e+01] [ 7.55176140e-01 -3.18150027e-02 6.54749420e-01 3.39271833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350371743 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:52.29, Y:36.64, Z:33.93 [[-1.84906759e-01 -9.70064089e-01 1.57433013e-01 5.22853017e+01] [ 6.28025537e-01 -2.39855102e-01 -7.40306325e-01 3.66387526e+01] [ 7.55905692e-01 -3.80156905e-02 6.53575850e-01 3.39275716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380371743 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:52.28, Y:36.64, Z:33.93 [[-1.84690330e-01 -9.68995766e-01 1.64124002e-01 5.22823281e+01] [ 6.31937477e-01 -2.44985476e-01 -7.35280315e-01 3.66407237e+01] [ 7.52691509e-01 -3.20830561e-02 6.57591188e-01 3.39325712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410371743 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:52.28, Y:36.66, Z:33.95 [[-1.86683572e-01 -9.70267250e-01 1.54047741e-01 5.22823823e+01] [ 6.30566441e-01 -2.38582921e-01 -7.38555450e-01 3.66576484e+01] [ 7.53349326e-01 -4.07388340e-02 6.56357479e-01 3.39472945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440371743 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:52.28, Y:36.65, Z:33.95 [[-1.91806154e-01 -9.70024561e-01 1.49207074e-01 5.22804073e+01] [ 6.23563409e-01 -2.37849278e-01 -7.44712291e-01 3.66519796e+01] [ 7.57878007e-01 -4.98003286e-02 6.50492777e-01 3.39482509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470371743 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:52.27, Y:36.62, Z:33.93 [[-1.79611017e-01 -9.63929537e-01 1.96417235e-01 5.22726560e+01] [ 6.36448256e-01 -2.66110180e-01 -7.23960627e-01 3.66170642e+01] [ 7.50115658e-01 -5.02189780e-03 6.61287593e-01 3.39328596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500371743 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:52.29, Y:36.64, Z:33.93 [[-1.77028410e-01 -9.71571531e-01 1.57193202e-01 5.22855845e+01] [ 6.40181762e-01 -2.34982159e-01 -7.31403238e-01 3.66394057e+01] [ 7.47548161e-01 -2.88469312e-02 6.63580893e-01 3.39258349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530371743 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:52.29, Y:36.65, Z:33.94 [[-1.75086239e-01 -9.74248119e-01 1.42075370e-01 5.22889985e+01] [ 6.35265655e-01 -2.22035499e-01 -7.39687626e-01 3.66538537e+01] [ 7.52185054e-01 -3.92535214e-02 6.57781731e-01 3.39362055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.560371743 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:52.28, Y:36.65, Z:33.95 [[-1.68047558e-01 -9.69627864e-01 1.77712758e-01 5.22764878e+01] [ 6.43525252e-01 -2.44469087e-01 -7.25334485e-01 3.66478669e+01] [ 7.46749803e-01 -7.52804155e-03 6.65062448e-01 3.39489992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59037174299999 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:52.29, Y:36.66, Z:33.94 [[-1.66054634e-01 -9.75146081e-01 1.46683263e-01 5.22892659e+01] [ 6.39821654e-01 -2.19730229e-01 -7.36442039e-01 3.66558036e+01] [ 7.50369315e-01 -2.84384854e-02 6.60406801e-01 3.39363510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62037174299999 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:52.29, Y:36.62, Z:33.91 [[-1.60797574e-01 -9.73792457e-01 1.60848967e-01 5.22918775e+01] [ 6.41901901e-01 -2.26974318e-01 -7.32423790e-01 3.66227081e+01] [ 7.49737347e-01 -1.45227106e-02 6.61576150e-01 3.39065076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:52.30, Y:36.63, Z:33.91 [[-1.58744750e-01 -9.75587243e-01 1.51755184e-01 5.22954902e+01] [ 6.40164455e-01 -2.18721597e-01 -7.36444386e-01 3.66275556e+01] [ 7.51657884e-01 -1.97584049e-02 6.59257181e-01 3.39062191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680371743 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:52.29, Y:36.64, Z:33.93 [[-1.61958492e-01 -9.76464210e-01 1.42432767e-01 5.22925663e+01] [ 6.29945240e-01 -2.13408458e-01 -7.46743480e-01 3.66409664e+01] [ 7.59564639e-01 -3.12166044e-02 6.49682293e-01 3.39262230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710371743 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:52.28, Y:36.61, Z:33.92 [[-1.46696713e-01 -9.66398534e-01 2.11078062e-01 5.22783621e+01] [ 6.52349581e-01 -2.54922562e-01 -7.13760822e-01 3.66080266e+01] [ 7.43585972e-01 3.29903185e-02 6.67825981e-01 3.39221176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740371743 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:52.30, Y:36.63, Z:33.90 [[-1.43875465e-01 -9.77264397e-01 1.55737436e-01 5.23012075e+01] [ 6.54371805e-01 -2.12009300e-01 -7.25844059e-01 3.66275377e+01] [ 7.42359341e-01 -2.52096452e-03 6.69997204e-01 3.38993873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770371743 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:52.31, Y:36.62, Z:33.89 [[-1.42702026e-01 -9.78107681e-01 1.51464506e-01 5.23063593e+01] [ 6.55965917e-01 -2.08057391e-01 -7.25548646e-01 3.66225821e+01] [ 7.41178013e-01 -4.18170816e-03 6.71295513e-01 3.38895255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800371743 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:52.31, Y:36.63, Z:33.90 [[-1.44204133e-01 -9.78213389e-01 1.49344343e-01 5.23096209e+01] [ 6.56676283e-01 -2.07500577e-01 -7.25065356e-01 3.66323272e+01] [ 7.40257677e-01 -6.48653262e-03 6.72291973e-01 3.38982537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830371743 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:52.31, Y:36.63, Z:33.90 [[-1.45029775e-01 -9.76943040e-01 1.56680125e-01 5.23100671e+01] [ 6.61179312e-01 -2.13498920e-01 -7.19207987e-01 3.66315824e+01] [ 7.36076275e-01 -7.12915506e-04 6.76898227e-01 3.38978858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860371743 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:52.32, Y:36.63, Z:33.89 [[-1.48945348e-01 -9.78393585e-01 1.43392037e-01 5.23231600e+01] [ 6.61363967e-01 -2.06368409e-01 -7.21117038e-01 3.66331631e+01] [ 7.35127871e-01 -1.25727016e-02 6.77811877e-01 3.38860306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890371743 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:52.33, Y:36.63, Z:33.89 [[-1.53384647e-01 -9.78232170e-01 1.39767563e-01 5.23273215e+01] [ 6.58413366e-01 -2.06643167e-01 -7.23733681e-01 3.66338350e+01] [ 7.36861581e-01 -1.89848036e-02 6.75777025e-01 3.38854421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:52.33, Y:36.65, Z:33.91 [[-0.1732615 -0.97960079 0.10179753 52.33445635] [ 0.6309375 -0.18976724 -0.75226742 36.65428928] [ 0.75623959 -0.0661111 0.65094623 33.90720085] [ 0. 0. 0. 1. ]] SLAMing on 106.950371743 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:52.30, Y:36.62, Z:33.93 [[-1.67443979e-01 -9.58194409e-01 2.32004285e-01 5.22991679e+01] [ 6.57129182e-01 -2.83902599e-01 -6.98269685e-01 3.66159838e+01] [ 7.34944727e-01 3.55357318e-02 6.77195289e-01 3.39291435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98037174299999 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:52.33, Y:36.65, Z:33.90 [[-1.65574471e-01 -9.73126548e-01 1.60030674e-01 5.23296836e+01] [ 6.66926532e-01 -2.30026007e-01 -7.08729171e-01 3.66506175e+01] [ 7.26494388e-01 -1.06187548e-02 6.87090348e-01 3.39047412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010371743 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:52.35, Y:36.68, Z:33.91 [[-1.75763563e-01 -9.76810484e-01 1.22263846e-01 5.23483591e+01] [ 6.62293629e-01 -2.09220315e-01 -7.19440066e-01 3.66788210e+01] [ 7.28336680e-01 -4.54767829e-02 6.83708669e-01 3.39109637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040371743 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:52.34, Y:36.70, Z:33.93 [[-1.81481916e-01 -9.74678899e-01 1.30634441e-01 5.23442785e+01] [ 6.61095016e-01 -2.19265398e-01 -7.17548650e-01 3.66963048e+01] [ 7.28023141e-01 -4.38603261e-02 6.84148067e-01 3.39347541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070371743 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:52.36, Y:36.66, Z:33.90 [[-0.19020976 -0.97428874 0.12075468 52.35770347] [ 0.64934278 -0.21710518 -0.72884792 36.66391968] [ 0.73632479 -0.06022281 0.67394288 33.90004105] [ 0. 0. 0. 1. ]] SLAMing on 107.100371743 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:52.35, Y:36.67, Z:33.92 [[-1.98953799e-01 -9.69469539e-01 1.43339452e-01 5.23515816e+01] [ 6.46912844e-01 -2.39787497e-01 -7.23882400e-01 3.66670435e+01] [ 7.36152945e-01 -5.12910209e-02 6.74868930e-01 3.39196116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130371743 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:52.36, Y:36.66, Z:33.91 [[-0.20206957 -0.96867331 0.14436035 52.35591002] [ 0.64611812 -0.2426273 -0.72364589 36.65621976] [ 0.73600222 -0.05295298 0.67490497 33.90881114] [ 0. 0. 0. 1. ]] SLAMing on 107.160371743 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:52.35, Y:36.66, Z:33.92 [[-2.04996644e-01 -9.66394971e-01 1.55103630e-01 5.23548828e+01] [ 6.44488713e-01 -2.52543600e-01 -7.21703560e-01 3.66556203e+01] [ 7.36621120e-01 -4.79842694e-02 6.74601241e-01 3.39167370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190371743 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:52.36, Y:36.66, Z:33.92 [[-0.20758686 -0.9675247 0.14423469 52.36078829] [ 0.64025767 -0.24586053 -0.72775182 36.65920136] [ 0.73957948 -0.05872435 0.67050253 33.91595911] [ 0. 0. 0. 1. ]] SLAMing on 107.220371743 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:52.36, Y:36.65, Z:33.91 [[-2.08475075e-01 -9.65042765e-01 1.58841445e-01 5.23610250e+01] [ 6.38492742e-01 -2.57318589e-01 -7.25337275e-01 3.66510180e+01] [ 7.40854346e-01 -4.97956329e-02 6.69817313e-01 3.39140588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250371743 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:52.37, Y:36.66, Z:33.92 [[-0.21951366 -0.96756892 0.12499655 52.37066511] [ 0.61809625 -0.23705441 -0.74950799 36.66234947] [ 0.75483162 -0.08726735 0.6500874 33.9208935 ] [ 0. 0. 0. 1. ]] SLAMing on 107.280371743 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:52.34, Y:36.62, Z:33.92 [[-2.08023495e-01 -9.52720543e-01 2.21471876e-01 5.23434817e+01] [ 6.36571235e-01 -3.03778852e-01 -7.08869150e-01 3.66231115e+01] [ 7.42632674e-01 -6.47881233e-03 6.69667631e-01 3.39215018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.310371743 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:52.37, Y:36.65, Z:33.91 [[-0.2078791 -0.9674611 0.14424041 52.37276721] [ 0.63466335 -0.24561287 -0.73271874 36.65193847] [ 0.74430418 -0.06077281 0.66506988 33.90536632] [ 0. 0. 0. 1. ]] SLAMing on 107.34037174299999 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:52.37, Y:36.64, Z:33.90 [[-0.20690142 -0.96606922 0.15460295 52.37078462] [ 0.63461706 -0.25278924 -0.73031417 36.64204596] [ 0.744616 -0.05298937 0.66538646 33.90003884] [ 0. 0. 0. 1. ]] SLAMing on 107.37037174299999 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:52.37, Y:36.64, Z:33.90 [[-2.05972447e-01 -9.65597421e-01 1.58735538e-01 5.23694631e+01] [ 6.34000633e-01 -2.55243972e-01 -7.29995693e-01 3.66416327e+01] [ 7.45398248e-01 -4.97205673e-02 6.64762602e-01 3.39028574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400371743 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:52.38, Y:36.63, Z:33.88 [[-2.01942803e-01 -9.66745547e-01 1.56914471e-01 5.23762672e+01] [ 6.34751797e-01 -2.51201558e-01 -7.30744780e-01 3.66273162e+01] [ 7.45861422e-01 -4.79669071e-02 6.64371820e-01 3.38836902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430371743 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:52.38, Y:36.64, Z:33.89 [[-0.20430899 -0.96870063 0.14098554 52.38124569] [ 0.63051459 -0.24039305 -0.73801256 36.63865335] [ 0.74880518 -0.06188916 0.65989434 33.889861 ] [ 0. 0. 0. 1. ]] SLAMing on 107.460371743 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:52.37, Y:36.63, Z:33.90 [[-2.03303104e-01 -9.65863322e-01 1.60548720e-01 5.23743468e+01] [ 6.27716495e-01 -2.54416227e-01 -7.35693132e-01 3.66309095e+01] [ 7.51425212e-01 -4.87896177e-02 6.58011948e-01 3.38975554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490371743 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:52.37, Y:36.64, Z:33.91 [[-0.21290584 -0.96563116 0.14908911 52.3720892 ] [ 0.61716755 -0.25120118 -0.74565554 36.6428951 ] [ 0.75747958 -0.06674146 0.64943842 33.91282843] [ 0. 0. 0. 1. ]] SLAMing on 107.520371743 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:52.36, Y:36.62, Z:33.92 [[-2.11799939e-01 -9.59163838e-01 1.87471381e-01 5.23596452e+01] [ 6.15398919e-01 -2.79908535e-01 -7.36841490e-01 3.66242210e+01] [ 7.59226551e-01 -4.06932973e-02 6.49553000e-01 3.39177536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550371743 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:52.36, Y:36.60, Z:33.90 [[-1.98710522e-01 -9.55290096e-01 2.18940542e-01 5.23576711e+01] [ 6.37364375e-01 -2.95664328e-01 -7.11582222e-01 3.66034362e+01] [ 7.44500358e-01 -1.85397277e-03 6.67619488e-01 3.38967824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580371743 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:52.39, Y:36.64, Z:33.90 [[-0.21320451 -0.96925261 0.12285447 52.38572663] [ 0.61820761 -0.23120695 -0.75124077 36.64413919] [ 0.75654688 -0.08421835 0.64849371 33.897712 ] [ 0. 0. 0. 1. ]] SLAMing on 107.610371743 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:52.36, Y:36.62, Z:33.91 [[-2.12241467e-01 -9.59000202e-01 1.87808873e-01 5.23627791e+01] [ 6.16962360e-01 -2.80541452e-01 -7.35291738e-01 3.66207072e+01] [ 7.57833099e-01 -4.01883918e-02 6.51209557e-01 3.39145422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640371743 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:52.36, Y:36.62, Z:33.91 [[-2.12507044e-01 -9.58892361e-01 1.88059022e-01 5.23637925e+01] [ 6.17774877e-01 -2.80951192e-01 -7.34452605e-01 3.66181021e+01] [ 7.57096399e-01 -3.98982128e-02 6.52083718e-01 3.39125344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670371743 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:52.36, Y:36.61, Z:33.91 [[-2.02218556e-01 -9.54541895e-01 2.18991840e-01 5.23587673e+01] [ 6.38065405e-01 -2.98052113e-01 -7.09955968e-01 3.66100307e+01] [ 7.42953696e-01 -3.83515376e-03 6.69331829e-01 3.39101986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.700371743 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:52.39, Y:36.64, Z:33.89 [[-0.21433877 -0.96837471 0.12770792 52.38896019] [ 0.62113427 -0.23603586 -0.74731472 36.63500667] [ 0.75382432 -0.08085475 0.65208236 33.89304939] [ 0. 0. 0. 1. ]] SLAMing on 107.73037174299999 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:52.36, Y:36.61, Z:33.91 [[-2.04210123e-01 -9.55799031e-01 2.11533538e-01 5.23638017e+01] [ 6.34394978e-01 -2.93783252e-01 -7.15006582e-01 3.66103897e+01] [ 7.45547609e-01 -1.18157679e-02 6.66347619e-01 3.39072238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:52.39, Y:36.64, Z:33.90 [[-0.21677294 -0.96612231 0.14006136 52.38708104] [ 0.61965042 -0.24703643 -0.74498749 36.63716184] [ 0.75434929 -0.07470405 0.6522089 33.90100126] [ 0. 0. 0. 1. ]] SLAMing on 107.790371743 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:52.36, Y:36.61, Z:33.90 [[-2.05658320e-01 -9.52182168e-01 2.25950824e-01 5.23633694e+01] [ 6.38976408e-01 -3.05529816e-01 -7.05946656e-01 3.66050979e+01] [ 7.41224531e-01 -8.06557671e-04 6.71256690e-01 3.39025833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820371743 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:52.39, Y:36.63, Z:33.89 [[-2.06256315e-01 -9.65097666e-01 1.61384101e-01 5.23872778e+01] [ 6.43021175e-01 -2.58003136e-01 -7.21081237e-01 3.66340802e+01] [ 7.37551423e-01 -4.49541648e-02 6.73793011e-01 3.38902711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850371743 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:52.39, Y:36.64, Z:33.89 [[-2.08149586e-01 -9.66151042e-01 1.52400503e-01 5.23928284e+01] [ 6.45790395e-01 -2.52775312e-01 -7.20457776e-01 3.66390613e+01] [ 7.34594116e-01 -5.15442067e-02 6.76546140e-01 3.38853830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880371743 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:52.39, Y:36.64, Z:33.89 [[-0.21253343 -0.96584012 0.14826467 52.39360742] [ 0.63927658 -0.25218891 -0.72644767 36.6442264 ] [ 0.739023 -0.05961228 0.67103754 33.89403945] [ 0. 0. 0. 1. ]] SLAMing on 107.910371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:52.39, Y:36.64, Z:33.89 [[-0.21304497 -0.96423077 0.15770496 52.3910281 ] [ 0.63938432 -0.25963943 -0.72372305 36.64046968] [ 0.73878247 -0.05335148 0.67182891 33.89493549] [ 0. 0. 0. 1. ]] SLAMing on 107.940371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:52.39, Y:36.64, Z:33.89 [[-0.21340745 -0.96387364 0.15938907 52.3908999 ] [ 0.63929692 -0.26114444 -0.72325862 36.6381683 ] [ 0.73875348 -0.05245183 0.67193162 33.89329812] [ 0. 0. 0. 1. ]] SLAMing on 107.970371743 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:52.40, Y:36.64, Z:33.89 [[-0.22610789 -0.96612296 0.12442527 52.40191228] [ 0.61675607 -0.24085719 -0.7493996 36.63518264] [ 0.75398088 -0.09270512 0.65032191 33.88684459] [ 0. 0. 0. 1. ]] SLAMing on 108.000371743 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:52.37, Y:36.61, Z:33.90 [[-2.15515741e-01 -9.51982877e-01 2.17443251e-01 5.23720520e+01] [ 6.34237009e-01 -3.05777310e-01 -7.10101157e-01 3.66124170e+01] [ 7.42493355e-01 -1.51274204e-02 6.69682596e-01 3.39021020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030371743 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:52.39, Y:36.62, Z:33.89 [[-2.13758086e-01 -9.59675994e-01 1.82563597e-01 5.23855630e+01] [ 6.39293081e-01 -2.78731145e-01 -7.16668198e-01 3.66231486e+01] [ 7.38655426e-01 -3.64819779e-02 6.73095259e-01 3.38888608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.060371743 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:52.40, Y:36.63, Z:33.88 [[-0.22541843 -0.96628486 0.12441903 52.40297234] [ 0.61703659 -0.24042549 -0.7493073 36.63204318] [ 0.75395781 -0.09213658 0.65042946 33.88338834] [ 0. 0. 0. 1. ]] SLAMing on 108.09037174299999 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:52.37, Y:36.60, Z:33.89 [[-2.13375180e-01 -9.49767307e-01 2.28939065e-01 5.23695923e+01] [ 6.37061012e-01 -3.12925168e-01 -7.04436730e-01 3.66010235e+01] [ 7.40691771e-01 -4.46116182e-03 6.71830185e-01 3.38949737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12037174299999 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:52.41, Y:36.63, Z:33.88 [[-0.2263543 -0.96639937 0.12180305 52.40543989] [ 0.61747705 -0.23907799 -0.74937561 36.63264972] [ 0.75331655 -0.0944138 0.65084577 33.88056935] [ 0. 0. 0. 1. ]] SLAMing on 108.150371743 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:52.37, Y:36.60, Z:33.89 [[-2.14727603e-01 -9.50176828e-01 2.25955863e-01 5.23724722e+01] [ 6.36259232e-01 -3.11614402e-01 -7.05741210e-01 3.65996620e+01] [ 7.40990045e-01 -7.77561433e-03 6.71470992e-01 3.38895922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180371743 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:52.40, Y:36.63, Z:33.89 [[-0.22761874 -0.96546658 0.12674378 52.40278011] [ 0.61710057 -0.24370858 -0.74819317 36.63497956] [ 0.75324405 -0.09208912 0.65126262 33.8850852 ] [ 0. 0. 0. 1. ]] SLAMing on 108.210371743 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:52.37, Y:36.60, Z:33.88 [[-2.16275199e-01 -9.49233981e-01 2.28429175e-01 5.23711578e+01] [ 6.36698550e-01 -3.14496717e-01 -7.04064466e-01 3.65953403e+01] [ 7.40162141e-01 -6.83115743e-03 6.72393739e-01 3.38842039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240371743 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:52.40, Y:36.62, Z:33.87 [[-0.21745095 -0.96331355 0.15729616 52.39716358] [ 0.63708344 -0.26216694 -0.72484011 36.61987021] [ 0.73948615 -0.0574064 0.67071956 33.86650234] [ 0. 0. 0. 1. ]] SLAMing on 108.270371743 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:52.40, Y:36.63, Z:33.87 [[-0.22097254 -0.96392295 0.14840382 52.39852149] [ 0.63187025 -0.25740788 -0.73108219 36.62595487] [ 0.74290721 -0.06777713 0.6659543 33.87112731] [ 0. 0. 0. 1. ]] SLAMing on 108.300371743 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:52.39, Y:36.62, Z:33.87 [[-0.22292167 -0.96176339 0.15911351 52.39418194] [ 0.62940501 -0.2666402 -0.72989885 36.62015239] [ 0.74441605 -0.06256344 0.66477858 33.87161361] [ 0. 0. 0. 1. ]] SLAMing on 108.330371743 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:52.39, Y:36.62, Z:33.87 [[-0.22669173 -0.96070009 0.16020673 52.39162503] [ 0.62670011 -0.26979241 -0.73106705 36.61945686] [ 0.74555874 -0.06532527 0.66323056 33.87278281] [ 0. 0. 0. 1. ]] SLAMing on 108.360371743 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:52.39, Y:36.62, Z:33.88 [[-0.22828455 -0.95902318 0.16781149 52.38558778] [ 0.62471479 -0.27648903 -0.73026382 36.62311474] [ 0.74673797 -0.06187363 0.66223414 33.88366193] [ 0. 0. 0. 1. ]] SLAMing on 108.390371743 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:52.38, Y:36.62, Z:33.88 [[-0.22984411 -0.9585673 0.16828669 52.38462695] [ 0.62506287 -0.27793375 -0.72941706 36.61707251] [ 0.74596789 -0.06246245 0.66304626 33.87719547] [ 0. 0. 0. 1. ]] SLAMing on 108.420371743 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:52.38, Y:36.62, Z:33.88 [[-0.23058446 -0.95817037 0.16952977 52.38196765] [ 0.62460037 -0.27934179 -0.72927536 36.61707636] [ 0.74612679 -0.06227121 0.66288544 33.87893595] [ 0. 0. 0. 1. ]] SLAMing on 108.450371743 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:52.38, Y:36.61, Z:33.87 [[-0.23041766 -0.95757658 0.17307454 52.38036641] [ 0.62568962 -0.28201289 -0.72731096 36.61026214] [ 0.74526519 -0.05929435 0.66412647 33.8731079 ] [ 0. 0. 0. 1. ]] SLAMing on 108.48037174299999 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:52.37, Y:36.61, Z:33.87 [[-2.27721755e-01 -9.56832264e-01 1.80595742e-01 5.23746620e+01] [ 6.32478230e-01 -2.86365312e-01 -7.19698685e-01 3.66084712e+01] [ 7.40347277e-01 -4.96681725e-02 6.70387188e-01 3.38709433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:52.38, Y:36.62, Z:33.87 [[-0.23024453 -0.96136923 0.15085309 52.38359624] [ 0.62858992 -0.26526566 -0.73110111 36.61921248] [ 0.74287426 -0.0735073 0.66538298 33.86813916] [ 0. 0. 0. 1. ]] SLAMing on 108.540371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:52.37, Y:36.61, Z:33.87 [[-2.27462640e-01 -9.57382008e-01 1.77989995e-01 5.23734578e+01] [ 6.34829919e-01 -2.84390057e-01 -7.18410238e-01 3.66065463e+01] [ 7.38411621e-01 -5.04181154e-02 6.72462855e-01 3.38653260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570371743 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:52.38, Y:36.62, Z:33.86 [[-0.22735572 -0.96086683 0.15825398 52.37896156] [ 0.63548039 -0.2695316 -0.72354502 36.6151122 ] [ 0.73788485 -0.0639348 0.67189158 33.8619758 ] [ 0. 0. 0. 1. ]] SLAMing on 108.600371743 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:52.38, Y:36.61, Z:33.86 [[-0.22735949 -0.9607524 0.15894177 52.37651612] [ 0.63493306 -0.27000494 -0.72384898 36.61066029] [ 0.7383547 -0.06365655 0.67140165 33.85769998] [ 0. 0. 0. 1. ]] SLAMing on 108.630371743 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:52.38, Y:36.61, Z:33.85 [[-0.22913998 -0.96132168 0.15282507 52.3760546 ] [ 0.63078091 -0.26622268 -0.72886277 36.6050552 ] [ 0.74135708 -0.07061246 0.66738562 33.85251222] [ 0. 0. 0. 1. ]] SLAMing on 108.660371743 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:52.37, Y:36.60, Z:33.86 [[-0.23108411 -0.96033954 0.15603878 52.37239528] [ 0.6271751 -0.26964418 -0.73071431 36.60323326] [ 0.74380879 -0.07099283 0.66461154 33.8565999 ] [ 0. 0. 0. 1. ]] SLAMing on 108.690371743 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:52.36, Y:36.59, Z:33.85 [[-0.22906946 -0.95732575 0.17622315 52.36451065] [ 0.62981097 -0.28379891 -0.72304656 36.5903061 ] [ 0.74220302 -0.05464062 0.66794392 33.85272958] [ 0. 0. 0. 1. ]] SLAMing on 108.720371743 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:52.37, Y:36.60, Z:33.86 [[-0.22769682 -0.96056451 0.15959317 52.36504433] [ 0.62893828 -0.27020469 -0.72898976 36.60100938] [ 0.74336451 -0.06561439 0.66566054 33.85708872] [ 0. 0. 0. 1. ]] SLAMing on 108.750371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:52.36, Y:36.60, Z:33.86 [[-0.22722842 -0.96007458 0.16316877 52.36125776] [ 0.62812547 -0.2725303 -0.72882483 36.59787219] [ 0.74419463 -0.06311926 0.66497392 33.8567832 ] [ 0. 0. 0. 1. ]] SLAMing on 108.780371743 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:52.36, Y:36.59, Z:33.85 [[-0.22647463 -0.96155987 0.15527991 52.3634736 ] [ 0.62842767 -0.26605259 -0.73095464 36.59340271] [ 0.74416927 -0.06796049 0.66452499 33.84920388] [ 0. 0. 0. 1. ]] SLAMing on 108.810371743 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:52.34, Y:36.58, Z:33.86 [[-2.19430915e-01 -9.56216980e-01 1.93647001e-01 5.23436869e+01] [ 6.30222022e-01 -2.90441055e-01 -7.20044580e-01 3.65804260e+01] [ 7.44761893e-01 -3.59594364e-02 6.66360744e-01 3.38582859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84037174299999 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:52.35, Y:36.59, Z:33.85 [[-0.21815279 -0.96288565 0.15893581 52.35436528] [ 0.63422217 -0.26365829 -0.72680571 36.59431243] [ 0.74173553 -0.05775408 0.66820122 33.84870337] [ 0. 0. 0. 1. ]] SLAMing on 108.87037174299999 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:52.34, Y:36.59, Z:33.86 [[-2.14037035e-01 -9.59613933e-01 1.82562993e-01 5.23400962e+01] [ 6.32900361e-01 -2.78593980e-01 -7.22372845e-01 3.65851223e+01] [ 7.44059998e-01 -3.90703574e-02 6.66969434e-01 3.38561083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:52.35, Y:36.58, Z:33.84 [[-2.12974329e-01 -9.63597336e-01 1.61623356e-01 5.23488005e+01] [ 6.36123620e-01 -2.62305778e-01 -7.25632427e-01 3.65823268e+01] [ 7.41612213e-01 -5.17286449e-02 6.68831423e-01 3.38383246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:52.34, Y:36.58, Z:33.85 [[-2.11825622e-01 -9.60236942e-01 1.81865120e-01 5.23378506e+01] [ 6.33435680e-01 -2.76604664e-01 -7.22668042e-01 3.65768640e+01] [ 7.44237291e-01 -3.78797514e-02 6.66840296e-01 3.38483325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960371743 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:52.34, Y:36.58, Z:33.84 [[-0.21025521 -0.96516803 0.15570299 52.34439734] [ 0.63672522 -0.25604225 -0.72733992 36.58308517] [ 0.74187178 -0.05378698 0.66838104 33.83784634] [ 0. 0. 0. 1. ]] SLAMing on 108.990371743 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:52.33, Y:36.57, Z:33.84 [[-2.08432401e-01 -9.59929500e-01 1.87326693e-01 5.23306993e+01] [ 6.34651399e-01 -2.78480602e-01 -7.20878739e-01 3.65665604e+01] [ 7.44159617e-01 -3.13673387e-02 6.67264980e-01 3.38438841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020371743 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:52.33, Y:36.57, Z:33.84 [[-2.04747152e-01 -9.64098761e-01 1.69092234e-01 5.23324098e+01] [ 6.38005725e-01 -2.62462074e-01 -7.23921511e-01 3.65715815e+01] [ 7.42312130e-01 -4.03390539e-02 6.68838891e-01 3.38378350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050371743 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:52.33, Y:36.57, Z:33.84 [[-2.03655086e-01 -9.64006799e-01 1.70925418e-01 5.23293936e+01] [ 6.37358233e-01 -2.63066414e-01 -7.24272424e-01 3.65689686e+01] [ 7.43168277e-01 -3.85610403e-02 6.67992483e-01 3.38382329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080371743 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:52.33, Y:36.56, Z:33.83 [[-2.00729614e-01 -9.64865590e-01 1.69534700e-01 5.23291453e+01] [ 6.37399599e-01 -2.60049380e-01 -7.25324804e-01 3.65638668e+01] [ 7.43928339e-01 -3.75328187e-02 6.67204552e-01 3.38323066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110371743 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:52.33, Y:36.56, Z:33.83 [[-1.97547529e-01 -9.65773341e-01 1.68097671e-01 5.23256769e+01] [ 6.37275961e-01 -2.56819307e-01 -7.26583232e-01 3.65632335e+01] [ 7.44885443e-01 -3.64101177e-02 6.66198154e-01 3.38324241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140371743 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:52.32, Y:36.56, Z:33.84 [[-1.97161391e-01 -9.64062446e-01 1.78075786e-01 5.23197682e+01] [ 6.36293744e-01 -2.64020986e-01 -7.24860807e-01 3.65599010e+01] [ 7.45826828e-01 -2.96060564e-02 6.65481648e-01 3.38375569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170371743 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:52.33, Y:36.55, Z:33.82 [[-1.96810107e-01 -9.67276952e-01 1.60128322e-01 5.23269790e+01] [ 6.34113483e-01 -2.50145068e-01 -7.31660806e-01 3.65540045e+01] [ 7.47773945e-01 -4.24587136e-02 6.62594435e-01 3.38200710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.200371743 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:52.31, Y:36.55, Z:33.85 [[-1.98164079e-01 -9.60430563e-01 1.95714411e-01 5.23090217e+01] [ 6.33000251e-01 -2.77850001e-01 -7.22571837e-01 3.65520495e+01] [ 7.48359325e-01 -1.93005111e-02 6.63012677e-01 3.38454638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23037174299999 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:52.32, Y:36.55, Z:33.83 [[-1.99814222e-01 -9.63554079e-01 1.77870215e-01 5.23159266e+01] [ 6.32145708e-01 -2.65468436e-01 -7.27954884e-01 3.65538644e+01] [ 7.48642826e-01 -3.30158457e-02 6.62150944e-01 3.38345480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260371743 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:52.32, Y:36.54, Z:33.82 [[-2.03742905e-01 -9.62977387e-01 1.76531531e-01 5.23178886e+01] [ 6.29169874e-01 -2.66938363e-01 -7.29992589e-01 3.65448740e+01] [ 7.50089394e-01 -3.76624893e-02 6.60263158e-01 3.38248753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290371743 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:52.32, Y:36.54, Z:33.82 [[-2.06973007e-01 -9.63028594e-01 1.72447389e-01 5.23198514e+01] [ 6.27662847e-01 -2.65913670e-01 -7.31661992e-01 3.65440436e+01] [ 7.50467537e-01 -4.31954634e-02 6.59494221e-01 3.38217210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:52.31, Y:36.55, Z:33.85 [[-2.11000024e-01 -9.57879596e-01 1.94796484e-01 5.23057488e+01] [ 6.24793661e-01 -2.85422122e-01 -7.26751053e-01 3.65547151e+01] [ 7.51739231e-01 -3.16368811e-02 6.58701174e-01 3.38533997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350371743 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:52.32, Y:36.54, Z:33.82 [[-2.12318727e-01 -9.60815854e-01 1.78195549e-01 5.23189886e+01] [ 6.26851474e-01 -2.73804742e-01 -7.29443756e-01 3.65372313e+01] [ 7.49651911e-01 -4.31724274e-02 6.60422708e-01 3.38172735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380371743 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:52.31, Y:36.53, Z:33.83 [[-2.14380858e-01 -9.57394314e-01 1.93486370e-01 5.23124934e+01] [ 6.24752937e-01 -2.86676751e-01 -7.26292095e-01 3.65328841e+01] [ 7.50815966e-01 -3.48219449e-02 6.59592918e-01 3.38256979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410371743 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:52.31, Y:36.55, Z:33.83 [[-2.18817511e-01 -9.59033373e-01 1.79927448e-01 5.23143886e+01] [ 6.26980071e-01 -2.79482664e-01 -7.27176341e-01 3.65471013e+01] [ 7.47672981e-01 -4.63079931e-02 6.62450514e-01 3.38306707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440371743 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:52.31, Y:36.54, Z:33.83 [[-2.20167813e-01 -9.57426999e-01 1.86707459e-01 5.23128394e+01] [ 6.25636239e-01 -2.85449823e-01 -7.26014942e-01 3.65410235e+01] [ 7.48401918e-01 -4.30341695e-02 6.61847890e-01 3.38293808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470371743 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:52.31, Y:36.54, Z:33.83 [[-2.20468855e-01 -9.55906133e-01 1.94002447e-01 5.23113182e+01] [ 6.23954334e-01 -2.91092623e-01 -7.25221396e-01 3.65351295e+01] [ 7.49716261e-01 -3.88400632e-02 6.60618632e-01 3.38287492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500371743 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:52.32, Y:36.53, Z:33.82 [[-2.20672291e-01 -9.57996959e-01 1.83154489e-01 5.23169696e+01] [ 6.24986985e-01 -2.83053296e-01 -7.27510893e-01 3.65341147e+01] [ 7.48795705e-01 -4.60723238e-02 6.61197650e-01 3.38180163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530371743 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:52.32, Y:36.54, Z:33.82 [[-2.21613651e-01 -9.58346433e-01 1.80165215e-01 5.23164573e+01] [ 6.23108266e-01 -2.81291066e-01 -7.29802319e-01 3.65391665e+01] [ 7.50082315e-01 -4.94717217e-02 6.59491524e-01 3.38229033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.560371743 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:52.32, Y:36.53, Z:33.82 [[-2.22944632e-01 -9.57501544e-01 1.82993128e-01 5.23170875e+01] [ 6.23139934e-01 -2.84337259e-01 -7.28593814e-01 3.65334012e+01] [ 7.49661466e-01 -4.84057540e-02 6.60048915e-01 3.38166172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59037174299999 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:52.32, Y:36.54, Z:33.82 [[-0.22488935 -0.95749446 0.1806354 52.31713912] [ 0.61975997 -0.28361289 -0.73175222 36.53501091] [ 0.75187922 -0.05261269 0.65719826 33.81932489] [ 0. 0. 0. 1. ]] SLAMing on 109.62037174299999 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:52.31, Y:36.54, Z:33.83 [[-2.24678474e-01 -9.54615717e-01 1.95520885e-01 5.23094031e+01] [ 6.12723017e-01 -2.94424166e-01 -7.33406378e-01 3.65358199e+01] [ 7.57687329e-01 -4.49804791e-02 6.51065794e-01 3.38338844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650371743 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:52.31, Y:36.52, Z:33.82 [[-2.22664963e-01 -9.54717315e-01 1.97319948e-01 5.23132618e+01] [ 6.16063786e-01 -2.94662394e-01 -7.30506321e-01 3.65228773e+01] [ 7.55569802e-01 -4.10964881e-02 6.53777755e-01 3.38154214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680371743 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:52.32, Y:36.53, Z:33.81 [[-2.22855492e-01 -9.56611161e-01 1.87697938e-01 5.23173379e+01] [ 6.16684129e-01 -2.87458270e-01 -7.32849526e-01 3.65266521e+01] [ 7.55007360e-01 -4.75692026e-02 6.53988575e-01 3.38109119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:52.32, Y:36.53, Z:33.81 [[-2.22165213e-01 -9.57258365e-01 1.85200001e-01 5.23171588e+01] [ 6.15978420e-01 -2.85040329e-01 -7.34385864e-01 3.65270282e+01] [ 7.55786480e-01 -4.90757876e-02 6.52976541e-01 3.38111322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740371743 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:52.32, Y:36.53, Z:33.82 [[-2.22250020e-01 -9.57860284e-01 1.81957701e-01 5.23159033e+01] [ 6.18146750e-01 -2.82754646e-01 -7.33446935e-01 3.65345578e+01] [ 7.53989074e-01 -5.05320343e-02 6.54940447e-01 3.38177988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770371743 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:52.31, Y:36.52, Z:33.82 [[-2.20162535e-01 -9.56000189e-01 1.93886815e-01 5.23109706e+01] [ 6.14242857e-01 -2.90277228e-01 -7.33788010e-01 3.65186009e+01] [ 7.57782404e-01 -4.24590370e-02 6.51124457e-01 3.38159975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800371743 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:52.31, Y:36.52, Z:33.82 [[-2.17201323e-01 -9.54814015e-01 2.02863948e-01 5.23076681e+01] [ 6.22402779e-01 -2.95566779e-01 -7.24744824e-01 3.65165464e+01] [ 7.51956359e-01 -3.11524500e-02 6.58476392e-01 3.38157370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830371743 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:52.31, Y:36.52, Z:33.81 [[-2.17764856e-01 -9.57813998e-01 1.87538832e-01 5.23135159e+01] [ 6.22758409e-01 -2.84311539e-01 -7.28929978e-01 3.65217016e+01] [ 7.51498790e-01 -4.19439471e-02 6.58399783e-01 3.38091652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860371743 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:52.31, Y:36.52, Z:33.80 [[-2.17978632e-01 -9.58106906e-01 1.85786096e-01 5.23148220e+01] [ 6.21531057e-01 -2.83048949e-01 -7.30467273e-01 3.65151665e+01] [ 7.52452298e-01 -4.37544287e-02 6.57191821e-01 3.38027204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890371743 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:52.31, Y:36.51, Z:33.80 [[-2.15518455e-01 -9.58052015e-01 1.88913028e-01 5.23142504e+01] [ 6.23204668e-01 -2.83884252e-01 -7.28715084e-01 3.65062635e+01] [ 7.51776388e-01 -3.93200680e-02 6.58244783e-01 3.37965205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:52.32, Y:36.49, Z:33.78 [[-2.10370654e-01 -9.57311685e-01 1.98238557e-01 5.23153222e+01] [ 6.29833274e-01 -2.87802045e-01 -7.21443019e-01 3.64879911e+01] [ 7.47699295e-01 -2.69132001e-02 6.63491857e-01 3.37781849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.950371743 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:52.32, Y:36.50, Z:33.77 [[-2.11383628e-01 -9.62541690e-01 1.69795340e-01 5.23244018e+01] [ 6.26667421e-01 -2.66784349e-01 -7.32198098e-01 3.64980472e+01] [ 7.50069934e-01 -4.83694830e-02 6.59587361e-01 3.37703334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98037174299999 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:52.32, Y:36.50, Z:33.79 [[-2.13307172e-01 -9.60498855e-01 1.78723248e-01 5.23166620e+01] [ 6.22209187e-01 -2.74592732e-01 -7.33112923e-01 3.65043166e+01] [ 7.53230229e-01 -4.51749976e-02 6.56203812e-01 3.37871974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010371743 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:52.32, Y:36.50, Z:33.78 [[-2.13373762e-01 -9.59641754e-01 1.83192091e-01 5.23163689e+01] [ 6.17929820e-01 -2.77802922e-01 -7.35519051e-01 3.64958570e+01] [ 7.56726090e-01 -4.37406109e-02 6.52267111e-01 3.37832438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040371743 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:52.31, Y:36.49, Z:33.78 [[-2.10780622e-01 -9.57283313e-01 1.97939861e-01 5.23133490e+01] [ 6.21735236e-01 -2.87539027e-01 -7.28537304e-01 3.64863093e+01] [ 7.54332039e-01 -3.04953599e-02 6.55784421e-01 3.37791476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070371743 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:52.32, Y:36.49, Z:33.77 [[-2.11936913e-01 -9.61577987e-01 1.74500775e-01 5.23221567e+01] [ 6.16022200e-01 -2.70062739e-01 -7.39988356e-01 3.64933308e+01] [ 7.58682671e-01 -4.93344960e-02 6.49589650e-01 3.37728676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:52.32, Y:36.49, Z:33.78 [[-2.12596909e-01 -9.58408563e-01 1.90408980e-01 5.23167350e+01] [ 6.15897578e-01 -2.82714077e-01 -7.35352245e-01 3.64857956e+01] [ 7.58599188e-01 -3.90611851e-02 6.50385651e-01 3.37764892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130371743 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:52.32, Y:36.48, Z:33.77 [[-2.11953380e-01 -9.58634104e-01 1.89990578e-01 5.23179932e+01] [ 6.16218502e-01 -2.81986221e-01 -7.35362855e-01 3.64811491e+01] [ 7.58518637e-01 -3.87869332e-02 6.50496004e-01 3.37713321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:52.32, Y:36.48, Z:33.77 [[-2.13041150e-01 -9.57785386e-01 1.93030108e-01 5.23165505e+01] [ 6.21929039e-01 -2.85307607e-01 -7.29248819e-01 3.64838884e+01] [ 7.53536820e-01 -3.53089773e-02 6.56456805e-01 3.37738992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190371743 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:52.31, Y:36.49, Z:33.79 [[-2.14729249e-01 -9.57968384e-01 1.90231238e-01 5.23138037e+01] [ 6.17305023e-01 -2.84056477e-01 -7.33652797e-01 3.64949458e+01] [ 7.56852600e-01 -4.01060159e-02 6.52353929e-01 3.37908012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220371743 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:52.31, Y:36.49, Z:33.79 [[-2.13790351e-01 -9.55667640e-01 2.02467399e-01 5.23109086e+01] [ 6.22226273e-01 -2.92994276e-01 -7.25939956e-01 3.64902705e+01] [ 7.53079114e-01 -2.92184230e-02 6.57280862e-01 3.37927897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250371743 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:52.32, Y:36.49, Z:33.78 [[-2.13330680e-01 -9.57652203e-01 1.93370831e-01 5.23172229e+01] [ 6.23924827e-01 -2.85851600e-01 -7.27328450e-01 3.64873978e+01] [ 7.51803054e-01 -3.45126104e-02 6.58483901e-01 3.37811735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280371743 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:52.32, Y:36.48, Z:33.77 [[-2.13941746e-01 -9.58300572e-01 1.89443774e-01 5.23217311e+01] [ 6.23882933e-01 -2.83272574e-01 -7.28372662e-01 3.64808680e+01] [ 7.51664164e-01 -3.76385822e-02 6.58471200e-01 3.37701733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.310371743 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:52.32, Y:36.48, Z:33.77 [[-2.13346303e-01 -9.58333104e-01 1.89950039e-01 5.23241600e+01] [ 6.23626191e-01 -2.83248382e-01 -7.28601900e-01 3.64774769e+01] [ 7.52046361e-01 -3.69867026e-02 6.58071618e-01 3.37657132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34037174299999 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:52.33, Y:36.48, Z:33.76 [[-2.11609642e-01 -9.58319768e-01 1.91949427e-01 5.23250274e+01] [ 6.25448661e-01 -2.83696498e-01 -7.26863309e-01 3.64763252e+01] [ 7.51022857e-01 -3.37567726e-02 6.59412730e-01 3.37625436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37037174299999 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:52.33, Y:36.48, Z:33.77 [[-2.11291243e-01 -9.59964269e-01 1.83914687e-01 5.23270427e+01] [ 6.23735987e-01 -2.77295524e-01 -7.30794507e-01 3.64847737e+01] [ 7.52535334e-01 -3.96962709e-02 6.57354377e-01 3.37669437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400371743 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:52.33, Y:36.47, Z:33.76 [[-2.10408862e-01 -9.59135667e-01 1.89174211e-01 5.23289726e+01] [ 6.24428651e-01 -2.80743773e-01 -7.28883937e-01 3.64724349e+01] [ 7.52208063e-01 -3.52378422e-02 6.57982769e-01 3.37559253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430371743 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:52.33, Y:36.47, Z:33.76 [[-2.08830981e-01 -9.59958301e-01 1.86734255e-01 5.23315677e+01] [ 6.25105756e-01 -2.77872578e-01 -7.29403609e-01 3.64736877e+01] [ 7.52085378e-01 -3.55934135e-02 6.58103862e-01 3.37554988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460371743 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:52.33, Y:36.47, Z:33.76 [[-2.07780872e-01 -9.59269525e-01 1.91387270e-01 5.23306394e+01] [ 6.27999203e-01 -2.80828977e-01 -7.25776885e-01 3.64725595e+01] [ 7.49962739e-01 -3.06115013e-02 6.60771387e-01 3.37552560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:52.33, Y:36.46, Z:33.75 [[-2.04196214e-01 -9.57064076e-01 2.05748050e-01 5.23295178e+01] [ 6.32650781e-01 -2.89405698e-01 -7.18329543e-01 3.64570207e+01] [ 7.47032058e-01 -1.65135089e-02 6.64582883e-01 3.37454009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520371743 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:52.34, Y:36.47, Z:33.75 [[-2.03207499e-01 -9.61061816e-01 1.87261579e-01 5.23353019e+01] [ 6.35102215e-01 -2.74936241e-01 -7.21841561e-01 3.64734030e+01] [ 7.45219356e-01 -2.77533743e-02 6.66241594e-01 3.37474511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550371743 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:52.34, Y:36.48, Z:33.74 [[-2.05964461e-01 -9.64513623e-01 1.65203241e-01 5.23444533e+01] [ 6.27265729e-01 -2.59707260e-01 -7.34227379e-01 3.64782752e+01] [ 7.51076791e-01 -4.75984152e-02 6.58496807e-01 3.37415689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580371743 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:52.34, Y:36.48, Z:33.76 [[-2.08986096e-01 -9.60460951e-01 1.83955354e-01 5.23377267e+01] [ 6.22835936e-01 -2.75749093e-01 -7.32146047e-01 3.64771209e+01] [ 7.53923211e-01 -3.84343387e-02 6.55837322e-01 3.37579235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:52.33, Y:36.47, Z:33.76 [[-2.17369399e-01 -9.56845694e-01 1.92864882e-01 5.23316229e+01] [ 6.17680948e-01 -2.87836586e-01 -7.31860879e-01 3.64714788e+01] [ 7.55791500e-01 -3.99551967e-02 6.53592221e-01 3.37630418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640371743 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:52.33, Y:36.46, Z:33.76 [[-2.10824757e-01 -9.52524101e-01 2.19660556e-01 5.23294797e+01] [ 6.25956201e-01 -3.04145903e-01 -7.18104521e-01 3.64598927e+01] [ 7.50820721e-01 -1.38963240e-02 6.60359854e-01 3.37639628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670371743 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:52.34, Y:36.47, Z:33.75 [[-2.13294327e-01 -9.59325481e-01 1.84932829e-01 5.23430276e+01] [ 6.20666642e-01 -2.79236533e-01 -7.32666280e-01 3.64688780e+01] [ 7.54505434e-01 -4.14919236e-02 6.54980893e-01 3.37521738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.700371743 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:52.34, Y:36.47, Z:33.77 [[-2.15603533e-01 -9.55726062e-01 2.00256863e-01 5.23363968e+01] [ 6.20336809e-01 -2.92436965e-01 -7.27779407e-01 3.64704630e+01] [ 7.54120255e-01 -3.26851073e-02 6.55922499e-01 3.37663781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73037174299999 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:52.34, Y:36.46, Z:33.75 [[-2.17918226e-01 -9.54784908e-01 2.02231121e-01 5.23411281e+01] [ 6.20720451e-01 -2.95490651e-01 -7.26217183e-01 3.64606392e+01] [ 7.53138612e-01 -3.27269675e-02 6.57047317e-01 3.37544299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760371743 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:52.34, Y:36.46, Z:33.76 [[-2.20546659e-01 -9.54770165e-01 1.99431953e-01 5.23421385e+01] [ 6.19090253e-01 -2.95027959e-01 -7.27795137e-01 3.64641828e+01] [ 7.53715085e-01 -3.70464077e-02 6.56156334e-01 3.37569804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790371743 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:52.34, Y:36.47, Z:33.77 [[-2.26348011e-01 -9.52734265e-01 2.02642540e-01 5.23413397e+01] [ 6.16600898e-01 -3.01200954e-01 -7.27379762e-01 3.64728748e+01] [ 7.54035749e-01 -3.96913895e-02 6.55633040e-01 3.37677983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:52.34, Y:36.47, Z:33.77 [[-2.28607197e-01 -9.50443706e-01 2.10702422e-01 5.23407679e+01] [ 6.18766729e-01 -3.08949538e-01 -7.22272745e-01 3.64699372e+01] [ 7.51576001e-01 -3.47410987e-02 6.58731031e-01 3.37663459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850371743 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:52.34, Y:36.48, Z:33.77 [[-2.30480006e-01 -9.51671011e-01 2.02980919e-01 5.23435148e+01] [ 6.18303731e-01 -3.04301056e-01 -7.24638782e-01 3.64794314e+01] [ 7.51385030e-01 -4.15108914e-02 6.58557046e-01 3.37692966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880371743 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:52.35, Y:36.47, Z:33.75 [[-2.32696284e-01 -9.51106031e-01 2.03100362e-01 5.23494709e+01] [ 6.18392979e-01 -3.05877371e-01 -7.23898582e-01 3.64683487e+01] [ 7.50628112e-01 -4.28526722e-02 6.59333819e-01 3.37532388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910371743 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:52.35, Y:36.47, Z:33.76 [[-2.33905379e-01 -9.51008328e-01 2.02166845e-01 5.23484797e+01] [ 6.17698835e-01 -3.05934502e-01 -7.24466859e-01 3.64748574e+01] [ 7.50823829e-01 -4.45784708e-02 6.58996462e-01 3.37601103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:52.35, Y:36.48, Z:33.77 [[-0.2390625 -0.95243271 0.18900012 52.34945775] [ 0.60983949 -0.29873827 -0.73406487 36.48395657] [ 0.75560897 -0.06022765 0.6522482 33.76878938] [ 0. 0. 0. 1. ]] SLAMing on 110.970371743 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:52.34, Y:36.46, Z:33.76 [[-2.31733510e-01 -9.44700542e-01 2.32035486e-01 5.23406533e+01] [ 6.21899899e-01 -3.27289276e-01 -7.11422691e-01 3.64601189e+01] [ 7.48024128e-01 -2.05576318e-02 6.63353064e-01 3.37638168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000371743 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:52.36, Y:36.47, Z:33.75 [[-0.23690279 -0.95439729 0.18166692 52.35666244] [ 0.61243806 -0.29186273 -0.73466711 36.47057167] [ 0.75418611 -0.06278495 0.65365232 33.74862126] [ 0. 0. 0. 1. ]] SLAMing on 111.030371743 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:52.34, Y:36.45, Z:33.75 [[-2.28760070e-01 -9.45646748e-01 2.31129961e-01 5.23435165e+01] [ 6.23697041e-01 -3.24668756e-01 -7.11050068e-01 3.64490262e+01] [ 7.47442861e-01 -1.85047909e-02 6.64068326e-01 3.37528990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.060371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:52.36, Y:36.45, Z:33.73 [[-2.24028897e-01 -9.53977566e-01 1.99343564e-01 5.23566727e+01] [ 6.27827115e-01 -2.97714018e-01 -7.19165821e-01 3.64532969e+01] [ 7.45415433e-01 -3.59606313e-02 6.65629526e-01 3.37324677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09037174299999 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:52.36, Y:36.46, Z:33.74 [[-2.21806804e-01 -9.53994153e-01 2.01734721e-01 5.23550702e+01] [ 6.30852104e-01 -2.98152950e-01 -7.16331237e-01 3.64561019e+01] [ 7.43523614e-01 -3.16223697e-02 6.67961571e-01 3.37359260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12037174299999 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:52.36, Y:36.46, Z:33.73 [[-0.22609984 -0.95835897 0.17443323 52.36314944] [ 0.61842601 -0.27957673 -0.73442911 36.46191021] [ 0.7526142 -0.05818026 0.65588637 33.73434756] [ 0. 0. 0. 1. ]] SLAMing on 111.150371743 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:52.35, Y:36.44, Z:33.74 [[-2.24133021e-01 -9.50308948e-01 2.16049282e-01 5.23501569e+01] [ 6.18134549e-01 -3.10014192e-01 -7.22357861e-01 3.64430757e+01] [ 7.53441483e-01 -2.83567243e-02 6.56903211e-01 3.37435347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:52.35, Y:36.42, Z:33.72 [[-2.14041154e-01 -9.46946537e-01 2.39747034e-01 5.23511091e+01] [ 6.34532896e-01 -3.21386754e-01 -7.02907218e-01 3.64223518e+01] [ 7.42667077e-01 1.67630731e-03 6.69658721e-01 3.37214033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210371743 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:52.37, Y:36.44, Z:33.70 [[-2.09967349e-01 -9.58121432e-01 1.94722966e-01 5.23695212e+01] [ 6.39845361e-01 -2.85247625e-01 -7.13604727e-01 3.64401468e+01] [ 7.39264247e-01 -2.52411064e-02 6.72942241e-01 3.37016611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240371743 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:52.37, Y:36.45, Z:33.71 [[-2.11438034e-01 -9.60381454e-01 1.81552805e-01 5.23722891e+01] [ 6.35236950e-01 -2.76199121e-01 -7.21240642e-01 3.64523154e+01] [ 7.42810861e-01 -3.71686531e-02 6.68468784e-01 3.37093404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270371743 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:52.37, Y:36.47, Z:33.74 [[-0.21878865 -0.96010762 0.17414043 52.36610303] [ 0.61948502 -0.27455705 -0.73542962 36.47219467] [ 0.75390307 -0.05302626 0.65484226 33.74190857] [ 0. 0. 0. 1. ]] SLAMing on 111.300371743 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:52.35, Y:36.42, Z:33.72 [[-2.06671991e-01 -9.42578219e-01 2.62360418e-01 5.23493089e+01] [ 6.47609280e-01 -3.32789262e-01 -6.85458626e-01 3.64194761e+01] [ 7.33409101e-01 2.82419423e-02 6.79200621e-01 3.37228096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330371743 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:52.38, Y:36.46, Z:33.70 [[-2.06342599e-01 -9.62612345e-01 1.75499870e-01 5.23805829e+01] [ 6.44891292e-01 -2.68682240e-01 -7.15489396e-01 3.64583674e+01] [ 7.35892624e-01 -3.44576035e-02 6.76220910e-01 3.37023728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360371743 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:52.39, Y:36.47, Z:33.71 [[-0.21541273 -0.96501476 0.14947864 52.38850082] [ 0.62073544 -0.25348253 -0.74191247 36.46564838] [ 0.75384671 -0.06703071 0.65362223 33.71308208] [ 0. 0. 0. 1. ]] SLAMing on 111.390371743 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:52.37, Y:36.44, Z:33.73 [[-2.13961441e-01 -9.52265550e-01 2.17740268e-01 5.23665638e+01] [ 6.19722707e-01 -3.04626983e-01 -7.23288440e-01 3.64350411e+01] [ 7.55092225e-01 -1.98172484e-02 6.55319012e-01 3.37287442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420371743 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:52.36, Y:36.43, Z:33.72 [[-2.05965818e-01 -9.45192581e-01 2.53355614e-01 5.23594272e+01] [ 6.42830837e-01 -3.25895094e-01 -6.93225002e-01 3.64251196e+01] [ 7.37798480e-01 2.00841465e-02 6.74722187e-01 3.37226410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.450371743 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:52.39, Y:36.46, Z:33.71 [[-0.21366018 -0.96442246 0.15568765 52.39260763] [ 0.62185178 -0.25717728 -0.73970278 36.45948479] [ 0.7534253 -0.06123039 0.65467637 33.71031424] [ 0. 0. 0. 1. ]] SLAMing on 111.48037174299999 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:52.37, Y:36.43, Z:33.72 [[-2.12548875e-01 -9.52480496e-01 2.18183133e-01 5.23732597e+01] [ 6.21289732e-01 -3.04070635e-01 -7.22177345e-01 3.64313196e+01] [ 7.54202920e-01 -1.79430423e-02 6.56396224e-01 3.37238359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510371743 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:52.37, Y:36.41, Z:33.70 [[-2.03265679e-01 -9.47063787e-01 2.48502007e-01 5.23735158e+01] [ 6.43179552e-01 -3.20513200e-01 -6.95407329e-01 3.64147570e+01] [ 7.38243272e-01 1.84789664e-02 6.74281395e-01 3.37041895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540371743 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:52.40, Y:36.46, Z:33.71 [[-0.21257297 -0.96371211 0.16146731 52.39665988] [ 0.62356542 -0.26101188 -0.73691178 36.4606726 ] [ 0.75231569 -0.0559621 0.65642162 33.71330345] [ 0. 0. 0. 1. ]] SLAMing on 111.570371743 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:52.38, Y:36.43, Z:33.72 [[-2.12059274e-01 -9.52504969e-01 2.18552392e-01 5.23795629e+01] [ 6.23072019e-01 -3.04067811e-01 -7.20641398e-01 3.64320578e+01] [ 7.52869260e-01 -1.66448115e-02 6.57959594e-01 3.37213486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600371743 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:52.38, Y:36.43, Z:33.72 [[-2.12548958e-01 -9.52288991e-01 2.19017394e-01 5.23817062e+01] [ 6.22724580e-01 -3.04735695e-01 -7.20659596e-01 3.64285883e+01] [ 7.53018617e-01 -1.67879317e-02 6.57785016e-01 3.37175164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630371743 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:52.39, Y:36.43, Z:33.72 [[-2.13100660e-01 -9.52063610e-01 2.19460681e-01 5.23850428e+01] [ 6.22440785e-01 -3.05429521e-01 -7.20611044e-01 3.64290517e+01] [ 7.53097323e-01 -1.69614106e-02 6.57690453e-01 3.37175822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:52.38, Y:36.40, Z:33.69 [[-2.01907327e-01 -9.44319723e-01 2.59795479e-01 5.23836392e+01] [ 6.49338939e-01 -3.27647146e-01 -6.86298980e-01 3.64023929e+01] [ 7.33206910e-01 3.01265283e-02 6.79337927e-01 3.36888471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:52.41, Y:36.44, Z:33.67 [[-2.01116101e-01 -9.62487695e-01 1.82125648e-01 5.24126428e+01] [ 6.49331757e-01 -2.70197712e-01 -7.10887801e-01 3.64385560e+01] [ 7.33430694e-01 -2.47110161e-02 6.79314936e-01 3.36728645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720371743 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:52.42, Y:36.44, Z:33.66 [[-2.01652224e-01 -9.63206916e-01 1.77676159e-01 5.24209922e+01] [ 6.49990166e-01 -2.67302202e-01 -7.11380571e-01 3.64361068e+01] [ 7.32699914e-01 -2.79637181e-02 6.79977107e-01 3.36645972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750371743 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:52.42, Y:36.43, Z:33.67 [[-2.02218899e-01 -9.60559922e-01 1.90872084e-01 5.24166271e+01] [ 6.49850741e-01 -2.77419318e-01 -7.07624574e-01 3.64291717e+01] [ 7.32667409e-01 -1.90566966e-02 6.80320006e-01 3.36657725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780371743 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:52.42, Y:36.45, Z:33.69 [[-0.21590321 -0.96399247 0.15525564 52.42020343] [ 0.6229357 -0.25843265 -0.738352 36.4524946 ] [ 0.7518889 -0.06269829 0.65630177 33.69497496] [ 0. 0. 0. 1. ]] SLAMing on 111.810371743 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:52.40, Y:36.40, Z:33.68 [[-2.02453892e-01 -9.44844312e-01 2.57452225e-01 5.23978297e+01] [ 6.48305477e-01 -3.26351316e-01 -6.87891581e-01 3.64029019e+01] [ 7.33970320e-01 2.76413597e-02 6.78618837e-01 3.36844107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84037174299999 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:52.43, Y:36.45, Z:33.68 [[-2.03761857e-01 -9.63827867e-01 1.71804971e-01 5.24272409e+01] [ 6.42205515e-01 -2.64042348e-01 -7.19620536e-01 3.64472558e+01] [ 7.38954114e-01 -3.62971166e-02 6.72777331e-01 3.36795643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87037174299999 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:52.42, Y:36.43, Z:33.68 [[-2.02864339e-01 -9.59955866e-01 1.93211791e-01 5.24237231e+01] [ 6.43932145e-01 -2.79431408e-01 -7.12228531e-01 3.64339939e+01] [ 7.37697399e-01 -2.00704868e-02 6.74833108e-01 3.36760244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900371743 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:52.43, Y:36.44, Z:33.67 [[-2.03457045e-01 -9.61807525e-01 1.83116126e-01 5.24331950e+01] [ 6.41450771e-01 -2.72242447e-01 -7.17234242e-01 3.64352378e+01] [ 7.39693273e-01 -2.84663790e-02 6.72341823e-01 3.36716545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930371743 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:52.43, Y:36.43, Z:33.67 [[-2.03627187e-01 -9.58959130e-01 1.97315373e-01 5.24304930e+01] [ 6.44098704e-01 -2.82996276e-01 -7.10668676e-01 3.64295006e+01] [ 7.37341731e-01 -1.76208870e-02 6.75290068e-01 3.36718673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960371743 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:52.43, Y:36.47, Z:33.71 [[-0.21891929 -0.96257804 0.15974309 52.43360194] [ 0.62373939 -0.26395179 -0.7357164 36.46796108] [ 0.75034893 -0.06142446 0.65818198 33.71041239] [ 0. 0. 0. 1. ]] SLAMing on 111.990371743 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:52.42, Y:36.43, Z:33.70 [[-2.19740871e-01 -9.49263300e-01 2.24973637e-01 5.24184172e+01] [ 6.22223762e-01 -3.13989836e-01 -7.17110851e-01 3.64257224e+01] [ 7.51366448e-01 -1.75946198e-02 6.59650582e-01 3.37037190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020371743 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:52.42, Y:36.43, Z:33.70 [[-2.22138443e-01 -9.49397535e-01 2.22033404e-01 5.24226189e+01] [ 6.21019941e-01 -3.13325928e-01 -7.18443523e-01 3.64281188e+01] [ 7.51657332e-01 -2.17067539e-02 6.59196535e-01 3.37019272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050371743 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:52.42, Y:36.41, Z:33.69 [[-2.14881752e-01 -9.39121189e-01 2.68099282e-01 5.24193908e+01] [ 6.49223674e-01 -3.42433522e-01 -6.79152343e-01 3.64141642e+01] [ 7.29612537e-01 2.81189555e-02 6.83282423e-01 3.36852425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080371743 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:52.46, Y:36.45, Z:33.66 [[-2.16268830e-01 -9.61350422e-01 1.70391196e-01 5.24586769e+01] [ 6.47462112e-01 -2.71845010e-01 -7.11964258e-01 3.64491043e+01] [ 7.30767136e-01 -4.36538337e-02 6.81229577e-01 3.36611312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110371743 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:52.46, Y:36.46, Z:33.69 [[-0.23694812 -0.96032859 0.14705304 52.45632268] [ 0.61943127 -0.26594171 -0.73863381 36.46470749] [ 0.7484387 -0.08392863 0.65787195 33.69077415] [ 0. 0. 0. 1. ]] SLAMing on 112.140371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:52.42, Y:36.42, Z:33.69 [[-2.26915720e-01 -9.35436194e-01 2.71050516e-01 5.24249354e+01] [ 6.50693667e-01 -3.52694901e-01 -6.72461195e-01 3.64196701e+01] [ 7.24642676e-01 2.37788376e-02 6.88714425e-01 3.36875577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170371743 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:52.47, Y:36.45, Z:33.66 [[-0.2286605 -0.9586428 0.16946494 52.46536595] [ 0.64709714 -0.27972525 -0.70923838 36.4525286 ] [ 0.72730988 -0.05251453 0.68429713 33.66291525] [ 0. 0. 0. 1. ]] SLAMing on 112.200371743 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:52.47, Y:36.46, Z:33.67 [[-2.34193203e-01 -9.56498152e-01 1.73967897e-01 5.24665338e+01] [ 6.49275332e-01 -2.87068811e-01 -7.04296132e-01 3.64562974e+01] [ 7.23598706e-01 -5.19883024e-02 6.88260219e-01 3.36650097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23037174299999 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:52.47, Y:36.48, Z:33.69 [[-0.25746531 -0.95709912 0.13293944 52.47011888] [ 0.61736153 -0.26876745 -0.73934349 36.47656451] [ 0.7433548 -0.10828361 0.66007447 33.69284868] [ 0. 0. 0. 1. ]] SLAMing on 112.260371743 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:52.43, Y:36.43, Z:33.69 [[-2.43687956e-01 -9.34247481e-01 2.60380155e-01 5.24344981e+01] [ 6.39771112e-01 -3.56624715e-01 -6.80816963e-01 3.64284989e+01] [ 7.28909531e-01 6.76807659e-04 6.84609697e-01 3.36919703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290371743 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:52.47, Y:36.46, Z:33.67 [[-0.24825729 -0.95337285 0.17160572 52.46797237] [ 0.63853206 -0.29427224 -0.71111227 36.45846504] [ 0.72845393 -0.06696305 0.68181436 33.67397352] [ 0. 0. 0. 1. ]] SLAMing on 112.320371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:52.46, Y:36.46, Z:33.68 [[-0.25127076 -0.95174818 0.17617723 52.46464423] [ 0.63352959 -0.29932819 -0.71347242 36.45794018] [ 0.73178089 -0.06766126 0.67817305 33.68018532] [ 0. 0. 0. 1. ]] SLAMing on 112.350371743 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:52.46, Y:36.47, Z:33.71 [[-0.26984172 -0.94927216 0.16145531 52.45747338] [ 0.6107234 -0.29835866 -0.73348417 36.47234051] [ 0.74444769 -0.0993201 0.66025234 33.70655871] [ 0. 0. 0. 1. ]] SLAMing on 112.380371743 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:52.44, Y:36.45, Z:33.72 [[-0.2699725 -0.93641162 0.22416093 52.43552133] [ 0.60601162 -0.3461593 -0.71618688 36.445581 ] [ 0.74824111 -0.05750664 0.66092982 33.71528736] [ 0. 0. 0. 1. ]] SLAMing on 112.410371743 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:52.44, Y:36.44, Z:33.70 [[-2.62297990e-01 -9.39009145e-01 2.22399620e-01 5.24428246e+01] [ 6.09241049e-01 -3.39871828e-01 -7.16458293e-01 3.64386011e+01] [ 7.48348254e-01 -5.24305924e-02 6.61230613e-01 3.37012796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:52.44, Y:36.44, Z:33.69 [[-2.60033143e-01 -9.38261768e-01 2.28139475e-01 5.24395012e+01] [ 6.23132139e-01 -3.43541738e-01 -7.02627505e-01 3.64380103e+01] [ 7.37623957e-01 -4.05453994e-02 6.73993300e-01 3.36929420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470371743 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:52.45, Y:36.45, Z:33.69 [[-0.26067633 -0.94606127 0.19239522 52.45068077] [ 0.62273331 -0.31705701 -0.71531677 36.449941 ] [ 0.73773375 -0.06665523 0.67179312 33.68668395] [ 0. 0. 0. 1. ]] SLAMing on 112.500371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:52.45, Y:36.44, Z:33.68 [[-0.26004932 -0.94556554 0.19565316 52.44885536] [ 0.62422935 -0.31921702 -0.71304854 36.44427304] [ 0.73668994 -0.06329534 0.67326193 33.68228491] [ 0. 0. 0. 1. ]] SLAMing on 112.530371743 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:52.45, Y:36.45, Z:33.69 [[-0.26442111 -0.94976419 0.16742 52.45466441] [ 0.61108222 -0.29930417 -0.73279979 36.44943327] [ 0.7460965 -0.09146035 0.65952635 33.68551775] [ 0. 0. 0. 1. ]] SLAMing on 112.560371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:52.44, Y:36.43, Z:33.69 [[-0.26335711 -0.94134809 0.21096635 52.43627985] [ 0.60892593 -0.33182561 -0.72048663 36.42831738] [ 0.74823275 -0.06128239 0.66059989 33.69073531] [ 0. 0. 0. 1. ]] SLAMing on 112.59037174299999 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:52.44, Y:36.43, Z:33.69 [[-0.26337376 -0.94170984 0.20932471 52.43547551] [ 0.6080433 -0.33050628 -0.7218372 36.42769443] [ 0.74894433 -0.06283449 0.65964704 33.68959305] [ 0. 0. 0. 1. ]] SLAMing on 112.62037174299999 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:52.43, Y:36.42, Z:33.69 [[-0.26311005 -0.93964067 0.21874301 52.43067155] [ 0.61298531 -0.33790277 -0.71419236 36.42397281] [ 0.74499806 -0.05382494 0.66489154 33.68648696] [ 0. 0. 0. 1. ]] SLAMing on 112.650371743 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:52.43, Y:36.43, Z:33.68 [[-0.26420522 -0.94291995 0.20272536 52.43388319] [ 0.61223626 -0.32638217 -0.72016765 36.42970587] [ 0.74522638 -0.06615624 0.66352166 33.68444501] [ 0. 0. 0. 1. ]] SLAMing on 112.680371743 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:52.43, Y:36.42, Z:33.68 [[-0.26428944 -0.94129786 0.21002245 52.42831332] [ 0.61336633 -0.33209977 -0.7165832 36.42204727] [ 0.74426664 -0.06056467 0.66513088 33.67975581] [ 0. 0. 0. 1. ]] SLAMing on 112.710371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:52.43, Y:36.43, Z:33.69 [[-0.26588654 -0.94253444 0.2023195 52.42639096] [ 0.61271552 -0.32725981 -0.71936132 36.43191109] [ 0.74423386 -0.06730419 0.66451946 33.68683065] [ 0. 0. 0. 1. ]] SLAMing on 112.740371743 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:52.43, Y:36.42, Z:33.68 [[-0.26648019 -0.94191049 0.20443319 52.42582486] [ 0.61225066 -0.3292357 -0.71885533 36.42403914] [ 0.74440408 -0.06639635 0.66442012 33.68003026] [ 0. 0. 0. 1. ]] SLAMing on 112.770371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:52.42, Y:36.43, Z:33.68 [[-0.26687005 -0.94169917 0.20489767 52.42053685] [ 0.61183593 -0.32981876 -0.71894115 36.42655619] [ 0.74460538 -0.0665001 0.66418413 33.68431214] [ 0. 0. 0. 1. ]] SLAMing on 112.800371743 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:52.42, Y:36.42, Z:33.68 [[-0.26599423 -0.94008706 0.21326836 52.41661398] [ 0.61432256 -0.33580588 -0.71403235 36.4184027 ] [ 0.74286934 -0.05891292 0.66683912 33.67947328] [ 0. 0. 0. 1. ]] SLAMing on 112.830371743 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:52.42, Y:36.41, Z:33.67 [[-0.26519149 -0.94280093 0.20198982 52.41848585] [ 0.61607648 -0.32683475 -0.71667902 36.41311349] [ 0.74170294 -0.065616 0.66751126 33.66626034] [ 0. 0. 0. 1. ]] SLAMing on 112.860371743 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:52.41, Y:36.42, Z:33.68 [[-0.27571909 -0.94241601 0.18929091 52.4127431 ] [ 0.60436311 -0.32309163 -0.72825616 36.42311248] [ 0.74747857 -0.08639368 0.658644 33.68003755] [ 0. 0. 0. 1. ]] SLAMing on 112.890371743 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:52.40, Y:36.40, Z:33.68 [[-2.63622108e-01 -9.34266959e-01 2.40101297e-01 5.24008026e+01] [ 6.15004062e-01 -3.54542475e-01 -7.04322112e-01 3.63979732e+01] [ 7.43150986e-01 -3.80116068e-02 6.68043210e-01 3.36784465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920371743 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:52.41, Y:36.42, Z:33.68 [[-0.27194007 -0.94278427 0.19288968 52.40747198] [ 0.60602623 -0.32348378 -0.72669833 36.41526773] [ 0.74751643 -0.08072219 0.65932019 33.67526539] [ 0. 0. 0. 1. ]] SLAMing on 112.950371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:52.39, Y:36.40, Z:33.69 [[-0.26966003 -0.93519817 0.22953835 52.39108552] [ 0.60419386 -0.34992741 -0.71589146 36.40418003] [ 0.74982215 -0.05436165 0.65940243 33.69092193] [ 0. 0. 0. 1. ]] SLAMing on 112.98037174299999 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:52.39, Y:36.39, Z:33.68 [[-2.65993014e-01 -9.36108605e-01 2.30105183e-01 5.23888335e+01] [ 6.04982752e-01 -3.47950949e-01 -7.16188527e-01 3.63943351e+01] [ 7.50495560e-01 -5.12914787e-02 6.58882082e-01 3.36819120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010371743 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:52.39, Y:36.39, Z:33.68 [[-2.54726525e-01 -9.36963963e-01 2.39192244e-01 5.23885751e+01] [ 6.15790025e-01 -3.47884398e-01 -7.06950558e-01 3.63932433e+01] [ 7.45598446e-01 -3.27868606e-02 6.65588446e-01 3.36795673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040371743 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:52.40, Y:36.40, Z:33.66 [[-0.25305436 -0.94505135 0.20698173 52.3996196 ] [ 0.61752127 -0.32247675 -0.71740938 36.4005687 ] [ 0.7447355 -0.05372795 0.66519346 33.66411929] [ 0. 0. 0. 1. ]] SLAMing on 113.070371743 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:52.40, Y:36.40, Z:33.66 [[-2.48023867e-01 -9.45651273e-01 2.10304139e-01 5.23950643e+01] [ 6.20517704e-01 -3.21786723e-01 -7.15130117e-01 3.63961938e+01] [ 7.43936785e-01 -4.68718951e-02 6.66604144e-01 3.36618346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100371743 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:52.40, Y:36.39, Z:33.65 [[-2.44556170e-01 -9.47145033e-01 2.07626026e-01 5.23979193e+01] [ 6.23653204e-01 -3.17606529e-01 -7.14270798e-01 3.63855250e+01] [ 7.42461420e-01 -4.51926942e-02 6.68362671e-01 3.36463935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130371743 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:52.39, Y:36.39, Z:33.65 [[-2.42166889e-01 -9.47727454e-01 2.07768791e-01 5.23938175e+01] [ 6.24462467e-01 -3.16140987e-01 -7.14213906e-01 3.63895418e+01] [ 7.42564357e-01 -4.32151475e-02 6.68379104e-01 3.36526756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160371743 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:52.40, Y:36.38, Z:33.63 [[-2.37078991e-01 -9.50235908e-01 2.02102132e-01 5.23963563e+01] [ 6.28176748e-01 -3.08635795e-01 -7.14239399e-01 3.63765380e+01] [ 7.41071876e-01 -4.23752964e-02 6.70087165e-01 3.36330835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190371743 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:52.39, Y:36.38, Z:33.64 [[-2.34672466e-01 -9.49449223e-01 2.08506609e-01 5.23913682e+01] [ 6.30103513e-01 -3.11907119e-01 -7.11114275e-01 3.63776064e+01] [ 7.40201591e-01 -3.54981936e-02 6.71447304e-01 3.36380746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:52.40, Y:36.38, Z:33.63 [[-2.31627501e-01 -9.52711222e-01 1.96697810e-01 5.23953428e+01] [ 6.31133296e-01 -3.01037980e-01 -7.14875442e-01 3.63751856e+01] [ 7.40283367e-01 -4.14422751e-02 6.71016448e-01 3.36257910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250371743 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:52.39, Y:36.37, Z:33.62 [[-2.30441957e-01 -9.51500044e-01 2.03823871e-01 5.23917800e+01] [ 6.33517450e-01 -3.05689071e-01 -7.10781142e-01 3.63713440e+01] [ 7.38615018e-01 -3.46678184e-02 6.73235470e-01 3.36244948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280371743 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:52.39, Y:36.38, Z:33.63 [[-2.29723219e-01 -9.52636224e-01 1.99277364e-01 5.23910396e+01] [ 6.35960426e-01 -3.01923645e-01 -7.10208737e-01 3.63764922e+01] [ 7.36737117e-01 -3.64189204e-02 6.75197810e-01 3.36251338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.310371743 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:52.39, Y:36.38, Z:33.62 [[-2.31504469e-01 -9.53477469e-01 1.93096857e-01 5.23905132e+01] [ 6.33382072e-01 -2.98383288e-01 -7.13998995e-01 3.63755993e+01] [ 7.38398830e-01 -4.29898713e-02 6.72992600e-01 3.36229060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34037174299999 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:52.39, Y:36.37, Z:33.62 [[-2.32000101e-01 -9.52726250e-01 1.96185235e-01 5.23899741e+01] [ 6.34986061e-01 -3.01122070e-01 -7.11419849e-01 3.63698899e+01] [ 7.36864069e-01 -4.04745870e-02 6.74828239e-01 3.36173149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37037174299999 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:52.39, Y:36.38, Z:33.63 [[-2.34585319e-01 -9.51728092e-01 1.97947892e-01 5.23852872e+01] [ 6.33933611e-01 -3.04148344e-01 -7.11070997e-01 3.63767742e+01] [ 7.36951766e-01 -4.13209949e-02 6.74681162e-01 3.36275151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400371743 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:52.38, Y:36.38, Z:33.63 [[-2.37256845e-01 -9.51810800e-01 1.94333195e-01 5.23841738e+01] [ 6.33005452e-01 -3.03219069e-01 -7.12293686e-01 3.63838637e+01] [ 7.36894353e-01 -4.59825802e-02 6.74442225e-01 3.36333221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430371743 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:52.39, Y:36.38, Z:33.62 [[-2.39432579e-01 -9.51741184e-01 1.91991560e-01 5.23870559e+01] [ 6.31060095e-01 -3.02827719e-01 -7.14183821e-01 3.63770389e+01] [ 7.37858521e-01 -4.98406624e-02 6.73112703e-01 3.36245722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460371743 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:52.38, Y:36.36, Z:33.62 [[-2.40482075e-01 -9.47445641e-01 2.10986089e-01 5.23815852e+01] [ 6.32913253e-01 -3.17857988e-01 -7.05965377e-01 3.63638493e+01] [ 7.35927433e-01 -3.62361268e-02 6.76090051e-01 3.36223862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490371743 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:52.38, Y:36.40, Z:33.65 [[-2.45175891e-01 -9.49111680e-01 1.97675999e-01 5.23761697e+01] [ 6.31266446e-01 -3.11040943e-01 -7.10461967e-01 3.63968256e+01] [ 7.35793080e-01 -4.94019207e-02 6.75402098e-01 3.36504570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520371743 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:52.38, Y:36.37, Z:33.62 [[-2.47855446e-01 -9.47388366e-01 2.02541260e-01 5.23811704e+01] [ 6.28517717e-01 -3.16342192e-01 -7.10558299e-01 3.63699593e+01] [ 7.37247012e-01 -4.88149736e-02 6.73857508e-01 3.36248216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550371743 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:52.38, Y:36.37, Z:33.63 [[-2.50966264e-01 -9.46273043e-01 2.03919747e-01 5.23792209e+01] [ 6.27492609e-01 -3.19440955e-01 -7.10077814e-01 3.63724983e+01] [ 7.37067812e-01 -5.02474419e-02 6.73948243e-01 3.36275235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580371743 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:52.38, Y:36.38, Z:33.64 [[-2.52016222e-01 -9.46209237e-01 2.02918467e-01 5.23757716e+01] [ 6.25784588e-01 -3.19289910e-01 -7.11651321e-01 3.63816917e+01] [ 7.38160872e-01 -5.23644282e-02 6.72589395e-01 3.36380473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610371743 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:52.38, Y:36.37, Z:33.63 [[-0.25587548 -0.94795997 0.18947199 52.3830519 ] [ 0.61400197 -0.31075254 -0.72555802 36.37194037] [ 0.74667886 -0.06931633 0.66156325 33.62550265] [ 0. 0. 0. 1. ]] SLAMing on 113.640371743 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:52.37, Y:36.36, Z:33.63 [[-2.55727328e-01 -9.41592706e-01 2.19104334e-01 5.23734629e+01] [ 6.12810978e-01 -3.33173655e-01 -7.16559852e-01 3.63570481e+01] [ 7.47707322e-01 -4.89743948e-02 6.62219956e-01 3.36318719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670371743 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:52.37, Y:36.36, Z:33.64 [[-2.56117204e-01 -9.40187985e-01 2.24611953e-01 5.23677585e+01] [ 6.14795092e-01 -3.37744004e-01 -7.12710308e-01 3.63633752e+01] [ 7.45943009e-01 -4.44470449e-02 6.64525009e-01 3.36419910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.700371743 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:52.37, Y:36.36, Z:33.63 [[-2.56326182e-01 -9.41146144e-01 2.20319825e-01 5.23702332e+01] [ 6.15267658e-01 -3.34659958e-01 -7.13756556e-01 3.63582837e+01] [ 7.45481453e-01 -4.73988299e-02 6.64838893e-01 3.36326784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73037174299999 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:52.37, Y:36.35, Z:33.62 [[-2.53899875e-01 -9.41007190e-01 2.23696943e-01 5.23712791e+01] [ 6.19242434e-01 -3.35808909e-01 -7.09768402e-01 3.63481787e+01] [ 7.43016596e-01 -4.16874687e-02 6.67973423e-01 3.36209269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760371743 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:52.37, Y:36.36, Z:33.62 [[-2.52347202e-01 -9.43352166e-01 2.15424187e-01 5.23708549e+01] [ 6.21727112e-01 -3.28662874e-01 -7.10940302e-01 3.63571099e+01] [ 7.41469006e-01 -4.54687389e-02 6.69444775e-01 3.36236924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790371743 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:52.37, Y:36.36, Z:33.62 [[-2.50714376e-01 -9.44412769e-01 2.12665990e-01 5.23707559e+01] [ 6.23128874e-01 -3.25559795e-01 -7.11140792e-01 3.63592341e+01] [ 7.40845941e-01 -4.57749012e-02 6.70113387e-01 3.36228111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820371743 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:52.37, Y:36.35, Z:33.62 [[-2.45450208e-01 -9.44337763e-01 2.19044251e-01 5.23682671e+01] [ 6.27494515e-01 -3.27002658e-01 -7.06625711e-01 3.63506962e+01] [ 7.38921396e-01 -3.59923613e-02 6.72829637e-01 3.36161260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850371743 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:52.37, Y:36.35, Z:33.61 [[-2.43703456e-01 -9.47945537e-01 2.04958252e-01 5.23727643e+01] [ 6.28818791e-01 -3.15331969e-01 -7.10740935e-01 3.63546875e+01] [ 7.38373586e-01 -4.43284219e-02 6.72933457e-01 3.36098847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880371743 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:52.37, Y:36.35, Z:33.60 [[-2.39870978e-01 -9.48420029e-01 2.07271229e-01 5.23714188e+01] [ 6.29112020e-01 -3.14467679e-01 -7.10864365e-01 3.63451697e+01] [ 7.39378104e-01 -4.01189089e-02 6.72094110e-01 3.36037125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910371743 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:52.37, Y:36.34, Z:33.60 [[-2.37702239e-01 -9.48862585e-01 2.07743691e-01 5.23715851e+01] [ 6.30408293e-01 -3.13412334e-01 -7.10181732e-01 3.63389039e+01] [ 7.38974309e-01 -3.78484426e-02 6.72669656e-01 3.35973538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940371743 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:52.37, Y:36.34, Z:33.60 [[-2.35359360e-01 -9.49623098e-01 2.06934633e-01 5.23702297e+01] [ 6.31004894e-01 -3.11241384e-01 -7.10606519e-01 3.63414537e+01] [ 7.39214986e-01 -3.66711292e-02 6.72470396e-01 3.36002588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:52.37, Y:36.33, Z:33.59 [[-2.29227532e-01 -9.48894864e-01 2.16917672e-01 5.23686532e+01] [ 6.39027779e-01 -3.14806460e-01 -7.01812219e-01 3.63316059e+01] [ 7.34233094e-01 -2.22582647e-02 6.78532485e-01 3.35923918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000371743 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:52.38, Y:36.34, Z:33.58 [[-2.28766514e-01 -9.56472153e-01 1.81181958e-01 5.23798725e+01] [ 6.32186859e-01 -2.87498320e-01 -7.19502948e-01 3.63430872e+01] [ 7.40274042e-01 -5.00573285e-02 6.70439115e-01 3.35844800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030371743 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:52.37, Y:36.32, Z:33.58 [[-2.21590072e-01 -9.49753940e-01 2.21054955e-01 5.23692695e+01] [ 6.41763416e-01 -3.12714685e-01 -7.00249415e-01 3.63172309e+01] [ 7.34191772e-01 -1.33033351e-02 6.78811803e-01 3.35796080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.060371743 meters Centerline goodness : 0.993370 Centerline is valid? [True, True] Translation: X:52.38, Y:36.33, Z:33.57 [[-2.19140541e-01 -9.55582790e-01 1.97076011e-01 5.23789874e+01] [ 6.44871904e-01 -2.93431128e-01 -7.05718357e-01 3.63252754e+01] [ 7.32200554e-01 -2.75627197e-02 6.80531150e-01 3.35668256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09037174299999 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:52.38, Y:36.35, Z:33.59 [[-0.23508972 -0.95947976 0.15534286 52.38172143] [ 0.61662154 -0.27076725 -0.73923134 36.35075184] [ 0.75133927 -0.07799794 0.65529048 33.58811631] [ 0. 0. 0. 1. ]] SLAMing on 114.12037174299999 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:52.35, Y:36.28, Z:33.59 [[-2.17455827e-01 -9.33133148e-01 2.86313624e-01 5.23504393e+01] [ 6.49563053e-01 -3.57294592e-01 -6.71124738e-01 3.62805333e+01] [ 7.28547049e-01 4.00387671e-02 6.83824608e-01 3.35874391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150371743 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:52.38, Y:36.36, Z:33.59 [[-0.2203157 -0.96168189 0.16318373 52.38214376] [ 0.63258286 -0.26820946 -0.72656907 36.35894387] [ 0.74249574 -0.05684734 0.66743423 33.58890282] [ 0. 0. 0. 1. ]] SLAMing on 114.180371743 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:52.37, Y:36.31, Z:33.58 [[-2.15053281e-01 -9.47601885e-01 2.36226066e-01 5.23650990e+01] [ 6.47827137e-01 -3.19424676e-01 -6.91583601e-01 3.63062688e+01] [ 7.30802358e-01 4.30633365e-03 6.82575541e-01 3.35758794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210371743 meters Centerline goodness : 0.992960 Centerline is valid? [True, True] Translation: X:52.38, Y:36.35, Z:33.58 [[-2.17224035e-01 -9.61441849e-01 1.68651385e-01 5.23842181e+01] [ 6.37589739e-01 -2.70580195e-01 -7.21294450e-01 3.63472599e+01] [ 7.39116394e-01 -4.91520983e-02 6.71781979e-01 3.35766151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240371743 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:52.37, Y:36.32, Z:33.58 [[-2.16838845e-01 -9.52184636e-01 2.15233208e-01 5.23700802e+01] [ 6.38691309e-01 -3.05119352e-01 -7.06382044e-01 3.63199318e+01] [ 7.38277947e-01 -1.57034873e-02 6.74313780e-01 3.35835514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270371743 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:52.37, Y:36.32, Z:33.58 [[-2.17478204e-01 -9.54351106e-01 2.04736897e-01 5.23743855e+01] [ 6.38197688e-01 -2.97742153e-01 -7.09967127e-01 3.63231055e+01] [ 7.38516717e-01 -2.37397617e-02 6.73817098e-01 3.35798096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300371743 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:52.38, Y:36.31, Z:33.57 [[-2.18693229e-01 -9.52748930e-01 2.10814487e-01 5.23754839e+01] [ 6.40679684e-01 -3.03151011e-01 -7.05428243e-01 3.63147490e+01] [ 7.36004629e-01 -1.92078213e-02 6.76703957e-01 3.35737756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330371743 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:52.38, Y:36.33, Z:33.58 [[-2.23189535e-01 -9.55643256e-01 1.92178038e-01 5.23801248e+01] [ 6.32905572e-01 -2.92011716e-01 -7.17049297e-01 3.63268784e+01] [ 7.41361564e-01 -3.84073479e-02 6.70005901e-01 3.35790242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360371743 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:52.37, Y:36.30, Z:33.58 [[-2.19860440e-01 -9.45306076e-01 2.40951882e-01 5.23671524e+01] [ 6.47547177e-01 -3.26152069e-01 -6.88699849e-01 3.63037274e+01] [ 7.29619107e-01 4.60985865e-03 6.83838218e-01 3.35801249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390371743 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:52.39, Y:36.33, Z:33.56 [[-2.25872752e-01 -9.58017104e-01 1.76591984e-01 5.23917843e+01] [ 6.38329159e-01 -2.82490535e-01 -7.16055154e-01 3.63303845e+01] [ 7.35878649e-01 -4.90135352e-02 6.75337166e-01 3.35630396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:52.34, Y:36.46, Z:33.73 [[-2.33550225e-01 -9.51339764e-01 2.01014789e-01 5.23387274e+01] [ 6.30732169e-01 -3.05561890e-01 -7.13308392e-01 3.64562046e+01] [ 7.40021097e-01 -3.98068414e-02 6.71404641e-01 3.37300672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.450371743 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:52.37, Y:36.33, Z:33.61 [[-2.32762298e-01 -9.42379724e-01 2.40296001e-01 5.23652298e+01] [ 6.41008622e-01 -3.34476737e-01 -6.90820714e-01 3.63290473e+01] [ 7.31388856e-01 -6.76520891e-03 6.81927103e-01 3.36088668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48037174299999 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:52.39, Y:36.33, Z:33.57 [[-0.23821614 -0.95431955 0.18035316 52.3936794 ] [ 0.62967934 -0.29314116 -0.7194249 36.3306119 ] [ 0.73943019 -0.05781397 0.67074626 33.57172617] [ 0. 0. 0. 1. ]] SLAMing on 114.510371743 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:52.38, Y:36.32, Z:33.58 [[-2.41037459e-01 -9.47830014e-01 2.08612578e-01 5.23847841e+01] [ 6.26048074e-01 -3.16099909e-01 -7.12842659e-01 3.63165593e+01] [ 7.41596085e-01 -4.12202804e-02 6.69579073e-01 3.35805162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540371743 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:52.38, Y:36.31, Z:33.59 [[-2.44354066e-01 -9.43845193e-01 2.22367581e-01 5.23810081e+01] [ 6.26983762e-01 -3.28719523e-01 -7.06282406e-01 3.63143815e+01] [ 7.39717819e-01 -3.31621151e-02 6.72099563e-01 3.35877107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570371743 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:52.38, Y:36.32, Z:33.59 [[-2.45933644e-01 -9.45389216e-01 2.13906225e-01 5.23841388e+01] [ 6.26379730e-01 -3.23424723e-01 -7.09256570e-01 3.63209128e+01] [ 7.39706074e-01 -4.04435295e-02 6.71713663e-01 3.35879025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600371743 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:52.38, Y:36.30, Z:33.57 [[-2.44233658e-01 -9.41506316e-01 2.32197710e-01 5.23843490e+01] [ 6.35866967e-01 -3.36275183e-01 -6.94688564e-01 3.63019805e+01] [ 7.32135999e-01 -2.20194760e-02 6.80802484e-01 3.35711103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630371743 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:52.40, Y:36.32, Z:33.57 [[-0.24743299 -0.95020905 0.18941932 52.39774807] [ 0.62873926 -0.30621198 -0.7147875 36.323401 ] [ 0.73720002 -0.05776665 0.67320068 33.56688285] [ 0. 0. 0. 1. ]] SLAMing on 114.660371743 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:52.39, Y:36.32, Z:33.58 [[-2.50600677e-01 -9.46203952e-01 2.04688498e-01 5.23920222e+01] [ 6.20866126e-01 -3.19311196e-01 -7.15936878e-01 3.63183622e+01] [ 7.42781633e-01 -5.23301112e-02 6.67485584e-01 3.35772999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:52.39, Y:36.31, Z:33.59 [[-2.50980271e-01 -9.42684309e-01 2.19898152e-01 5.23863898e+01] [ 6.18616414e-01 -3.30927576e-01 -7.12601342e-01 3.63136910e+01] [ 7.44528466e-01 -4.28162715e-02 6.66216279e-01 3.35853382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720371743 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:52.38, Y:36.32, Z:33.59 [[-2.50049478e-01 -9.41683645e-01 2.25182528e-01 5.23837188e+01] [ 6.19399285e-01 -3.34331111e-01 -7.10328962e-01 3.63160313e+01] [ 7.44190691e-01 -3.81394889e-02 6.66877496e-01 3.35910563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750371743 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:52.39, Y:36.31, Z:33.58 [[-2.49679842e-01 -9.43117468e-01 2.19520882e-01 5.23884487e+01] [ 6.17638841e-01 -3.29707434e-01 -7.14013494e-01 3.63106810e+01] [ 7.45776266e-01 -4.26901534e-02 6.64827280e-01 3.35811122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780371743 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:52.38, Y:36.32, Z:33.59 [[-2.46901671e-01 -9.41540500e-01 2.29218351e-01 5.23818500e+01] [ 6.20315809e-01 -3.35291095e-01 -7.09075581e-01 3.63171194e+01] [ 7.44478248e-01 -3.28841786e-02 6.66836388e-01 3.35940785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.810371743 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:52.39, Y:36.29, Z:33.56 [[-2.41409479e-01 -9.41814988e-01 2.33893122e-01 5.23896257e+01] [ 6.27684812e-01 -3.35358512e-01 -7.02528608e-01 3.62877771e+01] [ 7.40090021e-01 -2.27859054e-02 6.72121687e-01 3.35589364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84037174299999 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:52.39, Y:36.31, Z:33.57 [[-0.246871 -0.9497704 0.19233017 52.39339041] [ 0.61474967 -0.30691892 -0.72655599 36.31432155] [ 0.74909115 -0.0611307 0.65964043 33.57070005] [ 0. 0. 0. 1. ]] SLAMing on 114.87037174299999 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:52.38, Y:36.27, Z:33.56 [[-2.33079561e-01 -9.36049233e-01 2.63601501e-01 5.23789874e+01] [ 6.31358857e-01 -3.51828403e-01 -6.91088105e-01 3.62692467e+01] [ 7.39634986e-01 5.34863068e-03 6.72986983e-01 3.35639596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900371743 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:52.39, Y:36.31, Z:33.56 [[-0.24120142 -0.95136531 0.19164007 52.39413462] [ 0.61737438 -0.30278068 -0.72606662 36.30768738] [ 0.74877951 -0.05681463 0.6603797 33.5638793 ] [ 0. 0. 0. 1. ]] SLAMing on 114.930371743 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:52.38, Y:36.27, Z:33.57 [[-2.24557250e-01 -9.37001203e-01 2.67586972e-01 5.23750912e+01] [ 6.37655135e-01 -3.48940398e-01 -6.86757984e-01 3.62696299e+01] [ 7.36864961e-01 1.64117226e-02 6.75840724e-01 3.35673888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960371743 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:52.40, Y:36.29, Z:33.54 [[-2.22170796e-01 -9.52581681e-01 2.07914111e-01 5.23964999e+01] [ 6.37281838e-01 -3.03262694e-01 -7.08451549e-01 3.62919391e+01] [ 7.37910561e-01 -2.48973580e-02 6.74439119e-01 3.35446939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990371743 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:52.39, Y:36.29, Z:33.55 [[-2.19519701e-01 -9.49759513e-01 2.23087358e-01 5.23921998e+01] [ 6.43649174e-01 -3.12829124e-01 -6.98465232e-01 3.62851775e+01] [ 7.33162221e-01 -9.73688506e-03 6.79984082e-01 3.35457861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020371743 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:52.40, Y:36.30, Z:33.54 [[-2.20129549e-01 -9.54615433e-01 2.00629901e-01 5.23992685e+01] [ 6.41412177e-01 -2.96609019e-01 -7.07540464e-01 3.62979474e+01] [ 7.34937685e-01 -2.70641015e-02 6.77594373e-01 3.35443394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050371743 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:52.40, Y:36.30, Z:33.55 [[-2.21062387e-01 -9.52549003e-01 2.09241054e-01 5.23952685e+01] [ 6.41522166e-01 -3.03625268e-01 -7.04457953e-01 3.62994234e+01] [ 7.34561591e-01 -2.14963824e-02 6.78201426e-01 3.35517600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:52.40, Y:36.29, Z:33.55 [[-2.21757156e-01 -9.51063116e-01 2.15180651e-01 5.23960333e+01] [ 6.39467869e-01 -3.08438289e-01 -7.04234809e-01 3.62899131e+01] [ 7.36141704e-01 -1.85679960e-02 6.76572702e-01 3.35471962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110371743 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:52.39, Y:36.29, Z:33.55 [[-2.23157292e-01 -9.48651936e-01 2.24188153e-01 5.23938054e+01] [ 6.43942377e-01 -3.16126629e-01 -6.96708095e-01 3.62898546e+01] [ 7.31805328e-01 -1.11112396e-02 6.81423145e-01 3.35490185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140371743 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:52.40, Y:36.30, Z:33.54 [[-2.25265492e-01 -9.53288975e-01 2.01235155e-01 5.24034816e+01] [ 6.39337879e-01 -3.00487323e-01 -7.07781354e-01 3.62971288e+01] [ 7.35188775e-01 -3.07814575e-02 6.77163176e-01 3.35420919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170371743 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:52.40, Y:36.30, Z:33.55 [[-2.29210387e-01 -9.50670970e-01 2.09015082e-01 5.24022426e+01] [ 6.35314536e-01 -3.08799863e-01 -7.07826309e-01 3.62950966e+01] [ 7.37453753e-01 -2.94508224e-02 6.74755223e-01 3.35469180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20037174299999 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:52.40, Y:36.29, Z:33.55 [[-2.31454754e-01 -9.47100069e-01 2.22328937e-01 5.23982934e+01] [ 6.37127434e-01 -3.20275764e-01 -7.01064952e-01 3.62905183e+01] [ 7.35185235e-01 -2.06129507e-02 6.77552785e-01 3.35498758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23037174299999 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:52.40, Y:36.29, Z:33.55 [[-2.34038636e-01 -9.47749934e-01 2.16785563e-01 5.24017876e+01] [ 6.35117562e-01 -3.17863247e-01 -7.03980567e-01 3.62911847e+01] [ 7.36105698e-01 -2.70743334e-02 6.76324908e-01 3.35465169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260371743 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:52.40, Y:36.30, Z:33.56 [[-2.39974902e-01 -9.46663605e-01 2.15035031e-01 5.24004011e+01] [ 6.31271761e-01 -3.20452264e-01 -7.06262210e-01 3.63039687e+01] [ 7.37501193e-01 -3.37396618e-02 6.74502502e-01 3.35610543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290371743 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:52.40, Y:36.27, Z:33.53 [[-2.39303109e-01 -9.42492490e-01 2.33327941e-01 5.24038851e+01] [ 6.38689948e-01 -3.33800672e-01 -6.93290892e-01 3.62743020e+01] [ 7.31306483e-01 -1.68824558e-02 6.81840018e-01 3.35348197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320371743 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:52.41, Y:36.30, Z:33.54 [[-2.43709908e-01 -9.47763659e-01 2.05790007e-01 5.24104702e+01] [ 6.35306510e-01 -3.16333439e-01 -7.04498966e-01 3.62980725e+01] [ 7.32796779e-01 -4.09536470e-02 6.79214016e-01 3.35423343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:52.41, Y:36.29, Z:33.54 [[-2.50104233e-01 -9.45815733e-01 2.07076005e-01 5.24142486e+01] [ 6.32108092e-01 -3.21509024e-01 -7.05032841e-01 3.62930384e+01] [ 7.33407958e-01 -4.54372795e-02 6.78268547e-01 3.35387120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380371743 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:52.41, Y:36.28, Z:33.53 [[-2.51567507e-01 -9.42042814e-01 2.21966497e-01 5.24134500e+01] [ 6.31483754e-01 -3.33563960e-01 -6.99973824e-01 3.62775729e+01] [ 7.33445334e-01 -3.59224325e-02 6.78798586e-01 3.35319298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410371743 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:52.41, Y:36.30, Z:33.55 [[-0.26541477 -0.94429715 0.19457106 52.4138785 ] [ 0.61376213 -0.32112003 -0.72123365 36.29929869] [ 0.74353954 -0.07200571 0.66480382 33.55174238] [ 0. 0. 0. 1. ]] SLAMing on 115.440371743 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:52.40, Y:36.28, Z:33.56 [[-2.67595311e-01 -9.31806674e-01 2.45212300e-01 5.23992349e+01] [ 6.10707032e-01 -3.60868581e-01 -7.04848060e-01 3.62762357e+01] [ 7.45271541e-01 -3.88611595e-02 6.65627629e-01 3.35642242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470371743 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:52.40, Y:36.28, Z:33.57 [[-2.68788170e-01 -9.31351107e-01 2.45638014e-01 5.23988932e+01] [ 6.10171467e-01 -3.61968482e-01 -7.04747897e-01 3.62795108e+01] [ 7.45280954e-01 -3.95465905e-02 6.65576718e-01 3.35678469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500371743 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:52.40, Y:36.28, Z:33.57 [[-2.69883417e-01 -9.30931039e-01 2.46029149e-01 5.24000719e+01] [ 6.09802121e-01 -3.62985014e-01 -7.04544713e-01 3.62775124e+01] [ 7.45187436e-01 -4.01158378e-02 6.65647358e-01 3.35651462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530371743 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:52.40, Y:36.26, Z:33.55 [[-2.58580040e-01 -9.25461799e-01 2.76869683e-01 5.24000132e+01] [ 6.31989136e-01 -3.78840907e-01 -6.76069005e-01 3.62587995e+01] [ 7.30565599e-01 1.60681253e-04 6.82842500e-01 3.35472123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.560371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:52.42, Y:36.31, Z:33.55 [[-0.27157418 -0.94521253 0.18116494 52.42155487] [ 0.61223652 -0.3149119 -0.72525646 36.3144235 ] [ 0.74257249 -0.08604514 0.66421557 33.55489313] [ 0. 0. 0. 1. ]] SLAMing on 115.59037174299999 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:52.40, Y:36.28, Z:33.57 [[-2.70764836e-01 -9.30513032e-01 2.46641237e-01 5.24000713e+01] [ 6.09593408e-01 -3.64032955e-01 -7.04184553e-01 3.62837715e+01] [ 7.45038442e-01 -4.03175429e-02 6.65801934e-01 3.35709998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62037174299999 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:52.41, Y:36.27, Z:33.56 [[-2.69950539e-01 -9.30615170e-01 2.47147957e-01 5.24052059e+01] [ 6.09566364e-01 -3.63864519e-01 -7.04295009e-01 3.62715062e+01] [ 7.45355992e-01 -3.94717361e-02 6.65497128e-01 3.35560605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650371743 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:52.40, Y:36.27, Z:33.56 [[-2.69239039e-01 -9.30695254e-01 2.47622060e-01 5.24045661e+01] [ 6.09607780e-01 -3.63744868e-01 -7.04320968e-01 3.62735837e+01] [ 7.45579435e-01 -3.86783662e-02 6.65293386e-01 3.35580442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680371743 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:52.41, Y:36.27, Z:33.55 [[-2.67915618e-01 -9.30964804e-01 2.48043857e-01 5.24071123e+01] [ 6.10071686e-01 -3.63194255e-01 -7.04203431e-01 3.62665419e+01] [ 7.45676713e-01 -3.73425631e-02 6.65260681e-01 3.35496094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:52.41, Y:36.27, Z:33.55 [[-2.62948670e-01 -9.32191311e-01 2.48751595e-01 5.24052021e+01] [ 6.10914878e-01 -3.60423050e-01 -7.04895905e-01 3.62697350e+01] [ 7.46753647e-01 -3.33853901e-02 6.64262303e-01 3.35534890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740371743 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:52.41, Y:36.26, Z:33.55 [[-2.59887262e-01 -9.32922352e-01 2.49227798e-01 5.24066008e+01] [ 6.11847989e-01 -3.58765344e-01 -7.04932242e-01 3.62637834e+01] [ 7.47061343e-01 -3.07133832e-02 6.64045208e-01 3.35463613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770371743 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:52.41, Y:36.26, Z:33.54 [[-2.56525949e-01 -9.33707592e-01 2.49769034e-01 5.24082057e+01] [ 6.12657397e-01 -3.56950398e-01 -7.05150570e-01 3.62567642e+01] [ 7.47559597e-01 -2.78665732e-02 6.63609903e-01 3.35389328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800371743 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:52.41, Y:36.24, Z:33.52 [[-2.40019159e-01 -9.32821637e-01 2.68764946e-01 5.24096667e+01] [ 6.32841544e-01 -3.60295089e-01 -6.85345920e-01 3.62408481e+01] [ 7.36140193e-01 5.58947210e-03 6.76806009e-01 3.35204499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830371743 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:52.42, Y:36.27, Z:33.52 [[-2.47354856e-01 -9.46028236e-01 2.09394727e-01 5.24213741e+01] [ 6.18174563e-01 -3.20495992e-01 -7.17734302e-01 3.62670615e+01] [ 7.46107087e-01 -4.80925715e-02 6.64086831e-01 3.35204506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860371743 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:52.40, Y:36.24, Z:33.53 [[-2.30739352e-01 -9.28031721e-01 2.92432004e-01 5.23973564e+01] [ 6.49128424e-01 -3.70702686e-01 -6.64237764e-01 3.62384524e+01] [ 7.24839044e-01 3.65601345e-02 6.87947466e-01 3.35307450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:52.43, Y:36.29, Z:33.52 [[-2.26992563e-01 -9.52975055e-01 2.00780779e-01 5.24251898e+01] [ 6.45757125e-01 -3.01602796e-01 -7.01450989e-01 3.62870827e+01] [ 7.29021339e-01 -2.95685392e-02 6.83852023e-01 3.35163891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920371743 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:52.42, Y:36.27, Z:33.51 [[-2.25975391e-01 -9.49578088e-01 2.17339773e-01 5.24222669e+01] [ 6.46861649e-01 -3.13093613e-01 -6.95372128e-01 3.62699486e+01] [ 7.28357831e-01 -1.65482243e-02 6.84997100e-01 3.35098253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95037174299999 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:52.43, Y:36.27, Z:33.51 [[-0.23735945 -0.95406348 0.18282058 52.43084532] [ 0.62484104 -0.29404687 -0.72326351 36.27295128] [ 0.74379713 -0.05743963 0.66593282 33.50712124] [ 0. 0. 0. 1. ]] SLAMing on 115.98037174299999 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:52.40, Y:36.24, Z:33.53 [[-2.26594058e-01 -9.29686536e-01 2.90410188e-01 5.23994799e+01] [ 6.54103103e-01 -3.66175171e-01 -6.61864695e-01 3.62370618e+01] [ 7.21667696e-01 3.99835982e-02 6.91083966e-01 3.35276743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010371743 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:52.44, Y:36.27, Z:33.49 [[-2.26977757e-01 -9.53681449e-01 1.97415279e-01 5.24350816e+01] [ 6.47361609e-01 -2.99184094e-01 -7.01007721e-01 3.62671358e+01] [ 7.27601571e-01 -3.13140876e-02 6.85284891e-01 3.34931331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040371743 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:52.43, Y:36.26, Z:33.50 [[-2.33007423e-01 -9.47568482e-01 2.18681306e-01 5.24303122e+01] [ 6.45370162e-01 -3.18887724e-01 -6.94123889e-01 3.62570021e+01] [ 7.27464704e-01 -2.06056288e-02 6.85835631e-01 3.34960848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070371743 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:52.43, Y:36.26, Z:33.50 [[-2.37378717e-01 -9.48717954e-01 2.08771619e-01 5.24345676e+01] [ 6.38226622e-01 -3.14335785e-01 -7.02751587e-01 3.62622492e+01] [ 7.32337438e-01 -3.35746650e-02 6.80113681e-01 3.34988280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100371743 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:52.43, Y:36.25, Z:33.50 [[-2.40362709e-01 -9.43941242e-01 2.26275715e-01 5.24309375e+01] [ 6.39190686e-01 -3.29352115e-01 -6.94954999e-01 3.62526424e+01] [ 7.30521071e-01 -2.24079365e-02 6.82522417e-01 3.34975893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130371743 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:52.43, Y:36.27, Z:33.51 [[-2.48490644e-01 -9.43573431e-01 2.18909982e-01 5.24329337e+01] [ 6.36711236e-01 -3.29427481e-01 -6.97191750e-01 3.62661810e+01] [ 7.29966575e-01 -3.38631820e-02 6.82643453e-01 3.35060462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160371743 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:52.44, Y:36.27, Z:33.51 [[-0.26286747 -0.94444293 0.19730242 52.43733574] [ 0.61695394 -0.3217595 -0.71821909 36.27004416] [ 0.74180087 -0.06706993 0.66725789 33.51033655] [ 0. 0. 0. 1. ]] SLAMing on 116.190371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:52.42, Y:36.25, Z:33.53 [[-2.68705006e-01 -9.29906091e-01 2.51141956e-01 5.24199688e+01] [ 6.12741313e-01 -3.66194668e-01 -7.00321033e-01 3.62514612e+01] [ 7.43199639e-01 -3.42947152e-02 6.68190219e-01 3.35308609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:52.41, Y:36.24, Z:33.53 [[-2.62303759e-01 -9.22312714e-01 2.83788646e-01 5.24149174e+01] [ 6.34967696e-01 -3.86415460e-01 -6.68953748e-01 3.62424557e+01] [ 7.26644867e-01 4.72753977e-03 6.86997007e-01 3.35257056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:52.44, Y:36.28, Z:33.52 [[-0.26698749 -0.94115284 0.20724142 52.4392941 ] [ 0.62742357 -0.33298458 -0.70388986 36.2808891 ] [ 0.73147614 -0.05790164 0.6794042 33.51598205] [ 0. 0. 0. 1. ]] SLAMing on 116.280371743 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:52.43, Y:36.27, Z:33.52 [[-2.71447850e-01 -9.34153768e-01 2.31673913e-01 5.24325186e+01] [ 6.24100979e-01 -3.54088324e-01 -6.96505152e-01 3.62680169e+01] [ 7.32675940e-01 -4.44769100e-02 6.79122796e-01 3.35206609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.310371743 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:52.44, Y:36.27, Z:33.52 [[-0.27981817 -0.93572662 0.21474981 52.43525288] [ 0.61019261 -0.34603358 -0.71268909 36.27040567] [ 0.7411928 -0.06838461 0.66779995 33.52284261] [ 0. 0. 0. 1. ]] SLAMing on 116.34037174299999 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:52.43, Y:36.24, Z:33.51 [[-2.72652214e-01 -9.23514246e-01 2.69781778e-01 5.24255402e+01] [ 6.23422260e-01 -3.83158143e-01 -6.81567695e-01 3.62375220e+01] [ 7.32806561e-01 -1.76429748e-02 6.80208255e-01 3.35131518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37037174299999 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:52.44, Y:36.26, Z:33.51 [[-2.75477583e-01 -9.33169304e-01 2.30883416e-01 5.24360625e+01] [ 6.22853310e-01 -3.56207582e-01 -6.96541394e-01 3.62630766e+01] [ 7.32233471e-01 -4.80750394e-02 6.79354793e-01 3.35123076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400371743 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:52.44, Y:36.26, Z:33.51 [[-0.28243598 -0.93432548 0.21740702 52.43836245] [ 0.60922659 -0.34976527 -0.7116932 36.26160765] [ 0.74099452 -0.06855763 0.66800222 33.51289376] [ 0. 0. 0. 1. ]] SLAMing on 116.430371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:52.42, Y:36.25, Z:33.53 [[-2.83462003e-01 -9.24974510e-01 2.53123388e-01 5.24230810e+01] [ 6.07384622e-01 -3.77426161e-01 -6.99023186e-01 3.62532890e+01] [ 7.42114017e-01 -4.44032592e-02 6.68801268e-01 3.35316564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:52.42, Y:36.26, Z:33.54 [[-2.79926619e-01 -9.21690537e-01 2.68565900e-01 5.24161240e+01] [ 6.18075734e-01 -3.87084610e-01 -6.84213338e-01 3.62617107e+01] [ 7.34590685e-01 -2.55354605e-02 6.78029841e-01 3.35427355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490371743 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:52.43, Y:36.28, Z:33.54 [[-0.28574638 -0.93142421 0.225384 52.42646255] [ 0.607461 -0.35795255 -0.709127 36.28007104] [ 0.74117483 -0.06571848 0.66808753 33.53973363] [ 0. 0. 0. 1. ]] SLAMing on 116.520371743 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:52.42, Y:36.25, Z:33.52 [[-2.81581121e-01 -9.21321389e-01 2.68102538e-01 5.24219432e+01] [ 6.17193049e-01 -3.87842670e-01 -6.84580750e-01 3.62465330e+01] [ 7.34700492e-01 -2.72939922e-02 6.77842331e-01 3.35208195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550371743 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:52.43, Y:36.26, Z:33.51 [[-2.82375865e-01 -9.27718182e-01 2.44136941e-01 5.24296839e+01] [ 6.18847356e-01 -3.70621237e-01 -6.92580572e-01 3.62569359e+01] [ 7.33001924e-01 -4.44845373e-02 6.78770436e-01 3.35126825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580371743 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:52.43, Y:36.25, Z:33.50 [[-2.81954260e-01 -9.28816734e-01 2.40418946e-01 5.24308419e+01] [ 6.18880648e-01 -3.67554575e-01 -6.94183245e-01 3.62529884e+01] [ 7.33136098e-01 -4.69372902e-02 6.78460280e-01 3.35049348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610371743 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:52.43, Y:36.26, Z:33.51 [[-0.28622314 -0.93223768 0.22138025 52.43338598] [ 0.60584758 -0.35507942 -0.71194615 36.25839545] [ 0.7423106 -0.06965277 0.66642589 33.50950333] [ 0. 0. 0. 1. ]] SLAMing on 116.640371743 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:52.42, Y:36.24, Z:33.52 [[-2.80985651e-01 -9.20987858e-01 2.69867429e-01 5.24167534e+01] [ 6.15308264e-01 -3.88678790e-01 -6.85802113e-01 3.62426890e+01] [ 7.36507165e-01 -2.66488936e-02 6.75904603e-01 3.35188591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670371743 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:52.43, Y:36.25, Z:33.51 [[-0.28163739 -0.93174217 0.22920929 52.42649691] [ 0.60718742 -0.35802835 -0.70932302 36.25379511] [ 0.7429696 -0.06059889 0.66657629 33.51048881] [ 0. 0. 0. 1. ]] SLAMing on 116.70037174299999 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:52.42, Y:36.23, Z:33.50 [[-2.79332616e-01 -9.25432641e-01 2.56022882e-01 5.24206131e+01] [ 6.06840906e-01 -3.76781788e-01 -6.99842553e-01 3.62291729e+01] [ 7.44121902e-01 -4.01236933e-02 6.66837825e-01 3.35040719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73037174299999 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:52.42, Y:36.22, Z:33.49 [[-2.72998114e-01 -9.24947848e-01 2.64468351e-01 5.24207260e+01] [ 6.15473732e-01 -3.79213987e-01 -6.90933309e-01 3.62196703e+01] [ 7.39367375e-01 -2.58501666e-02 6.72805807e-01 3.34930914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:52.42, Y:36.24, Z:33.50 [[-2.73614112e-01 -9.32371426e-01 2.36260115e-01 5.24198096e+01] [ 6.10668901e-01 -3.58170299e-01 -7.06255995e-01 3.62394005e+01] [ 7.43114265e-01 -4.89649021e-02 6.67370682e-01 3.35044875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790371743 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:52.42, Y:36.21, Z:33.48 [[-2.65454358e-01 -9.25028464e-01 2.71765200e-01 5.24161895e+01] [ 6.24194466e-01 -3.79720245e-01 -6.82783863e-01 3.62060868e+01] [ 7.34789257e-01 -1.16136180e-02 6.78196043e-01 3.34838357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820371743 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:52.42, Y:36.23, Z:33.49 [[-0.26829705 -0.93707955 0.22337995 52.42363204] [ 0.61382504 -0.34500911 -0.71006164 36.23064155] [ 0.74245236 -0.05339124 0.66776782 33.48718924] [ 0. 0. 0. 1. ]] SLAMing on 116.850371743 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.49 [[-2.66937439e-01 -9.28824037e-01 2.56963641e-01 5.24128450e+01] [ 6.13264925e-01 -3.69401526e-01 -6.98175225e-01 3.62107284e+01] [ 7.43404692e-01 -2.87823189e-02 6.68222300e-01 3.34917883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880371743 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:52.30, Y:36.53, Z:33.86 [[-2.67766591e-01 -9.29780674e-01 2.52604338e-01 5.22967388e+01] [ 6.12770356e-01 -3.66662112e-01 -7.00050989e-01 3.65277755e+01] [ 7.43514320e-01 -3.26618166e-02 6.67921898e-01 3.38597700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910371743 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:52.41, Y:36.18, Z:33.47 [[-2.52246727e-01 -9.25948979e-01 2.81051735e-01 5.24107798e+01] [ 6.32397468e-01 -3.77581529e-01 -6.76391626e-01 3.61808260e+01] [ 7.32424079e-01 7.11883144e-03 6.80811494e-01 3.34682489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940371743 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:52.43, Y:36.21, Z:33.45 [[-2.53485444e-01 -9.42351966e-01 2.18444276e-01 5.24299466e+01] [ 6.31664855e-01 -3.32276255e-01 -7.00422730e-01 3.62109026e+01] [ 7.32628583e-01 -3.95633945e-02 6.79477812e-01 3.34513789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970371743 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:52.43, Y:36.20, Z:33.44 [[-2.53251919e-01 -9.39911367e-01 2.28976172e-01 5.24292255e+01] [ 6.33864243e-01 -3.40027131e-01 -6.94692502e-01 3.61963826e+01] [ 7.30807490e-01 -3.07924015e-02 6.81888730e-01 3.34426309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000371743 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:52.43, Y:36.21, Z:33.46 [[-2.57126295e-01 -9.42486973e-01 2.13551808e-01 5.24289443e+01] [ 6.28033842e-01 -3.30924652e-01 -7.04316952e-01 3.62144203e+01] [ 7.34479109e-01 -4.69806461e-02 6.77003144e-01 3.34554021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:52.42, Y:36.22, Z:33.48 [[-2.67083355e-01 -9.37692822e-01 2.22258079e-01 5.24174481e+01] [ 6.17631288e-01 -3.43601841e-01 -7.07438595e-01 3.62210475e+01] [ 7.39728378e-01 -5.16715296e-02 6.70918758e-01 3.34797724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.060371743 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.49 [[-2.69984867e-01 -9.29223285e-01 2.52293992e-01 5.24078682e+01] [ 6.15402457e-01 -3.68049478e-01 -6.97007459e-01 3.62054925e+01] [ 7.40532233e-01 -3.29191240e-02 6.71214082e-01 3.34874446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09037174299999 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.49 [[-2.66036521e-01 -9.30360643e-01 2.52296739e-01 5.24106425e+01] [ 6.17732617e-01 -3.65465812e-01 -6.96305360e-01 3.62075471e+01] [ 7.40020934e-01 -2.93907301e-02 6.71941368e-01 3.34865788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12037174299999 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:52.42, Y:36.19, Z:33.46 [[-2.66241163e-01 -9.30348410e-01 2.52125921e-01 5.24167642e+01] [ 6.24715553e-01 -3.65741445e-01 -6.89901205e-01 3.61936745e+01] [ 7.34061388e-01 -2.61731148e-02 6.78578549e-01 3.34640170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150371743 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:52.42, Y:36.22, Z:33.48 [[-0.27354635 -0.93605308 0.22130753 52.42057624] [ 0.61633304 -0.34722033 -0.7068038 36.22138108] [ 0.73844835 -0.05694446 0.6719013 33.47662076] [ 0. 0. 0. 1. ]] SLAMing on 117.180371743 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.48 [[-2.76120092e-01 -9.30324908e-01 2.41357123e-01 5.24147294e+01] [ 6.12022980e-01 -3.63818324e-01 -7.02185231e-01 3.62077451e+01] [ 7.41070554e-01 -4.61713451e-02 6.69837772e-01 3.34805710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.49 [[-2.79752881e-01 -9.27859465e-01 2.46607257e-01 5.24098870e+01] [ 6.07741429e-01 -3.69994187e-01 -7.02676780e-01 3.62111477e+01] [ 7.43228553e-01 -4.67024063e-02 6.67405577e-01 3.34916884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240371743 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:52.41, Y:36.20, Z:33.49 [[-2.81706968e-01 -9.26543077e-01 2.49317290e-01 5.24118292e+01] [ 6.04907968e-01 -3.73197330e-01 -7.03427397e-01 3.62021388e+01] [ 7.44800332e-01 -4.73463842e-02 6.65605578e-01 3.34850840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270371743 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:52.41, Y:36.20, Z:33.49 [[-2.83150830e-01 -9.23904588e-01 2.57343971e-01 5.24082433e+01] [ 6.04892024e-01 -3.80261912e-01 -6.99647424e-01 3.62007615e+01] [ 7.44265576e-01 -4.24404332e-02 6.66533992e-01 3.34899019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:52.41, Y:36.20, Z:33.49 [[-2.85899963e-01 -9.23085302e-01 2.57244508e-01 5.24098802e+01] [ 6.03704527e-01 -3.81982374e-01 -6.99735886e-01 3.61995322e+01] [ 7.44178779e-01 -4.47547900e-02 6.66479522e-01 3.34865510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:52.41, Y:36.20, Z:33.49 [[-2.86273513e-01 -9.22691248e-01 2.58240848e-01 5.24086265e+01] [ 6.03686525e-01 -3.82990050e-01 -6.99200401e-01 3.62034676e+01] [ 7.44049767e-01 -4.42660351e-02 6.66656180e-01 3.34905379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360371743 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:52.41, Y:36.20, Z:33.48 [[-2.86940251e-01 -9.22033206e-01 2.59846222e-01 5.24110224e+01] [ 6.05033606e-01 -3.84737167e-01 -6.97073632e-01 3.61957385e+01] [ 7.42697535e-01 -4.28027866e-02 6.68257655e-01 3.34809786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.49 [[-2.87243019e-01 -9.23763564e-01 2.53283096e-01 5.24082341e+01] [ 6.05286693e-01 -3.79993094e-01 -6.99452119e-01 3.62124472e+01] [ 7.42374209e-01 -4.76038507e-02 6.68292157e-01 3.34939336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420371743 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:52.41, Y:36.22, Z:33.50 [[-2.88176092e-01 -9.23737041e-01 2.52318090e-01 5.24071638e+01] [ 6.04438281e-01 -3.79842630e-01 -7.00267050e-01 3.62168456e+01] [ 7.42703779e-01 -4.92895091e-02 6.67803594e-01 3.34981258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45037174299999 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.50 [[-2.88510029e-01 -9.23332117e-01 2.53416191e-01 5.24075087e+01] [ 6.04235422e-01 -3.80889232e-01 -6.99873523e-01 3.62146619e+01] [ 7.42739199e-01 -4.87974912e-02 6.67800334e-01 3.34964789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48037174299999 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:52.41, Y:36.19, Z:33.47 [[-2.91359067e-01 -9.21423832e-01 2.57075894e-01 5.24132995e+01] [ 6.04061381e-01 -3.85593164e-01 -6.97443732e-01 3.61913206e+01] [ 7.41767984e-01 -4.79169351e-02 6.68942617e-01 3.34705003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510371743 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:52.41, Y:36.20, Z:33.48 [[-2.87300448e-01 -9.22358381e-01 2.58289507e-01 5.24118729e+01] [ 6.06488670e-01 -3.83890973e-01 -6.96275243e-01 3.61992728e+01] [ 7.41370316e-01 -4.33905300e-02 6.69691956e-01 3.34783308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540371743 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:52.42, Y:36.19, Z:33.46 [[-2.87636589e-01 -9.23712115e-01 2.53023955e-01 5.24167055e+01] [ 6.08675872e-01 -3.80280925e-01 -6.96347687e-01 3.61928209e+01] [ 7.39444978e-01 -4.62854968e-02 6.71623985e-01 3.34640609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570371743 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:52.42, Y:36.19, Z:33.46 [[-0.28869895 -0.92668658 0.24063436 52.42250411] [ 0.60491248 -0.37136471 -0.70439275 36.19122881] [ 0.74211441 -0.05779472 0.66777688 33.45512362] [ 0. 0. 0. 1. ]] SLAMing on 117.600371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:52.41, Y:36.19, Z:33.47 [[-2.87650091e-01 -9.22457064e-01 2.57546872e-01 5.24130096e+01] [ 6.08594397e-01 -3.83692782e-01 -6.94544966e-01 3.61941395e+01] [ 7.39506785e-01 -4.30443396e-02 6.71771463e-01 3.34686243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:52.42, Y:36.19, Z:33.46 [[-2.87204144e-01 -9.25034634e-01 2.48645744e-01 5.24169029e+01] [ 6.08600720e-01 -3.76676923e-01 -6.98369286e-01 3.61942943e+01] [ 7.39674890e-01 -4.92485739e-02 6.71159918e-01 3.34614791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660371743 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:52.42, Y:36.19, Z:33.46 [[-2.86212838e-01 -9.25732960e-01 2.47185556e-01 5.24182945e+01] [ 6.08941326e-01 -3.74918159e-01 -6.99018480e-01 3.61915241e+01] [ 7.39778800e-01 -4.95465626e-02 6.71023446e-01 3.34567895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:52.41, Y:36.21, Z:33.48 [[-2.86368833e-01 -9.26305160e-01 2.44850245e-01 5.24112175e+01] [ 6.07264193e-01 -3.73143846e-01 -7.01422747e-01 3.62085026e+01] [ 7.41095872e-01 -5.21768275e-02 6.69368723e-01 3.34775140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720371743 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:52.42, Y:36.18, Z:33.45 [[-2.84285740e-01 -9.25566845e-01 2.50015267e-01 5.24199074e+01] [ 6.07689827e-01 -3.75657202e-01 -6.99710470e-01 3.61771906e+01] [ 7.41548847e-01 -4.69859743e-02 6.69251541e-01 3.34463159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750371743 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:52.41, Y:36.20, Z:33.47 [[-2.84449253e-01 -9.25918397e-01 2.48523129e-01 5.24107810e+01] [ 6.08912879e-01 -3.74719522e-01 -6.99149759e-01 3.61987917e+01] [ 7.40482091e-01 -4.75436927e-02 6.70392325e-01 3.34719870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780371743 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:52.42, Y:36.17, Z:33.43 [[-2.83581779e-01 -9.26724104e-01 2.46503165e-01 5.24239175e+01] [ 6.09164169e-01 -3.72617215e-01 -7.00053874e-01 3.61657451e+01] [ 7.40608122e-01 -4.83616274e-02 6.70194571e-01 3.34321434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.810371743 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:52.42, Y:36.17, Z:33.44 [[-2.84982174e-01 -9.25984697e-01 2.47664088e-01 5.24214109e+01] [ 6.10405152e-01 -3.74532309e-01 -6.97947777e-01 3.61713496e+01] [ 7.39047164e-01 -4.77272392e-02 6.71960862e-01 3.34376689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84037174299999 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:52.42, Y:36.17, Z:33.44 [[-0.28515064 -0.92723532 0.24274218 52.42307846] [ 0.60834553 -0.3707909 -0.70173344 36.17437941] [ 0.74067863 -0.05242862 0.66981073 33.43623649] [ 0. 0. 0. 1. ]] SLAMing on 117.87037174299999 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:52.42, Y:36.17, Z:33.44 [[-2.84551829e-01 -9.25716280e-01 2.49157832e-01 5.24213187e+01] [ 6.07518705e-01 -3.75179487e-01 -7.00115259e-01 3.61700969e+01] [ 7.41587000e-01 -4.78510340e-02 6.69147965e-01 3.34365115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900371743 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:52.42, Y:36.16, Z:33.43 [[-2.83982265e-01 -9.26214047e-01 2.47954858e-01 5.24234393e+01] [ 6.07874544e-01 -3.73904014e-01 -7.00488634e-01 3.61630781e+01] [ 7.41513730e-01 -4.82009030e-02 6.69204051e-01 3.34270718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930371743 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:52.42, Y:36.16, Z:33.43 [[-2.82157426e-01 -9.23518347e-01 2.59809639e-01 5.24167201e+01] [ 6.08245764e-01 -3.81632308e-01 -6.95984103e-01 3.61597979e+01] [ 7.41905841e-01 -3.83489707e-02 6.69406513e-01 3.34345489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960371743 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:52.42, Y:36.16, Z:33.43 [[-2.82045178e-01 -9.27008283e-01 2.47196606e-01 5.24204445e+01] [ 6.09326938e-01 -3.72101766e-01 -7.00186374e-01 3.61630283e+01] [ 7.41060861e-01 -4.68606394e-02 6.69800627e-01 3.34287244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990371743 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:52.42, Y:36.17, Z:33.44 [[-2.80823867e-01 -9.28410212e-01 2.43294952e-01 5.24169671e+01] [ 6.07043668e-01 -3.68166884e-01 -7.04237978e-01 3.61703548e+01] [ 7.43394875e-01 -5.00761717e-02 6.66975589e-01 3.34383042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020371743 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.43 [[-2.79762079e-01 -9.26163255e-01 2.52892873e-01 5.24173640e+01] [ 6.07699889e-01 -3.74754021e-01 -7.00185881e-01 3.61537397e+01] [ 7.43259056e-01 -4.22024866e-02 6.67671271e-01 3.34274527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050371743 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:52.41, Y:36.17, Z:33.45 [[-2.79120652e-01 -9.26491648e-01 2.52398272e-01 5.24080390e+01] [ 6.09082449e-01 -3.74022380e-01 -6.99375314e-01 3.61749570e+01] [ 7.42367990e-01 -4.14787360e-02 6.68707172e-01 3.34519396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080371743 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.43 [[-2.78986671e-01 -9.26208184e-01 2.53583983e-01 5.24150640e+01] [ 6.11052978e-01 -3.74932610e-01 -6.97165544e-01 3.61532576e+01] [ 7.40797337e-01 -3.95466462e-02 6.70563471e-01 3.34270016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:52.42, Y:36.16, Z:33.43 [[-2.79423923e-01 -9.27316352e-01 2.49011355e-01 5.24153673e+01] [ 6.11315605e-01 -3.71802052e-01 -6.98610381e-01 3.61556665e+01] [ 7.40415763e-01 -4.29839263e-02 6.70773345e-01 3.34264421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:52.41, Y:36.15, Z:33.43 [[-2.78515767e-01 -9.27300523e-01 2.50085401e-01 5.24147486e+01] [ 6.12272916e-01 -3.72045210e-01 -6.97641912e-01 3.61549868e+01] [ 7.39966786e-01 -4.11837544e-02 6.71381452e-01 3.34251168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:52.42, Y:36.16, Z:33.42 [[-2.78634346e-01 -9.28260364e-01 2.46364765e-01 5.24157876e+01] [ 6.11719232e-01 -3.69292595e-01 -6.99587422e-01 3.61565328e+01] [ 7.40379958e-01 -4.42230189e-02 6.70732318e-01 3.34234107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20037174299999 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:52.41, Y:36.15, Z:33.42 [[-2.75265413e-01 -9.25476051e-01 2.60236492e-01 5.24130642e+01] [ 6.20046691e-01 -3.77775761e-01 -6.87624589e-01 3.61485297e+01] [ 7.34691128e-01 -2.79204912e-02 6.77826964e-01 3.34183138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23037174299999 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:52.42, Y:36.17, Z:33.42 [[-0.28519931 -0.93188021 0.22418881 52.41736074] [ 0.60859399 -0.35676791 -0.70875244 36.16948031] [ 0.74045574 -0.06569575 0.66888666 33.42129299] [ 0. 0. 0. 1. ]] SLAMing on 118.260371743 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:52.41, Y:36.15, Z:33.43 [[-2.75037870e-01 -9.22182072e-01 2.71908802e-01 5.24064838e+01] [ 6.17332682e-01 -3.86204494e-01 -6.85380514e-01 3.61470572e+01] [ 7.37058023e-01 -2.06474066e-02 6.75513993e-01 3.34285492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.40 [[-2.75247183e-01 -9.30495128e-01 2.41697754e-01 5.24205327e+01] [ 6.19061349e-01 -3.63896336e-01 -6.95947198e-01 3.61491083e+01] [ 7.35528405e-01 -4.19317682e-02 6.76195011e-01 3.34036583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320371743 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.41 [[-2.72701387e-01 -9.30043983e-01 2.46276557e-01 5.24168613e+01] [ 6.20725916e-01 -3.65654885e-01 -6.93538638e-01 3.61501352e+01] [ 7.35073664e-01 -3.62587069e-02 6.77016998e-01 3.34079240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350371743 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.40 [[-2.71185124e-01 -9.31735209e-01 2.41512171e-01 5.24203805e+01] [ 6.20602579e-01 -3.61051348e-01 -6.96056293e-01 3.61455914e+01] [ 7.35738451e-01 -3.88770356e-02 6.76149028e-01 3.33989209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380371743 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.40 [[-2.69334108e-01 -9.31197630e-01 2.45621888e-01 5.24173811e+01] [ 6.22893594e-01 -3.62957694e-01 -6.93011748e-01 3.61465018e+01] [ 7.34481251e-01 -3.36554004e-02 6.77793926e-01 3.34025495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410371743 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.40 [[-2.68168219e-01 -9.33213106e-01 2.39163345e-01 5.24205044e+01] [ 6.22071769e-01 -3.57303053e-01 -6.96678723e-01 3.61452965e+01] [ 7.35603508e-01 -3.80503273e-02 6.76342851e-01 3.33969296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440371743 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:52.42, Y:36.15, Z:33.40 [[-2.65860917e-01 -9.34721373e-01 2.35826054e-01 5.24207530e+01] [ 6.19195454e-01 -3.53072143e-01 -7.01382244e-01 3.61452176e+01] [ 7.38860584e-01 -4.04477054e-02 6.72643308e-01 3.33977944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470371743 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:52.42, Y:36.13, Z:33.40 [[-2.63768919e-01 -9.29959725e-01 2.56126663e-01 5.24152098e+01] [ 6.23955924e-01 -3.66992442e-01 -6.89924309e-01 3.61342498e+01] [ 7.35598370e-01 -2.21688402e-02 6.77055079e-01 3.33992068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500371743 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:52.42, Y:36.14, Z:33.40 [[-2.61762177e-01 -9.33254119e-01 2.46002667e-01 5.24184832e+01] [ 6.24998584e-01 -3.58138495e-01 -6.93623521e-01 3.61411279e+01] [ 7.35430033e-01 -2.78130842e-02 6.77029615e-01 3.33968084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530371743 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:52.42, Y:36.14, Z:33.39 [[-2.59706454e-01 -9.35342643e-01 2.40180554e-01 5.24248274e+01] [ 6.22882904e-01 -3.52310887e-01 -6.98494042e-01 3.61350295e+01] [ 7.37949488e-01 -3.17990498e-02 6.74106352e-01 3.33858593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.560371743 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:52.42, Y:36.14, Z:33.40 [[-2.60218356e-01 -9.32199895e-01 2.51574567e-01 5.24187079e+01] [ 6.25918176e-01 -3.61250565e-01 -6.91176147e-01 3.61395491e+01] [ 7.35195786e-01 -2.23916262e-02 6.77484886e-01 3.33974142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59037174299999 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:52.42, Y:36.14, Z:33.39 [[-2.68628907e-01 -9.33919795e-01 2.35865063e-01 5.24233060e+01] [ 6.14375174e-01 -3.54712607e-01 -7.04785153e-01 3.61391392e+01] [ 7.41877117e-01 -4.44160262e-02 6.69063196e-01 3.33936958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62037174299999 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:52.42, Y:36.12, Z:33.40 [[-2.60662924e-01 -9.24218007e-01 2.79062565e-01 5.24155715e+01] [ 6.25988379e-01 -3.81856768e-01 -6.79944084e-01 3.61203336e+01] [ 7.34978496e-01 -2.54628995e-03 6.78085634e-01 3.33974858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650371743 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:52.43, Y:36.13, Z:33.38 [[-2.62475023e-01 -9.33319773e-01 2.44991965e-01 5.24289696e+01] [ 6.26251989e-01 -3.57924111e-01 -6.92602900e-01 3.61347410e+01] [ 7.34108513e-01 -2.83642572e-02 6.78439504e-01 3.33830865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680371743 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:52.43, Y:36.13, Z:33.37 [[-2.64934217e-01 -9.32659136e-01 2.44860770e-01 5.24346885e+01] [ 6.24273902e-01 -3.59433071e-01 -6.93606490e-01 3.61290923e+01] [ 7.34909488e-01 -3.08999039e-02 6.77460877e-01 3.33747998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:52.44, Y:36.12, Z:33.37 [[-2.64973437e-01 -9.31893655e-01 2.47716157e-01 5.24386864e+01] [ 6.25439511e-01 -3.61627954e-01 -6.91412063e-01 3.61211043e+01] [ 7.33903601e-01 -2.82743586e-02 6.78664913e-01 3.33657041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740371743 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:52.44, Y:36.13, Z:33.37 [[-2.68861233e-01 -9.32835563e-01 2.39857144e-01 5.24403208e+01] [ 6.23317683e-01 -3.58360555e-01 -6.95019985e-01 3.61324737e+01] [ 7.34294698e-01 -3.73567310e-02 6.77802162e-01 3.33715723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770371743 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:52.44, Y:36.13, Z:33.37 [[-2.73403655e-01 -9.29835427e-01 2.46285446e-01 5.24423535e+01] [ 6.23911643e-01 -3.66299797e-01 -6.90332326e-01 3.61315351e+01] [ 7.32109762e-01 -3.50790242e-02 6.80282852e-01 3.33701330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800371743 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:52.44, Y:36.15, Z:33.38 [[-0.28620704 -0.93172041 0.22356792 52.44482394] [ 0.60677452 -0.35682336 -0.71028288 36.14531461] [ 0.74155931 -0.06763265 0.66746956 33.38129104] [ 0. 0. 0. 1. ]] SLAMing on 118.830371743 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:52.43, Y:36.13, Z:33.40 [[-2.89497450e-01 -9.18680699e-01 2.68732207e-01 5.24316111e+01] [ 6.03591814e-01 -3.93110091e-01 -6.93643553e-01 3.61286908e+01] [ 7.42878287e-01 -3.86034789e-02 6.68312519e-01 3.33994993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860371743 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:52.44, Y:36.11, Z:33.38 [[-2.82043299e-01 -9.14246298e-01 2.90869875e-01 5.24351282e+01] [ 6.23036206e-01 -4.05089446e-01 -6.69125121e-01 3.61097795e+01] [ 7.29573481e-01 -7.49979336e-03 6.83861308e-01 3.33780282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890371743 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:52.45, Y:36.16, Z:33.39 [[-0.29460433 -0.93026027 0.21868725 52.44807657] [ 0.60423478 -0.3586252 -0.71153939 36.16040395] [ 0.74034358 -0.07748414 0.66774815 33.39413224] [ 0. 0. 0. 1. ]] SLAMing on 118.920371743 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:52.43, Y:36.14, Z:33.41 [[-2.96884165e-01 -9.16180994e-01 2.69206572e-01 5.24346187e+01] [ 6.01442990e-01 -3.98377142e-01 -6.92504139e-01 3.61360724e+01] [ 7.41704875e-01 -4.36811079e-02 6.69302502e-01 3.34084916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95037174299999 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:52.44, Y:36.11, Z:33.38 [[-2.90694978e-01 -9.13244452e-01 2.85448771e-01 5.24423821e+01] [ 6.15921407e-01 -4.06906730e-01 -6.74587084e-01 3.61124810e+01] [ 7.32213938e-01 -2.02850684e-02 6.80772550e-01 3.33801746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98037174299999 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:52.46, Y:36.13, Z:33.37 [[-0.29343352 -0.92691329 0.23394129 52.46189091] [ 0.61036557 -0.36999546 -0.70039791 36.13339906] [ 0.73576534 -0.06273051 0.67432503 33.36633 ] [ 0. 0. 0. 1. ]] SLAMing on 119.010371743 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:52.45, Y:36.15, Z:33.40 [[-0.30225876 -0.92010148 0.24910421 52.44691474] [ 0.60119417 -0.38680681 -0.69924678 36.14653683] [ 0.7397332 -0.06159346 0.67007539 33.40025054] [ 0. 0. 0. 1. ]] SLAMing on 119.040371743 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:52.44, Y:36.13, Z:33.40 [[-2.96391614e-01 -9.13585693e-01 2.78411912e-01 5.24415262e+01] [ 6.09500122e-01 -4.05365931e-01 -6.81313484e-01 3.61348034e+01] [ 7.35296955e-01 -3.22435086e-02 6.76977654e-01 3.34012336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070371743 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:52.45, Y:36.14, Z:33.39 [[-0.29804774 -0.92129771 0.24975605 52.45348582] [ 0.60658206 -0.38482671 -0.69567708 36.14265008] [ 0.7370385 -0.05584744 0.67353939 33.38913542] [ 0. 0. 0. 1. ]] SLAMing on 119.100371743 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:52.45, Y:36.13, Z:33.38 [[-2.95398197e-01 -9.16933997e-01 2.68275884e-01 5.24522752e+01] [ 6.12715682e-01 -3.97278952e-01 -6.83190257e-01 3.61266303e+01] [ 7.33020735e-01 -3.74363288e-02 6.79175325e-01 3.33794837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130371743 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:52.46, Y:36.14, Z:33.38 [[-2.95760356e-01 -9.22181100e-01 2.49214428e-01 5.24557821e+01] [ 6.11710593e-01 -3.83214186e-01 -6.92067221e-01 3.61433089e+01] [ 7.33713815e-01 -5.22389422e-02 6.77447512e-01 3.33837127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160371743 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:52.45, Y:36.15, Z:33.39 [[-2.92581105e-01 -9.22275132e-01 2.52596276e-01 5.24533812e+01] [ 6.11112716e-01 -3.83513677e-01 -6.92429424e-01 3.61474542e+01] [ 7.35484565e-01 -4.82269696e-02 6.75822917e-01 3.33903164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190371743 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:52.46, Y:36.12, Z:33.36 [[-2.88406663e-01 -9.21132680e-01 2.61411901e-01 5.24596283e+01] [ 6.18003130e-01 -3.87607075e-01 -6.83983104e-01 3.61216068e+01] [ 7.31364292e-01 -3.57119110e-02 6.81051343e-01 3.33620160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220371743 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:52.46, Y:36.13, Z:33.36 [[-2.87800131e-01 -9.26318787e-01 2.43114356e-01 5.24641655e+01] [ 6.17392362e-01 -3.73520358e-01 -6.92321611e-01 3.61316466e+01] [ 7.32118676e-01 -4.91533043e-02 6.79401352e-01 3.33608267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250371743 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:52.46, Y:36.13, Z:33.36 [[-2.85096183e-01 -9.25836546e-01 2.48086390e-01 5.24620178e+01] [ 6.19920161e-01 -3.75512030e-01 -6.88977293e-01 3.61288701e+01] [ 7.31039781e-01 -4.26310412e-02 6.81001786e-01 3.33611991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280371743 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:52.46, Y:36.11, Z:33.35 [[-2.80478329e-01 -9.25661217e-01 2.53935462e-01 5.24632111e+01] [ 6.23718001e-01 -3.76850568e-01 -6.84806180e-01 3.61146356e+01] [ 7.29594245e-01 -3.36891745e-02 6.83049981e-01 3.33498301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.310371743 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:52.47, Y:36.12, Z:33.35 [[-2.75307637e-01 -9.29912693e-01 2.43860797e-01 5.24651988e+01] [ 6.27042044e-01 -3.65973814e-01 -6.87663757e-01 3.61182245e+01] [ 7.28713922e-01 -3.64081109e-02 6.83849742e-01 3.33484347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34037174299999 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:52.46, Y:36.11, Z:33.34 [[-2.69799190e-01 -9.29357078e-01 2.51999640e-01 5.24631734e+01] [ 6.33064845e-01 -3.68391186e-01 -6.80820708e-01 3.61105137e+01] [ 7.25559990e-01 -2.41527626e-02 6.87734938e-01 3.33447047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37037174299999 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:52.47, Y:36.12, Z:33.34 [[-2.69774344e-01 -9.33217978e-01 2.37331010e-01 5.24686583e+01] [ 6.33377432e-01 -3.57620286e-01 -6.86251236e-01 3.61163136e+01] [ 7.25296375e-01 -3.48128719e-02 6.87555985e-01 3.33392437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400371743 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:52.47, Y:36.14, Z:33.36 [[-0.27428246 -0.93899634 0.20749699 52.46810967] [ 0.61465479 -0.33712599 -0.7131238 36.13928967] [ 0.73957326 -0.06805833 0.66962635 33.36221878] [ 0. 0. 0. 1. ]] SLAMing on 119.430371743 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:52.45, Y:36.09, Z:33.36 [[-2.71082667e-01 -9.23380920e-01 2.71812187e-01 5.24526561e+01] [ 6.14703717e-01 -3.83375107e-01 -6.89320584e-01 3.60941707e+01] [ 7.40711501e-01 -1.97789003e-02 6.71532030e-01 3.33635976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460371743 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:52.45, Y:36.10, Z:33.37 [[-2.58814259e-01 -9.19786630e-01 2.94970735e-01 5.24458143e+01] [ 6.36839805e-01 -3.92091116e-01 -6.63852106e-01 3.60972367e+01] [ 7.26257696e-01 1.60347144e-02 6.87235510e-01 3.33692988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490371743 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:52.47, Y:36.10, Z:33.34 [[-2.55091458e-01 -9.33688321e-01 2.51305525e-01 5.24663356e+01] [ 6.40451101e-01 -3.57872288e-01 -6.79521753e-01 3.61041941e+01] [ 7.24396808e-01 -1.23912946e-02 6.89271877e-01 3.33385400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520371743 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:52.47, Y:36.10, Z:33.33 [[-2.52659655e-01 -9.36101043e-01 2.44699687e-01 5.24726315e+01] [ 6.44607437e-01 -3.51460181e-01 -6.78938136e-01 3.61003256e+01] [ 7.21556894e-01 -1.38050371e-02 6.92217502e-01 3.33252843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550371743 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:52.47, Y:36.11, Z:33.33 [[-2.51024600e-01 -9.38200766e-01 2.38256106e-01 5.24745142e+01] [ 6.44079424e-01 -3.45630920e-01 -6.82422862e-01 3.61117914e+01] [ 7.22598329e-01 -1.78490704e-02 6.91037673e-01 3.33312099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580371743 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:52.48, Y:36.11, Z:33.33 [[-2.50783091e-01 -9.38869755e-01 2.35863149e-01 5.24767498e+01] [ 6.43383860e-01 -3.43702820e-01 -6.84050861e-01 3.61145533e+01] [ 7.23301494e-01 -1.97978460e-02 6.90248502e-01 3.33316404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:52.48, Y:36.11, Z:33.33 [[-2.50082597e-01 -9.36599492e-01 2.45438557e-01 5.24768992e+01] [ 6.45196061e-01 -3.50214443e-01 -6.79022744e-01 3.61072399e+01] [ 7.21928485e-01 -1.14557814e-02 6.91872840e-01 3.33278235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640371743 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:52.48, Y:36.11, Z:33.32 [[-2.50795459e-01 -9.40129099e-01 2.30778932e-01 5.24849168e+01] [ 6.44152494e-01 -3.40029441e-01 -6.85162421e-01 3.61120313e+01] [ 7.22612761e-01 -2.31787987e-02 6.90864344e-01 3.33206203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670371743 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:52.48, Y:36.11, Z:33.33 [[-2.54486326e-01 -9.36377055e-01 2.41732746e-01 5.24820658e+01] [ 6.42038841e-01 -3.50517289e-01 -6.81853178e-01 3.61138094e+01] [ 7.23203178e-01 -1.83204979e-02 6.90392296e-01 3.33319237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70037174299999 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:52.49, Y:36.11, Z:33.32 [[-2.56208423e-01 -9.35488331e-01 2.43349187e-01 5.24869183e+01] [ 6.44034241e-01 -3.52940325e-01 -6.78714242e-01 3.61061415e+01] [ 7.20816995e-01 -1.71670965e-02 6.92912801e-01 3.33221016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73037174299999 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:52.49, Y:36.11, Z:33.32 [[-2.58408816e-01 -9.37211895e-01 2.34219442e-01 5.24927872e+01] [ 6.42391594e-01 -3.47789133e-01 -6.82917095e-01 3.61089803e+01] [ 7.21497002e-01 -2.60111976e-02 6.91928822e-01 3.33193266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:52.50, Y:36.12, Z:33.34 [[-0.27133218 -0.94028611 0.20552584 52.49700399] [ 0.61643655 -0.33376373 -0.71316741 36.12320539] [ 0.73917848 -0.06681163 0.67018757 33.33623005] [ 0. 0. 0. 1. ]] SLAMing on 119.790371743 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:52.48, Y:36.08, Z:33.34 [[-2.67113779e-01 -9.14013606e-01 3.05334828e-01 5.24753899e+01] [ 6.37036586e-01 -4.05221544e-01 -6.55728517e-01 3.60761382e+01] [ 7.23073037e-01 1.93553342e-02 6.90500365e-01 3.33406956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820371743 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:52.50, Y:36.12, Z:33.33 [[-0.27890881 -0.9368586 0.21096409 52.50316616] [ 0.61438515 -0.3429187 -0.71058965 36.11819915] [ 0.73806556 -0.06857651 0.67123505 33.33369422] [ 0. 0. 0. 1. ]] SLAMing on 119.850371743 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:52.48, Y:36.09, Z:33.35 [[-2.81372365e-01 -9.19654854e-01 2.73979091e-01 5.24842628e+01] [ 6.11533122e-01 -3.91875498e-01 -6.87357865e-01 3.60902928e+01] [ 7.39497690e-01 -2.58562194e-02 6.72662339e-01 3.33503673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880371743 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:52.49, Y:36.10, Z:33.36 [[-2.88330466e-01 -9.17371412e-01 2.74399772e-01 5.24873905e+01] [ 6.08445190e-01 -3.96807316e-01 -6.87268801e-01 3.60974610e+01] [ 7.39364587e-01 -3.12033118e-02 6.72581862e-01 3.33556658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910371743 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:52.49, Y:36.09, Z:33.35 [[-2.92190029e-01 -9.16022742e-01 2.74822349e-01 5.24917299e+01] [ 6.06665116e-01 -3.99677533e-01 -6.87179239e-01 3.60943538e+01] [ 7.39312129e-01 -3.40617895e-02 6.72500833e-01 3.33506485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940371743 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:52.49, Y:36.10, Z:33.35 [[-2.96087199e-01 -9.14644791e-01 2.75240400e-01 5.24937704e+01] [ 6.04869941e-01 -4.02566309e-01 -6.87075484e-01 3.60966085e+01] [ 7.39232524e-01 -3.69496110e-02 6.72435872e-01 3.33518608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970371743 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:52.49, Y:36.11, Z:33.36 [[-3.03234960e-01 -9.12119506e-01 2.75837933e-01 5.24942934e+01] [ 6.01031621e-01 -4.07698396e-01 -6.87417637e-01 3.61083896e+01] [ 7.39465719e-01 -4.26617397e-02 6.71841073e-01 3.33627138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000371743 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:52.50, Y:36.10, Z:33.35 [[-3.06164921e-01 -9.10970935e-01 2.76396447e-01 5.24998217e+01] [ 5.99183630e-01 -4.10016964e-01 -6.87651850e-01 3.61004986e+01] [ 7.39758081e-01 -4.49226473e-02 6.71371683e-01 3.33525307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030371743 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:52.50, Y:36.10, Z:33.35 [[-3.02756137e-01 -9.04492256e-01 3.00387218e-01 5.24986441e+01] [ 6.15748768e-01 -4.26201662e-01 -6.62725885e-01 3.60956506e+01] [ 7.27455962e-01 -1.56812694e-02 6.85975161e-01 3.33452856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.060371743 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:52.51, Y:36.11, Z:33.33 [[-3.02454030e-01 -9.16044637e-01 2.63408015e-01 5.25142635e+01] [ 6.25579282e-01 -3.99278250e-01 -6.70244314e-01 3.61114379e+01] [ 7.19146801e-01 -3.79354971e-02 6.93821862e-01 3.33261675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09037174299999 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:52.53, Y:36.13, Z:33.33 [[-0.30678093 -0.92467405 0.22552907 52.52686869] [ 0.61627201 -0.37355814 -0.69329872 36.13132461] [ 0.72532356 -0.07370358 0.68445125 33.32755828] [ 0. 0. 0. 1. ]] SLAMing on 120.12037174299999 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:52.52, Y:36.13, Z:33.35 [[-0.31698267 -0.91985001 0.23107997 52.52040981] [ 0.59496691 -0.3825977 -0.70684749 36.12958179] [ 0.73860433 -0.08657347 0.66855716 33.34502318] [ 0. 0. 0. 1. ]] SLAMing on 120.150371743 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:52.51, Y:36.11, Z:33.35 [[-0.31600444 -0.90698851 0.27841164 52.50556475] [ 0.59218894 -0.4178252 -0.6890097 36.10604867] [ 0.74125128 -0.05285783 0.66914318 33.35308177] [ 0. 0. 0. 1. ]] SLAMing on 120.180371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:52.50, Y:36.09, Z:33.34 [[-3.07765231e-01 -9.01939909e-01 3.02960332e-01 5.25034288e+01] [ 6.13308364e-01 -4.31494653e-01 -6.61562707e-01 3.60935254e+01] [ 7.27415571e-01 -1.77978941e-02 6.85966342e-01 3.33387041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:52.52, Y:36.12, Z:33.32 [[-0.30792825 -0.91801199 0.24986834 52.52153194] [ 0.61458649 -0.39241197 -0.68432178 36.11594031] [ 0.72626692 -0.0571563 0.68503249 33.3243296 ] [ 0. 0. 0. 1. ]] SLAMing on 120.240371743 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:52.52, Y:36.11, Z:33.32 [[-3.05675684e-01 -9.16621991e-01 2.57616969e-01 5.25183641e+01] [ 6.15134926e-01 -3.96639270e-01 -6.81385583e-01 3.61084246e+01] [ 7.26754016e-01 -4.98138086e-02 6.85089181e-01 3.33217530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270371743 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:52.52, Y:36.11, Z:33.32 [[-0.3043148 -0.9201192 0.24652214 52.52256606] [ 0.61510649 -0.38741896 -0.68669539 36.11087675] [ 0.72734896 -0.05733421 0.68386861 33.31686005] [ 0. 0. 0. 1. ]] SLAMing on 120.300371743 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:52.52, Y:36.11, Z:33.32 [[-3.01653010e-01 -9.18352264e-01 2.56192469e-01 5.25168638e+01] [ 6.17255883e-01 -3.92905592e-01 -6.81630670e-01 3.61060007e+01] [ 7.26636523e-01 -4.74796346e-02 6.85379492e-01 3.33179419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330371743 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:52.52, Y:36.12, Z:33.33 [[-0.31073199 -0.92394502 0.22309465 52.52204588] [ 0.5966797 -0.37231799 -0.7108816 36.11609997] [ 0.73987767 -0.08777761 0.66699035 33.32522878] [ 0. 0. 0. 1. ]] SLAMing on 120.360371743 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:52.50, Y:36.07, Z:33.32 [[-2.97513925e-01 -9.01247726e-01 3.15020636e-01 5.24991135e+01] [ 6.24721416e-01 -4.33289793e-01 -6.49602269e-01 3.60685799e+01] [ 7.21947794e-01 3.53441706e-03 6.91938502e-01 3.33168048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390371743 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:52.52, Y:36.10, Z:33.30 [[-2.96427938e-01 -9.22365535e-01 2.47734328e-01 5.25202181e+01] [ 6.28031512e-01 -3.83676049e-01 -6.77029622e-01 3.60989651e+01] [ 7.19518518e-01 -4.51055300e-02 6.93006922e-01 3.33000718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420371743 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:52.53, Y:36.13, Z:33.32 [[-0.30955854 -0.93005285 0.19792726 52.52586718] [ 0.59933554 -0.35243929 -0.7187374 36.12934095] [ 0.73822112 -0.10386646 0.66651432 33.3237451 ] [ 0. 0. 0. 1. ]] SLAMing on 120.45037174299999 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:52.50, Y:36.09, Z:33.34 [[-3.07330195e-01 -9.09430070e-01 2.80151920e-01 5.24992428e+01] [ 5.96035355e-01 -4.13462372e-01 -6.88324577e-01 3.60857051e+01] [ 7.41815346e-01 -4.45624773e-02 6.69121946e-01 3.33366789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48037174299999 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:52.50, Y:36.07, Z:33.32 [[-2.98038744e-01 -9.04744636e-01 3.04318995e-01 5.24966475e+01] [ 6.16058382e-01 -4.25836429e-01 -6.62672925e-01 3.60738519e+01] [ 7.29139889e-01 -1.00239380e-02 6.84291271e-01 3.33243791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510371743 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:52.52, Y:36.10, Z:33.32 [[-0.30658157 -0.92431442 0.22726768 52.51578814] [ 0.59899409 -0.37291114 -0.70862074 36.10216142] [ 0.73973902 -0.08111806 0.66798656 33.31704156] [ 0. 0. 0. 1. ]] SLAMing on 120.540371743 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:52.49, Y:36.06, Z:33.32 [[-2.93539101e-01 -8.99397756e-01 3.23911212e-01 5.24882467e+01] [ 6.29281919e-01 -4.36868438e-01 -6.42767636e-01 3.60608799e+01] [ 7.19610354e-01 1.51540354e-02 6.94212715e-01 3.33198038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570371743 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:52.52, Y:36.10, Z:33.30 [[-0.29442489 -0.92999655 0.22004635 52.52291629] [ 0.62164979 -0.36125391 -0.69501594 36.10397284] [ 0.72585503 -0.06783822 0.68449431 33.2972105 ] [ 0. 0. 0. 1. ]] SLAMing on 120.600371743 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:52.51, Y:36.10, Z:33.32 [[-0.30003931 -0.92551456 0.23108271 52.5102888 ] [ 0.60246721 -0.37166741 -0.70632612 36.09836478] [ 0.73960102 -0.07270585 0.66910701 33.31927923] [ 0. 0. 0. 1. ]] SLAMing on 120.630371743 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:52.49, Y:36.06, Z:33.32 [[-2.88630963e-01 -9.05072433e-01 3.12307634e-01 5.24891908e+01] [ 6.26045414e-01 -4.25202228e-01 -6.53659090e-01 3.60582820e+01] [ 7.24402724e-01 6.85250940e-03 6.89342974e-01 3.33186246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:52.50, Y:36.10, Z:33.32 [[-2.84819218e-01 -9.22473154e-01 2.60617139e-01 5.24998035e+01] [ 6.36041043e-01 -3.85272524e-01 -6.68593205e-01 3.60964007e+01] [ 7.17167906e-01 -2.46649969e-02 6.96463806e-01 3.33155514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:52.51, Y:36.08, Z:33.28 [[-2.78913792e-01 -9.29783316e-01 2.40229228e-01 5.25134593e+01] [ 6.43123829e-01 -3.66623794e-01 -6.72293637e-01 3.60840440e+01] [ 7.13161158e-01 -3.30148270e-02 7.00222239e-01 3.32844890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720371743 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:52.52, Y:36.09, Z:33.28 [[-2.77960987e-01 -9.33115252e-01 2.28108782e-01 5.25182328e+01] [ 6.40914947e-01 -3.57035129e-01 -6.79524795e-01 3.60853883e+01] [ 7.15517799e-01 -4.26830545e-02 6.97289349e-01 3.32797817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:52.52, Y:36.08, Z:33.27 [[-2.75769358e-01 -9.36211235e-01 2.17852666e-01 5.25244887e+01] [ 6.38804013e-01 -3.47851354e-01 -6.86242573e-01 3.60811114e+01] [ 7.18248351e-01 -5.00795164e-02 6.93982239e-01 3.32688270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:52.51, Y:36.07, Z:33.28 [[-2.75257974e-01 -9.30180307e-01 2.42894308e-01 5.25127530e+01] [ 6.36120871e-01 -3.65660458e-01 -6.79442910e-01 3.60740319e+01] [ 7.20821258e-01 -3.25119400e-02 6.92358063e-01 3.32830334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.810371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:52.52, Y:36.08, Z:33.29 [[-0.28620018 -0.93432248 0.21244047 52.51620677] [ 0.61258011 -0.34890544 -0.7092324 36.08264385] [ 0.73677342 -0.07284563 0.67220417 33.29233224] [ 0. 0. 0. 1. ]] SLAMing on 120.84037174299999 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:52.49, Y:36.05, Z:33.31 [[-2.81804039e-01 -9.17826004e-01 2.79610284e-01 5.24937982e+01] [ 6.13141212e-01 -3.96420804e-01 -6.83306959e-01 3.60494409e+01] [ 7.38000229e-01 -2.11180729e-02 6.74469932e-01 3.33079771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87037174299999 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:52.49, Y:36.05, Z:33.30 [[-2.80354212e-01 -9.18136266e-01 2.80048769e-01 5.24946253e+01] [ 6.13603002e-01 -3.95773916e-01 -6.83267417e-01 3.60457730e+01] [ 7.38168593e-01 -1.97181333e-02 6.74328053e-01 3.33043470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:52.50, Y:36.04, Z:33.30 [[-2.79068679e-01 -9.18406524e-01 2.80446302e-01 5.24950462e+01] [ 6.14120155e-01 -3.95209365e-01 -6.83129558e-01 3.60434965e+01] [ 7.38225648e-01 -1.84123371e-02 6.74302513e-01 3.33024528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930371743 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:52.50, Y:36.03, Z:33.28 [[-2.65993714e-01 -9.14172817e-01 3.05835584e-01 5.24965075e+01] [ 6.39296144e-01 -4.04748274e-01 -6.53818993e-01 3.60279696e+01] [ 7.21489975e-01 2.16077674e-02 6.92087653e-01 3.32831211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960371743 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:52.52, Y:36.05, Z:33.26 [[-2.63880698e-01 -9.32282404e-01 2.47419675e-01 5.25175564e+01] [ 6.40449810e-01 -3.61155921e-01 -6.77783477e-01 3.60534628e+01] [ 7.21242690e-01 -2.03940932e-02 6.92382165e-01 3.32640257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:52.52, Y:36.07, Z:33.28 [[-0.27662269 -0.93532821 0.22054712 52.51782678] [ 0.61675996 -0.34879711 -0.70565411 36.06763006] [ 0.73694439 -0.0591753 0.67335819 33.28073468] [ 0. 0. 0. 1. ]] SLAMing on 121.020371743 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:52.50, Y:36.02, Z:33.28 [[-2.65392213e-01 -9.12353408e-01 3.11734234e-01 5.24992972e+01] [ 6.41275545e-01 -4.08477368e-01 -6.49547469e-01 3.60212533e+01] [ 7.19953226e-01 2.75227004e-02 6.93476642e-01 3.32764999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050371743 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:52.52, Y:36.06, Z:33.26 [[-2.65853511e-01 -9.33975769e-01 2.38770127e-01 5.25241401e+01] [ 6.39081822e-01 -3.56187024e-01 -6.81692914e-01 3.60570911e+01] [ 7.21731484e-01 -2.86368070e-02 6.91580507e-01 3.32592486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:52.52, Y:36.05, Z:33.26 [[-2.67364375e-01 -9.30946276e-01 2.48707302e-01 5.25223708e+01] [ 6.40238724e-01 -3.64519457e-01 -6.76180406e-01 3.60519939e+01] [ 7.20146282e-01 -2.15545063e-02 6.93487373e-01 3.32588346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110371743 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:52.53, Y:36.08, Z:33.28 [[-0.28496276 -0.93447985 0.21340955 52.5266611 ] [ 0.61394873 -0.34891661 -0.70804248 36.0753742 ] [ 0.73611357 -0.07074322 0.67315096 33.27801522] [ 0. 0. 0. 1. ]] SLAMing on 121.140371743 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:52.50, Y:36.05, Z:33.30 [[-2.86996460e-01 -9.15610428e-01 2.81585824e-01 5.25046002e+01] [ 6.11531208e-01 -4.01379769e-01 -6.81853256e-01 3.60469747e+01] [ 7.37334804e-01 -2.34909516e-02 6.75118924e-01 3.32983282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170371743 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:52.51, Y:36.04, Z:33.29 [[-2.90363308e-01 -9.14454137e-01 2.81891435e-01 5.25074269e+01] [ 6.10298347e-01 -4.03863611e-01 -6.81491094e-01 3.60432909e+01] [ 7.37038043e-01 -2.58421320e-02 6.75357022e-01 3.32937081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20037174299999 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:52.50, Y:36.03, Z:33.29 [[-2.85907283e-01 -9.01582029e-01 3.24664241e-01 5.24993058e+01] [ 6.37656792e-01 -4.31904852e-01 -6.37849524e-01 3.60344535e+01] [ 7.15297729e-01 2.46585341e-02 6.98384647e-01 3.32937375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23037174299999 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:52.53, Y:36.08, Z:33.28 [[-2.89332105e-01 -9.28061011e-01 2.34498812e-01 5.25293548e+01] [ 6.33515142e-01 -3.69301101e-01 -6.79908275e-01 3.60809797e+01] [ 7.17597030e-01 -4.81607442e-02 6.94791368e-01 3.32770821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260371743 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:52.53, Y:36.07, Z:33.28 [[-2.89778212e-01 -9.25169184e-01 2.45133777e-01 5.25262867e+01] [ 6.33173311e-01 -3.77375759e-01 -6.75780360e-01 3.60745834e+01] [ 7.17718709e-01 -4.06142592e-02 6.95147708e-01 3.32778140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290371743 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:52.54, Y:36.08, Z:33.28 [[-0.30535784 -0.92858772 0.21090624 52.53694826] [ 0.60647694 -0.36040479 -0.70872711 36.08192232] [ 0.73412691 -0.08850561 0.67321946 33.27908064] [ 0. 0. 0. 1. ]] SLAMing on 121.320371743 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:52.51, Y:36.05, Z:33.29 [[-3.02132498e-01 -9.05775461e-01 2.97130895e-01 5.25149911e+01] [ 6.14638036e-01 -4.23355523e-01 -6.65575079e-01 3.60490020e+01] [ 7.28653579e-01 -1.84639118e-02 6.84633512e-01 3.32937686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350371743 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:52.53, Y:36.06, Z:33.28 [[-3.04927852e-01 -9.16034793e-01 2.60574870e-01 5.25299379e+01] [ 6.16180544e-01 -3.98381024e-01 -6.79421885e-01 3.60630695e+01] [ 7.26182169e-01 -4.66134909e-02 6.85920287e-01 3.32791987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380371743 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:52.53, Y:36.07, Z:33.28 [[-3.07153140e-01 -9.13999436e-01 2.65069763e-01 5.25284853e+01] [ 6.15724912e-01 -4.03243182e-01 -6.76962162e-01 3.60652185e+01] [ 7.25630609e-01 -4.47209973e-02 6.86629632e-01 3.32838080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410371743 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:52.53, Y:36.05, Z:33.26 [[-3.03280961e-01 -9.10868062e-01 2.79892893e-01 5.25296449e+01] [ 6.30689102e-01 -4.12061180e-01 -6.57599301e-01 3.60484749e+01] [ 7.14319197e-01 -2.29119504e-02 6.99444871e-01 3.32634978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:52.55, Y:36.09, Z:33.27 [[-0.30732623 -0.92600931 0.21921984 52.54595074] [ 0.61797064 -0.36939277 -0.69401821 36.08587833] [ 0.72364555 -0.07781858 0.68577065 33.27109476] [ 0. 0. 0. 1. ]] SLAMing on 121.470371743 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:52.53, Y:36.07, Z:33.28 [[-3.06298240e-01 -9.15662171e-01 2.60277115e-01 5.25326028e+01] [ 6.17641255e-01 -3.99216002e-01 -6.77603028e-01 3.60668017e+01] [ 7.24362249e-01 -4.67907303e-02 6.87829891e-01 3.32779551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500371743 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:52.54, Y:36.08, Z:33.29 [[-0.31315055 -0.92038239 0.23416443 52.53555369] [ 0.59980655 -0.38283774 -0.70261467 36.07897087] [ 0.73632115 -0.07957082 0.67193723 33.28792775] [ 0. 0. 0. 1. ]] SLAMing on 121.530371743 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:52.52, Y:36.05, Z:33.29 [[-3.10568159e-01 -9.06744856e-01 2.85238822e-01 5.25205687e+01] [ 5.98642684e-01 -4.19668220e-01 -6.82279651e-01 3.60490341e+01] [ 7.38359232e-01 -4.11382009e-02 6.73151760e-01 3.32929408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.560371743 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:52.52, Y:36.05, Z:33.29 [[-3.06402632e-01 -9.08055596e-01 2.85573915e-01 5.25203886e+01] [ 6.00733418e-01 -4.17176221e-01 -6.81970206e-01 3.60455414e+01] [ 7.38401509e-01 -3.74036721e-02 6.73323234e-01 3.32901196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59037174299999 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:52.52, Y:36.02, Z:33.27 [[-2.95092807e-01 -8.99346713e-01 3.22638691e-01 5.25152653e+01] [ 6.29752374e-01 -4.37022346e-01 -6.42202006e-01 3.60242039e+01] [ 7.18562581e-01 1.36732896e-02 6.95327879e-01 3.32724279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62037174299999 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:52.55, Y:36.07, Z:33.27 [[-0.3001675 -0.92980599 0.21297957 52.54535965] [ 0.60676396 -0.35839697 -0.70949919 36.070634 ] [ 0.73602783 -0.08374028 0.67175189 33.26511029] [ 0. 0. 0. 1. ]] SLAMing on 121.650371743 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:52.52, Y:36.03, Z:33.28 [[-2.96387093e-01 -9.11244755e-01 2.85985467e-01 5.25206559e+01] [ 6.05841084e-01 -4.10866790e-01 -6.81281926e-01 3.60349010e+01] [ 7.38316512e-01 -2.86614242e-02 6.73845123e-01 3.32809982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680371743 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:52.52, Y:36.02, Z:33.26 [[-2.86256783e-01 -9.07589452e-01 3.07145634e-01 5.25207765e+01] [ 6.26518141e-01 -4.19835117e-01 -6.56668480e-01 3.60210535e+01] [ 7.24935909e-01 4.45650448e-03 6.88801907e-01 3.32646096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710371743 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:52.53, Y:36.02, Z:33.24 [[-2.78687596e-01 -9.19712246e-01 2.76518732e-01 5.25340514e+01] [ 6.34215635e-01 -3.92458716e-01 -6.66143141e-01 3.60243601e+01] [ 7.21182191e-01 -1.02733276e-02 6.92669262e-01 3.32410120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740371743 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:52.55, Y:36.03, Z:33.22 [[-2.75166163e-01 -9.28387033e-01 2.49762086e-01 5.25461053e+01] [ 6.40512719e-01 -3.70767648e-01 -6.72513797e-01 3.60314897e+01] [ 7.16956790e-01 -2.50772485e-02 6.96666414e-01 3.32232928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770371743 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:52.55, Y:36.04, Z:33.23 [[-2.77054953e-01 -9.33707046e-01 2.26785593e-01 5.25514329e+01] [ 6.29768112e-01 -3.54718646e-01 -6.91062086e-01 3.60446830e+01] [ 7.25694618e-01 -4.86398393e-02 6.86295481e-01 3.32298047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800371743 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:52.54, Y:36.05, Z:33.25 [[-0.28726715 -0.92940401 0.23170188 52.54002424] [ 0.61065032 -0.36406598 -0.70325113 36.04700329] [ 0.73795919 -0.06053212 0.67212506 33.25369121] [ 0. 0. 0. 1. ]] SLAMing on 121.830371743 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:52.52, Y:35.99, Z:33.23 [[-2.71301183e-01 -9.06947169e-01 3.22246026e-01 5.25237122e+01] [ 6.40050015e-01 -4.20048957e-01 -6.43346603e-01 3.59884160e+01] [ 7.18840487e-01 3.17128792e-02 6.94451328e-01 3.32349454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860371743 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:52.55, Y:36.03, Z:33.22 [[-2.69427024e-01 -9.31332074e-01 2.45009482e-01 5.25469300e+01] [ 6.42616034e-01 -3.63359815e-01 -6.74547462e-01 3.60321422e+01] [ 7.17254287e-01 -2.42942941e-02 6.96387877e-01 3.32216957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890371743 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:52.55, Y:36.05, Z:33.24 [[-0.28269659 -0.93761315 0.20239618 52.55102133] [ 0.61413846 -0.33900747 -0.71267657 36.05439375] [ 0.73682874 -0.07717196 0.67166055 33.24151202] [ 0. 0. 0. 1. ]] SLAMing on 121.920371743 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:52.52, Y:35.99, Z:33.24 [[-2.68815610e-01 -9.06485503e-01 3.25610504e-01 5.25208259e+01] [ 6.43666377e-01 -4.20550156e-01 -6.39399063e-01 3.59890530e+01] [ 7.16541529e-01 3.77040842e-02 6.96524686e-01 3.32389726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95037174299999 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:52.55, Y:36.04, Z:33.22 [[-2.69655295e-01 -9.36643071e-01 2.23574996e-01 5.25532310e+01] [ 6.33417111e-01 -3.47404060e-01 -6.91442827e-01 3.60390591e+01] [ 7.25305994e-01 -4.48349911e-02 6.86965093e-01 3.32242733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98037174299999 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:52.54, Y:36.04, Z:33.25 [[-0.28355436 -0.92976472 0.23480734 52.53944801] [ 0.61423349 -0.36412974 -0.70009053 36.0387577 ] [ 0.73641981 -0.05428719 0.67434321 33.24938485] [ 0. 0. 0. 1. ]] SLAMing on 122.010371743 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:52.52, Y:36.01, Z:33.26 [[-2.84307243e-01 -9.14713154e-01 2.87174579e-01 5.25230092e+01] [ 6.13134279e-01 -4.03747243e-01 -6.79009956e-01 3.60138589e+01] [ 7.37045282e-01 -1.69708702e-02 6.75630255e-01 3.32620840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040371743 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:52.52, Y:36.01, Z:33.26 [[-2.86489458e-01 -9.13926907e-01 2.87508954e-01 5.25241938e+01] [ 6.12315069e-01 -4.05461422e-01 -6.78727700e-01 3.60120815e+01] [ 7.36881297e-01 -1.84022661e-02 6.75771640e-01 3.32605380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070371743 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:52.52, Y:36.01, Z:33.26 [[-2.88770124e-01 -9.13125324e-01 2.87774145e-01 5.25247135e+01] [ 6.11657340e-01 -4.07195503e-01 -6.78282479e-01 3.60123069e+01] [ 7.36537246e-01 -1.98485479e-02 6.76105702e-01 3.32600282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100371743 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:52.53, Y:36.01, Z:33.26 [[-2.93367964e-01 -9.11618768e-01 2.87900085e-01 5.25274731e+01] [ 6.10376226e-01 -4.10390945e-01 -6.77510247e-01 3.60103410e+01] [ 7.35782645e-01 -2.30324347e-02 6.76825979e-01 3.32573158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:52.52, Y:36.00, Z:33.25 [[-2.86448331e-01 -9.03671215e-01 3.18316963e-01 5.25239218e+01] [ 6.33177696e-01 -4.27897302e-01 -6.44972793e-01 3.59992438e+01] [ 7.19050317e-01 1.67998212e-02 6.94754926e-01 3.32506674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160371743 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:52.55, Y:36.04, Z:33.24 [[-0.29988258 -0.9270863 0.22490317 52.55025314] [ 0.6108557 -0.36769305 -0.70118267 36.04227893] [ 0.73275218 -0.07288908 0.67658069 33.24390449] [ 0. 0. 0. 1. ]] SLAMing on 122.190371743 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:52.53, Y:36.01, Z:33.25 [[-2.92337932e-01 -9.03330687e-01 3.13898397e-01 5.25262126e+01] [ 6.28574218e-01 -4.28876868e-01 -6.48813598e-01 3.60055048e+01] [ 7.20716995e-01 7.63561401e-03 6.93187356e-01 3.32548340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220371743 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:52.55, Y:36.04, Z:33.24 [[-0.29795414 -0.92484609 0.23639594 52.55490266] [ 0.61348703 -0.37525285 -0.69485176 36.03713903] [ 0.73133918 -0.06200811 0.67918922 33.2410799 ] [ 0. 0. 0. 1. ]] SLAMing on 122.250371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:52.54, Y:36.03, Z:33.26 [[-3.05839932e-01 -9.12020485e-01 2.73277462e-01 5.25360827e+01] [ 6.05823355e-01 -4.07845740e-01 -6.83110471e-01 3.60268891e+01] [ 7.34465792e-01 -4.33645912e-02 6.77258823e-01 3.32607574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280371743 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:52.53, Y:36.01, Z:33.26 [[-3.07136770e-01 -9.06636255e-01 2.89270989e-01 5.25347199e+01] [ 6.03917865e-01 -4.20601181e-01 -6.77036084e-01 3.60139755e+01] [ 7.35493180e-01 -3.32467582e-02 6.76715920e-01 3.32574073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.310371743 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:52.54, Y:36.01, Z:33.25 [[-3.09064897e-01 -9.05833793e-01 2.89730960e-01 5.25364444e+01] [ 6.02787552e-01 -4.22217748e-01 -6.77037178e-01 3.60121668e+01] [ 7.35612709e-01 -3.46022099e-02 6.76518019e-01 3.32546433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34037174299999 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:52.53, Y:36.01, Z:33.25 [[-3.03926274e-01 -8.99586640e-01 3.13644221e-01 5.25346587e+01] [ 6.18570352e-01 -4.36719078e-01 -6.53182338e-01 3.60051254e+01] [ 7.24568519e-01 -4.50825725e-03 6.89188027e-01 3.32504739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37037174299999 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:52.55, Y:36.02, Z:33.23 [[-3.02700795e-01 -9.13495283e-01 2.71842963e-01 5.25532627e+01] [ 6.27277210e-01 -4.05688608e-01 -6.64785721e-01 3.60181056e+01] [ 7.17562214e-01 -3.07102712e-02 6.95817036e-01 3.32252668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400371743 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:52.56, Y:36.02, Z:33.22 [[-3.01943632e-01 -9.16544844e-01 2.62251011e-01 5.25588144e+01] [ 6.28779485e-01 -3.98239015e-01 -6.67863793e-01 3.60181061e+01] [ 7.16565700e-01 -3.67591642e-02 6.96550329e-01 3.32166470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430371743 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:52.57, Y:36.05, Z:33.23 [[-0.31381854 -0.92525089 0.21314011 52.56675281] [ 0.60252206 -0.36755159 -0.70842995 36.04688039] [ 0.73381543 -0.09389683 0.67282858 33.23496752] [ 0. 0. 0. 1. ]] SLAMing on 122.460371743 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:52.54, Y:35.99, Z:33.23 [[-3.00139387e-01 -9.00348493e-01 3.15101474e-01 5.25426020e+01] [ 6.20893177e-01 -4.35169608e-01 -6.52011560e-01 3.59868029e+01] [ 7.24160211e-01 -4.99945717e-05 6.89631776e-01 3.32299758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490371743 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:52.56, Y:36.03, Z:33.24 [[-0.30795372 -0.92136402 0.23717682 52.55911094] [ 0.60387841 -0.38193225 -0.69961319 36.03128932] [ 0.73518391 -0.07222252 0.6740093 33.23664761] [ 0. 0. 0. 1. ]] SLAMing on 122.520371743 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:52.54, Y:36.00, Z:33.24 [[-2.94103121e-01 -9.05574481e-01 3.05676650e-01 5.25412722e+01] [ 6.17910113e-01 -4.24147297e-01 -6.62031844e-01 3.59975253e+01] [ 7.29171068e-01 -5.82493845e-03 6.84306673e-01 3.32415234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550371743 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:52.55, Y:36.01, Z:33.23 [[-2.98566495e-01 -9.19021008e-01 2.57407137e-01 5.25543037e+01] [ 6.06066723e-01 -3.90919324e-01 -6.92723040e-01 3.60144614e+01] [ 7.37252450e-01 -5.08179901e-02 6.73703463e-01 3.32343863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580371743 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:52.54, Y:35.99, Z:33.24 [[-2.95178009e-01 -9.09582545e-01 2.92454333e-01 5.25438635e+01] [ 6.06396171e-01 -4.14892409e-01 -6.78342076e-01 3.59946763e+01] [ 7.38345195e-01 -2.28884763e-02 6.74034488e-01 3.32395452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610371743 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:52.54, Y:35.99, Z:33.24 [[-2.90154839e-01 -9.11049798e-01 2.92913697e-01 5.25444237e+01] [ 6.08442302e-01 -4.11876347e-01 -6.78347876e-01 3.59904187e+01] [ 7.38652919e-01 -1.86048346e-02 6.73829152e-01 3.32350084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640371743 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:52.55, Y:35.99, Z:33.23 [[-2.87797974e-01 -9.11642199e-01 2.93395342e-01 5.25455787e+01] [ 6.09202647e-01 -4.10653164e-01 -6.78407041e-01 3.59873095e+01] [ 7.38948212e-01 -1.65069532e-02 6.73559990e-01 3.32321009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670371743 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:52.54, Y:35.97, Z:33.22 [[-2.76928416e-01 -9.01309143e-01 3.33095304e-01 5.25377304e+01] [ 6.39074773e-01 -4.31629512e-01 -6.36615582e-01 3.59702821e+01] [ 7.17561208e-01 3.65758608e-02 6.95534413e-01 3.32219126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70037174299999 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:52.57, Y:36.02, Z:33.21 [[-0.28343222 -0.93417032 0.21677634 52.57220447] [ 0.61194767 -0.35022313 -0.70912891 36.01812049] [ 0.73836727 -0.06833421 0.67092787 33.20854175] [ 0. 0. 0. 1. ]] SLAMing on 122.73037174299999 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:52.55, Y:35.98, Z:33.23 [[-2.81753914e-01 -9.13338653e-01 2.93985097e-01 5.25463670e+01] [ 6.11899657e-01 -4.07047232e-01 -6.78152904e-01 3.59825541e+01] [ 7.39049080e-01 -1.11828549e-02 6.73558759e-01 3.32267597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760371743 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:52.55, Y:35.98, Z:33.23 [[-2.82008330e-01 -9.13150178e-01 2.94326443e-01 5.25464722e+01] [ 6.11903809e-01 -4.07472896e-01 -6.77893478e-01 3.59820825e+01] [ 7.38948598e-01 -1.10721363e-02 6.73670823e-01 3.32266419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790371743 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:52.55, Y:35.98, Z:33.22 [[-2.82677091e-01 -9.12826200e-01 2.94689652e-01 5.25485375e+01] [ 6.11657418e-01 -4.08191457e-01 -6.77683509e-01 3.59777944e+01] [ 7.38897060e-01 -1.13164912e-02 6.73723290e-01 3.32220740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820371743 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:52.54, Y:35.96, Z:33.21 [[-2.77003943e-01 -9.02037870e-01 3.31053617e-01 5.25433279e+01] [ 6.37436333e-01 -4.30317304e-01 -6.39141565e-01 3.59606452e+01] [ 7.18987995e-01 3.39808696e-02 6.94191302e-01 3.32126201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850371743 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:52.57, Y:36.01, Z:33.21 [[-0.28705548 -0.93106937 0.22518653 52.57314747] [ 0.61140073 -0.3590514 -0.70517462 36.01100893] [ 0.73742002 -0.06474503 0.67232417 33.2063111 ] [ 0. 0. 0. 1. ]] SLAMing on 122.880371743 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:52.55, Y:35.98, Z:33.22 [[-2.87145362e-01 -9.11263055e-01 2.95207022e-01 5.25518578e+01] [ 6.09964979e-01 -4.11573700e-01 -6.77163063e-01 3.59779331e+01] [ 7.38573128e-01 -1.43782879e-02 6.74020029e-01 3.32220500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910371743 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:52.55, Y:35.98, Z:33.22 [[-2.89623687e-01 -9.10341827e-01 2.95627939e-01 5.25533716e+01] [ 6.08719022e-01 -4.13542116e-01 -6.77084981e-01 3.59783812e+01] [ 7.38633382e-01 -1.61454990e-02 6.73913979e-01 3.32234991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940371743 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:52.55, Y:35.98, Z:33.22 [[-2.90593121e-01 -9.09894247e-01 2.96054214e-01 5.25548627e+01] [ 6.08139084e-01 -4.14504222e-01 -6.77017802e-01 3.59768970e+01] [ 7.38730325e-01 -1.66945777e-02 6.73794329e-01 3.32224909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970371743 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:52.56, Y:35.98, Z:33.22 [[-2.91140507e-01 -9.09550431e-01 2.96572451e-01 5.25558980e+01] [ 6.07475979e-01 -4.15246234e-01 -6.77158401e-01 3.59767396e+01] [ 7.39060309e-01 -1.69876002e-02 6.73425038e-01 3.32228339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000371743 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:52.56, Y:35.97, Z:33.22 [[-2.90679805e-01 -9.09513930e-01 2.97135763e-01 5.25601955e+01] [ 6.07139519e-01 -4.15345699e-01 -6.77399111e-01 3.59731341e+01] [ 7.39517989e-01 -1.65033768e-02 6.72934456e-01 3.32179366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030371743 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:52.56, Y:35.97, Z:33.22 [[-2.89979936e-01 -9.09632450e-01 2.97456624e-01 5.25619198e+01] [ 6.07639630e-01 -4.15121169e-01 -6.77088248e-01 3.59715996e+01] [ 7.39381983e-01 -1.55955744e-02 6.73105535e-01 3.32160522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.060371743 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:52.56, Y:35.97, Z:33.22 [[-2.89043982e-01 -9.09851645e-01 2.97697095e-01 5.25630362e+01] [ 6.08485117e-01 -4.14682995e-01 -6.76597278e-01 3.59711043e+01] [ 7.39053069e-01 -1.44221197e-02 6.73492809e-01 3.32154162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09037174299999 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:52.57, Y:35.97, Z:33.21 [[-2.85875461e-01 -9.10768561e-01 2.97952762e-01 5.25671100e+01] [ 6.10298127e-01 -4.12758376e-01 -6.76141050e-01 3.59672997e+01] [ 7.38790509e-01 -1.14521217e-02 6.73837839e-01 3.32114656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12037174299999 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:52.57, Y:35.97, Z:33.21 [[-2.84691990e-01 -9.11070335e-01 2.98163236e-01 5.25684851e+01] [ 6.11339205e-01 -4.12128315e-01 -6.75584657e-01 3.59670717e+01] [ 7.38386652e-01 -1.00546645e-02 6.74302644e-01 3.32104905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150371743 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:52.57, Y:35.96, Z:33.21 [[-2.83231989e-01 -9.11414303e-01 2.98502277e-01 5.25717112e+01] [ 6.12120346e-01 -4.11401038e-01 -6.75320567e-01 3.59630889e+01] [ 7.38300970e-01 -8.55307066e-03 6.74417172e-01 3.32054117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180371743 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:52.57, Y:35.96, Z:33.20 [[-2.83576694e-01 -9.11182301e-01 2.98883041e-01 5.25723912e+01] [ 6.11960790e-01 -4.11914633e-01 -6.75152076e-01 3.59612948e+01] [ 7.38300921e-01 -8.55269171e-03 6.74417231e-01 3.32035737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210371743 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:52.57, Y:35.93, Z:33.18 [[-0.27140706 -0.89859812 0.34476025 52.57165745] [ 0.64740578 -0.43550547 -0.62546043 35.93344165] [ 0.71218254 0.0534454 0.69995687 33.17518037] [ 0. 0. 0. 1. ]] SLAMing on 123.240371743 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:52.60, Y:35.98, Z:33.16 [[-2.68229565e-01 -9.30053071e-01 2.51105925e-01 5.26045241e+01] [ 6.47410894e-01 -3.67050465e-01 -6.67931950e-01 3.59805119e+01] [ 7.13380708e-01 -1.65903852e-02 7.00580277e-01 3.31556306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270371743 meters Centerline goodness : 0.995989 Centerline is valid? [True, True] Translation: X:52.61, Y:36.00, Z:33.18 [[-0.28250167 -0.93624186 0.20891144 52.61186525] [ 0.61197721 -0.34360682 -0.71233296 36.00093961] [ 0.73869933 -0.07338621 0.67002818 33.1774671 ] [ 0. 0. 0. 1. ]] SLAMing on 123.300371743 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:52.58, Y:35.96, Z:33.20 [[-2.81812521e-01 -9.11195818e-01 3.00506047e-01 5.25842744e+01] [ 6.10588064e-01 -4.11911793e-01 -6.76395513e-01 3.59627304e+01] [ 7.40110748e-01 -7.13131930e-03 6.72447192e-01 3.31980324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330371743 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:52.59, Y:35.96, Z:33.19 [[-2.82173795e-01 -9.10880273e-01 3.01123026e-01 5.25881690e+01] [ 6.09717970e-01 -4.12605030e-01 -6.76757776e-01 3.59592679e+01] [ 7.40690183e-01 -7.36319011e-03 6.71806398e-01 3.31939504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:52.59, Y:35.96, Z:33.19 [[-2.82673575e-01 -9.10593919e-01 3.01520089e-01 5.25901435e+01] [ 6.09437777e-01 -4.13234031e-01 -6.76626361e-01 3.59600382e+01] [ 7.40730211e-01 -7.50665985e-03 6.71760675e-01 3.31939064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390371743 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:52.59, Y:35.96, Z:33.19 [[-2.83237460e-01 -9.10346005e-01 3.01739443e-01 5.25943580e+01] [ 6.09654462e-01 -4.13779298e-01 -6.76097722e-01 3.59594700e+01] [ 7.40336395e-01 -7.53940380e-03 6.72194302e-01 3.31924929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420371743 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:52.60, Y:35.96, Z:33.19 [[-2.82887042e-01 -9.10328418e-01 3.02120990e-01 5.25971609e+01] [ 6.09805992e-01 -4.13827854e-01 -6.75931328e-01 3.59572920e+01] [ 7.40345577e-01 -6.97702383e-03 6.72190261e-01 3.31904798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45037174299999 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:52.60, Y:35.96, Z:33.19 [[-2.82359100e-01 -9.10450879e-01 3.02245820e-01 5.26001228e+01] [ 6.10796296e-01 -4.13573164e-01 -6.75192656e-01 3.59553189e+01] [ 7.39730507e-01 -6.03616314e-03 6.72876171e-01 3.31873271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48037174299999 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:52.60, Y:35.95, Z:33.19 [[-2.81826748e-01 -9.10486384e-01 3.02635470e-01 5.26021998e+01] [ 6.11004022e-01 -4.13504637e-01 -6.75046666e-01 3.59544370e+01] [ 7.39761968e-01 -5.33471743e-03 6.72847510e-01 3.31866241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510371743 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:52.61, Y:35.95, Z:33.18 [[-2.80978850e-01 -9.10713453e-01 3.02740636e-01 5.26067403e+01] [ 6.12191349e-01 -4.13018199e-01 -6.74268285e-01 3.59530264e+01] [ 7.39102590e-01 -4.11992904e-03 6.73580276e-01 3.31836255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540371743 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:52.61, Y:35.95, Z:33.18 [[-2.80488587e-01 -9.10749591e-01 3.03086351e-01 5.26098446e+01] [ 6.12507606e-01 -4.12944947e-01 -6.74025893e-01 3.59506032e+01] [ 7.39026783e-01 -3.41387528e-03 6.73667396e-01 3.31802055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570371743 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:52.61, Y:35.95, Z:33.18 [[-2.79377189e-01 -9.10914474e-01 3.03616876e-01 5.26124453e+01] [ 6.12561782e-01 -4.12588416e-01 -6.74194973e-01 3.59505943e+01] [ 7.39402765e-01 -2.37060233e-03 6.73259186e-01 3.31792648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600371743 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:52.61, Y:35.95, Z:33.18 [[-2.79124176e-01 -9.10827286e-01 3.04110752e-01 5.26147707e+01] [ 6.12334690e-01 -4.12782863e-01 -6.74282237e-01 3.59490529e+01] [ 7.39686367e-01 -1.99091070e-03 6.72948821e-01 3.31766437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630371743 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:52.62, Y:35.95, Z:33.17 [[-2.79147402e-01 -9.10633148e-01 3.04670311e-01 5.26174189e+01] [ 6.11790212e-01 -4.13211425e-01 -6.74513940e-01 3.59473780e+01] [ 7.40128005e-01 -1.89449950e-03 6.72463342e-01 3.31744405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660371743 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:52.62, Y:35.95, Z:33.17 [[-2.79733141e-01 -9.10392723e-01 3.04851538e-01 5.26219962e+01] [ 6.12097923e-01 -4.13740764e-01 -6.73910018e-01 3.59472417e+01] [ 7.39652285e-01 -1.91597293e-03 6.72986498e-01 3.31712076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690371743 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:52.62, Y:35.95, Z:33.17 [[-2.79698469e-01 -9.10245200e-01 3.05323503e-01 5.26247899e+01] [ 6.11834903e-01 -4.14066181e-01 -6.73948996e-01 3.59461980e+01] [ 7.39882976e-01 -1.69492698e-03 6.72733461e-01 3.31701041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:52.63, Y:35.95, Z:33.17 [[-2.80900307e-01 -9.09833307e-01 3.05447820e-01 5.26259433e+01] [ 6.12023811e-01 -4.14968261e-01 -6.73222249e-01 3.59464628e+01] [ 7.39271176e-01 -2.16699775e-03 6.73404360e-01 3.31692367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750371743 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:52.63, Y:35.93, Z:33.15 [[-2.71190740e-01 -9.05147919e-01 3.27357339e-01 5.26307703e+01] [ 6.32931304e-01 -4.23927367e-01 -6.47829879e-01 3.59318633e+01] [ 7.25157601e-01 3.15092434e-02 6.87861629e-01 3.31487610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780371743 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:52.65, Y:35.97, Z:33.16 [[-2.83046114e-01 -9.25644677e-01 2.51131100e-01 5.26497624e+01] [ 6.12460228e-01 -3.75940622e-01 -6.95385589e-01 3.59699759e+01] [ 7.38090351e-01 -4.30183775e-02 6.73329082e-01 3.31559408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.810371743 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:52.63, Y:35.95, Z:33.17 [[-2.82874768e-01 -9.09110879e-01 3.05776512e-01 5.26336305e+01] [ 6.12228882e-01 -4.16544087e-01 -6.72061620e-01 3.59474260e+01] [ 7.38347928e-01 -2.90406298e-03 6.74413749e-01 3.31666231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84037174299999 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:52.64, Y:35.95, Z:33.16 [[-2.86011563e-01 -9.08097337e-01 3.05870253e-01 5.26375737e+01] [ 6.11605376e-01 -4.18730256e-01 -6.71270316e-01 3.59477539e+01] [ 7.37655916e-01 -4.91918082e-03 6.75158909e-01 3.31646346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87037174299999 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:52.64, Y:35.95, Z:33.16 [[-2.87845408e-01 -9.07420375e-01 3.06158920e-01 5.26398067e+01] [ 6.11009620e-01 -4.20180491e-01 -6.70906550e-01 3.59483688e+01] [ 7.37436279e-01 -6.05132375e-03 6.75389603e-01 3.31642711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900371743 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:52.64, Y:35.95, Z:33.16 [[-2.89302265e-01 -9.06839472e-01 3.06506722e-01 5.26431563e+01] [ 6.10413860e-01 -4.21419190e-01 -6.70671891e-01 3.59464328e+01] [ 7.37359559e-01 -6.93094625e-03 6.75464909e-01 3.31616716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930371743 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:52.65, Y:35.94, Z:33.15 [[-2.81741177e-01 -9.06116956e-01 3.15553435e-01 5.26499645e+01] [ 6.21192276e-01 -4.22905702e-01 -6.59750653e-01 3.59402756e+01] [ 7.31260600e-01 1.01404309e-02 6.82022805e-01 3.31514406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960371743 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:52.66, Y:35.95, Z:33.14 [[-2.83126047e-01 -9.14367156e-01 2.89434526e-01 5.26613724e+01] [ 6.23123000e-01 -4.04783244e-01 -6.69229596e-01 3.59502798e+01] [ 7.29079809e-01 -9.12301988e-03 6.84367885e-01 3.31424550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990371743 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:52.66, Y:35.96, Z:33.15 [[-2.94389280e-01 -9.16154938e-01 2.72020369e-01 5.26622314e+01] [ 6.08907361e-01 -3.99189726e-01 -6.85477489e-01 3.59629998e+01] [ 7.36591323e-01 -3.61620198e-02 6.75370662e-01 3.31547062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020371743 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:52.65, Y:35.95, Z:33.16 [[-2.94988503e-01 -9.04660727e-01 3.07523579e-01 5.26525467e+01] [ 6.08282823e-01 -4.26003294e-01 -6.69711282e-01 3.59482013e+01] [ 7.36867553e-01 -1.04958178e-02 6.75955655e-01 3.31601044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050371743 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:52.66, Y:35.94, Z:33.15 [[-2.86375384e-01 -9.06640906e-01 3.09824801e-01 5.26633938e+01] [ 6.13997716e-01 -4.21902380e-01 -6.67087090e-01 3.59413953e+01] [ 7.35524265e-01 -8.05601694e-04 6.77497902e-01 3.31480556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080371743 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:52.67, Y:35.96, Z:33.15 [[-2.97413829e-01 -9.10414583e-01 2.87559215e-01 5.26666825e+01] [ 6.07349154e-01 -4.12800268e-01 -6.78765750e-01 3.59588067e+01] [ 7.36662758e-01 -2.72254746e-02 6.75712035e-01 3.31536918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110371743 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:52.66, Y:35.95, Z:33.16 [[-2.97844358e-01 -9.03457274e-01 3.08307787e-01 5.26624929e+01] [ 6.06946665e-01 -4.28503674e-01 -6.69328281e-01 3.59500276e+01] [ 7.36820524e-01 -1.22292690e-02 6.75977781e-01 3.31564111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140371743 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:52.67, Y:35.95, Z:33.15 [[-2.98258674e-01 -9.03231938e-01 3.08567381e-01 5.26654079e+01] [ 6.07083549e-01 -4.28979888e-01 -6.68898962e-01 3.59490034e+01] [ 7.36540106e-01 -1.21787368e-02 6.76284223e-01 3.31540972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170371743 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:52.67, Y:35.95, Z:33.15 [[-2.97881783e-01 -9.03367630e-01 3.08534226e-01 5.26697885e+01] [ 6.08433792e-01 -4.28720388e-01 -6.67837668e-01 3.59490394e+01] [ 7.35577844e-01 -1.12140258e-02 6.77347386e-01 3.31526087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20037174299999 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:52.67, Y:35.95, Z:33.15 [[-2.97131039e-01 -9.03508010e-01 3.08846922e-01 5.26731992e+01] [ 6.08967921e-01 -4.28448261e-01 -6.67525399e-01 3.59461169e+01] [ 7.35439472e-01 -1.02646478e-02 6.77512671e-01 3.31489594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23037174299999 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:52.68, Y:35.94, Z:33.15 [[-2.96489588e-01 -9.03617001e-01 3.09144368e-01 5.26757550e+01] [ 6.09491833e-01 -4.28238387e-01 -6.67181827e-01 3.59446214e+01] [ 7.35264327e-01 -9.39149752e-03 6.77715405e-01 3.31462827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260371743 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:52.68, Y:35.94, Z:33.14 [[-2.94883511e-01 -9.03984414e-01 3.09606030e-01 5.26810368e+01] [ 6.10002385e-01 -4.27492716e-01 -6.67193426e-01 3.59445506e+01] [ 7.35486781e-01 -7.88392349e-03 6.77493202e-01 3.31438381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290371743 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:52.68, Y:35.94, Z:33.14 [[-2.94546781e-01 -9.03963778e-01 3.09986583e-01 5.26844139e+01] [ 6.10142919e-01 -4.27546110e-01 -6.67030691e-01 3.59432547e+01] [ 7.35505141e-01 -7.33562421e-03 6.77479428e-01 3.31408493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320371743 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:52.69, Y:35.94, Z:33.14 [[-2.93166185e-01 -9.04176986e-01 3.10672763e-01 5.26888516e+01] [ 6.09906504e-01 -4.27112821e-01 -6.67524303e-01 3.59415830e+01] [ 7.36252432e-01 -6.21421448e-03 6.76678461e-01 3.31388884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350371743 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:52.70, Y:35.93, Z:33.12 [[-2.85752453e-01 -9.00758162e-01 3.27078384e-01 5.26969680e+01] [ 6.26600832e-01 -4.33862585e-01 -6.47406097e-01 3.59313686e+01] [ 7.25063399e-01 1.99497070e-02 6.88393112e-01 3.31201723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380371743 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:52.71, Y:35.96, Z:33.13 [[-2.95895452e-01 -9.16582135e-01 2.68929490e-01 5.27110618e+01] [ 6.10502018e-01 -3.97995052e-01 -6.84753404e-01 3.59592029e+01] [ 7.34665344e-01 -3.84334218e-02 6.77340169e-01 3.31295872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410371743 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:52.70, Y:35.94, Z:33.14 [[-2.96565628e-01 -9.02987268e-01 3.10906451e-01 5.26993012e+01] [ 6.10054866e-01 -4.29596842e-01 -6.65792471e-01 3.59430639e+01] [ 7.34766554e-01 -7.78116890e-03 6.78275434e-01 3.31359036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440371743 meters Centerline goodness : 0.991023 Centerline is valid? [True, True] Translation: X:52.70, Y:35.95, Z:33.14 [[-2.99127465e-01 -9.02189393e-01 3.10768497e-01 5.27040049e+01] [ 6.10275373e-01 -4.31243628e-01 -6.64524569e-01 3.59464902e+01] [ 7.33543951e-01 -9.12318921e-03 6.79580782e-01 3.31372032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470371743 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:52.71, Y:35.95, Z:33.13 [[-3.00812539e-01 -9.01542071e-01 3.11020436e-01 5.27080900e+01] [ 6.09807764e-01 -4.32573473e-01 -6.64089363e-01 3.59457679e+01] [ 7.33243689e-01 -1.01037308e-02 6.79890879e-01 3.31345381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500371743 meters Centerline goodness : 0.990799 Centerline is valid? [True, True] Translation: X:52.71, Y:35.95, Z:33.13 [[-3.02405573e-01 -9.00929233e-01 3.11251325e-01 5.27107604e+01] [ 6.09440064e-01 -4.33826851e-01 -6.63609126e-01 3.59477552e+01] [ 7.32894042e-01 -1.09900704e-02 6.80254027e-01 3.31341235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530371743 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:52.72, Y:35.95, Z:33.13 [[-3.03545702e-01 -9.00388914e-01 3.11704685e-01 5.27153758e+01] [ 6.08662332e-01 -4.34928346e-01 -6.63601914e-01 3.59461683e+01] [ 7.33069010e-01 -1.17106083e-02 6.80053446e-01 3.31306227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.560371743 meters Centerline goodness : 0.990209 Centerline is valid? [True, True] Translation: X:52.72, Y:35.96, Z:33.14 [[-3.05522427e-01 -8.99501844e-01 3.12333921e-01 5.27182140e+01] [ 6.06981834e-01 -4.36715217e-01 -6.63967524e-01 3.59550270e+01] [ 7.33640988e-01 -1.32759532e-02 6.79407572e-01 3.31368401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59037174299999 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:52.72, Y:35.95, Z:33.13 [[-3.06315654e-01 -8.99020877e-01 3.12941183e-01 5.27242136e+01] [ 6.05937929e-01 -4.37686476e-01 -6.64281398e-01 3.59493198e+01] [ 7.34172968e-01 -1.38568588e-02 6.78821067e-01 3.31287336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62037174299999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:52.73, Y:35.95, Z:33.13 [[-3.06915700e-01 -8.98666347e-01 3.13371265e-01 5.27301247e+01] [ 6.05487486e-01 -4.38405658e-01 -6.64217873e-01 3.59496486e+01] [ 7.34293985e-01 -1.41165139e-02 6.78684807e-01 3.31273985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650371743 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:52.73, Y:35.95, Z:33.13 [[-3.07105931e-01 -8.98513214e-01 3.13623901e-01 5.27331996e+01] [ 6.05732944e-01 -4.38726997e-01 -6.63781759e-01 3.59491782e+01] [ 7.34011954e-01 -1.38789863e-02 6.78994717e-01 3.31267992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680371743 meters Centerline goodness : 0.989485 Centerline is valid? [True, True] Translation: X:52.74, Y:35.95, Z:33.12 [[-3.08761525e-01 -8.97948968e-01 3.13614367e-01 5.27389276e+01] [ 6.05995936e-01 -4.39857488e-01 -6.62792815e-01 3.59491626e+01] [ 7.33099752e-01 -1.45958882e-02 6.79964495e-01 3.31248319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710371743 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:52.74, Y:35.95, Z:33.12 [[-3.10717049e-01 -8.97192388e-01 3.13848266e-01 5.27418986e+01] [ 6.05422624e-01 -4.41357808e-01 -6.62319207e-01 3.59492371e+01] [ 7.32747134e-01 -1.57830284e-02 6.80317966e-01 3.31240329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740371743 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:52.74, Y:35.95, Z:33.13 [[-3.12442528e-01 -8.96484708e-01 3.14157340e-01 5.27440000e+01] [ 6.04747166e-01 -4.42754062e-01 -6.62004310e-01 3.59519221e+01] [ 7.32571179e-01 -1.68525391e-02 6.80481785e-01 3.31262245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770371743 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:52.75, Y:35.95, Z:33.12 [[-3.14693375e-01 -8.95599710e-01 3.14434793e-01 5.27475742e+01] [ 6.03897192e-01 -4.44483386e-01 -6.61621267e-01 3.59514759e+01] [ 7.32308856e-01 -1.83215409e-02 6.80726127e-01 3.31242878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800371743 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:52.76, Y:35.94, Z:33.10 [[-3.07449985e-01 -8.94571767e-01 3.24369945e-01 5.27630802e+01] [ 6.16117043e-01 -4.46924107e-01 -6.48582017e-01 3.59375764e+01] [ 7.25171909e-01 4.43320338e-04 6.88567721e-01 3.30978757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830371743 meters Centerline goodness : 0.988042 Centerline is valid? [True, True] Translation: X:52.78, Y:35.95, Z:33.09 [[-3.10334735e-01 -9.08152614e-01 2.80982531e-01 5.27831095e+01] [ 6.12962143e-01 -4.17086763e-01 -6.71055917e-01 3.59501406e+01] [ 7.26615279e-01 -3.60203058e-02 6.86099682e-01 3.30938582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860371743 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:52.76, Y:35.96, Z:33.12 [[-3.23066885e-01 -8.98738188e-01 2.96475053e-01 5.27639352e+01] [ 6.00994757e-01 -4.36831288e-01 -6.69315865e-01 3.59635443e+01] [ 7.31049308e-01 -3.80538389e-02 6.81262662e-01 3.31239126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890371743 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:52.76, Y:35.96, Z:33.12 [[-3.27058746e-01 -8.91129482e-01 3.14516807e-01 5.27621100e+01] [ 5.99570048e-01 -4.52931514e-01 -6.59824826e-01 3.59573174e+01] [ 7.30443930e-01 -2.72266235e-02 6.82429760e-01 3.31245151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920371743 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:52.76, Y:35.96, Z:33.12 [[-3.28616391e-01 -8.90467668e-01 3.14767534e-01 5.27643514e+01] [ 5.99113939e-01 -4.54177939e-01 -6.59382201e-01 3.59575405e+01] [ 7.30119001e-01 -2.81021820e-02 6.82741907e-01 3.31242581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95037174299999 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:52.77, Y:35.96, Z:33.13 [[-3.30700226e-01 -8.89507656e-01 3.15299049e-01 5.27672558e+01] [ 5.97603802e-01 -4.55955194e-01 -6.59526009e-01 3.59592850e+01] [ 7.30415673e-01 -2.96814897e-02 6.82357643e-01 3.31250167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98037174299999 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:52.77, Y:35.96, Z:33.12 [[-3.32145606e-01 -8.88812118e-01 3.15740900e-01 5.27689144e+01] [ 5.96667840e-01 -4.57245599e-01 -6.59480060e-01 3.59581138e+01] [ 7.30525006e-01 -3.06509632e-02 6.82197723e-01 3.31231894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010371743 meters Centerline goodness : 0.988714 Centerline is valid? [True, True] Translation: X:52.78, Y:35.95, Z:33.10 [[-3.23299849e-01 -8.92965915e-01 3.13191767e-01 5.27835379e+01] [ 5.99968080e-01 -4.49367776e-01 -6.61896445e-01 3.59458024e+01] [ 7.31789252e-01 -2.60859580e-02 6.81031580e-01 3.31044407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040371743 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:52.78, Y:35.96, Z:33.12 [[-3.35077114e-01 -8.92026042e-01 3.03336229e-01 5.27753289e+01] [ 5.95105515e-01 -4.49972106e-01 -6.65863747e-01 3.59627464e+01] [ 7.30460644e-01 -4.25986397e-02 6.81624972e-01 3.31214707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070371743 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:52.77, Y:35.96, Z:33.12 [[-3.35184391e-01 -8.87297904e-01 3.16786765e-01 5.27711076e+01] [ 5.94506385e-01 -4.60034611e-01 -6.59492468e-01 3.59568007e+01] [ 7.30899160e-01 -3.27198271e-02 6.81700690e-01 3.31212426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100371743 meters Centerline goodness : 0.989176 Centerline is valid? [True, True] Translation: X:52.79, Y:35.94, Z:33.10 [[-3.26409953e-01 -8.91663752e-01 3.13675463e-01 5.27864864e+01] [ 5.98378242e-01 -4.51814168e-01 -6.61670188e-01 3.59421261e+01] [ 7.31710340e-01 -2.82791629e-02 6.81028830e-01 3.30996577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130371743 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:52.79, Y:35.94, Z:33.09 [[-3.26468210e-01 -8.95262749e-01 3.03188255e-01 5.27931375e+01] [ 6.00965310e-01 -4.44183039e-01 -6.64486361e-01 3.59426770e+01] [ 7.29560967e-01 -3.47280494e-02 6.83033497e-01 3.30917187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160371743 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:52.79, Y:35.95, Z:33.09 [[-3.26388702e-01 -8.92480805e-01 3.11365424e-01 5.27890877e+01] [ 6.08888183e-01 -4.50471489e-01 -6.52939980e-01 3.59452428e+01] [ 7.22997646e-01 -2.35255059e-02 6.90449821e-01 3.30902040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190371743 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:52.80, Y:35.96, Z:33.10 [[-0.32904669 -0.90184828 0.27999635 52.79947886] [ 0.59983904 -0.42861928 -0.67563204 35.95666025] [ 0.72932942 -0.05436175 0.68199956 33.0966719 ] [ 0. 0. 0. 1. ]] SLAMing on 125.220371743 meters Centerline goodness : 0.990074 Centerline is valid? [True, True] Translation: X:52.78, Y:35.96, Z:33.11 [[-3.39698800e-01 -8.91647598e-01 2.99281283e-01 5.27811119e+01] [ 5.91256334e-01 -4.49914174e-01 -6.69322929e-01 3.59597428e+01] [ 7.31451074e-01 -5.04162415e-02 6.80027595e-01 3.31133016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250371743 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:52.77, Y:35.95, Z:33.12 [[-3.39394404e-01 -8.84793564e-01 3.19298900e-01 5.27744989e+01] [ 5.89270637e-01 -4.64575882e-01 -6.61006328e-01 3.59534464e+01] [ 7.33192713e-01 -3.61883829e-02 6.79057322e-01 3.31166481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280371743 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:52.77, Y:35.95, Z:33.11 [[-3.42174356e-01 -8.83695581e-01 3.19372558e-01 5.27738204e+01] [ 5.88647850e-01 -4.66525030e-01 -6.60187931e-01 3.59518377e+01] [ 7.32400449e-01 -3.79014107e-02 6.79818406e-01 3.31135293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.310371743 meters Centerline goodness : 0.989298 Centerline is valid? [True, True] Translation: X:52.77, Y:35.95, Z:33.11 [[-3.44222774e-01 -8.82761813e-01 3.19753441e-01 5.27743208e+01] [ 5.87545405e-01 -4.68172648e-01 -6.60003612e-01 3.59496785e+01] [ 7.32325801e-01 -3.93186095e-02 6.79818335e-01 3.31120672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34037174299999 meters Centerline goodness : 0.989186 Centerline is valid? [True, True] Translation: X:52.77, Y:35.95, Z:33.12 [[-3.48780015e-01 -8.80927221e-01 3.19874557e-01 5.27716843e+01] [ 5.85821709e-01 -4.71334510e-01 -6.59284995e-01 3.59543964e+01] [ 7.31550016e-01 -4.25559711e-02 6.80458348e-01 3.31178475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37037174299999 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:52.78, Y:35.94, Z:33.09 [[-3.40414952e-01 -8.81028318e-01 3.28491649e-01 5.27830754e+01] [ 5.97024556e-01 -4.72423705e-01 -6.48365269e-01 3.59356782e+01] [ 7.26415404e-01 -2.45956504e-02 6.86815633e-01 3.30907689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400371743 meters Centerline goodness : 0.988245 Centerline is valid? [True, True] Translation: X:52.80, Y:35.94, Z:33.08 [[-0.34303109 -0.89278418 0.29200356 52.79927414] [ 0.59816234 -0.44730571 -0.6649206 35.94368184] [ 0.72424546 -0.05342291 0.68746964 33.08046875] [ 0. 0. 0. 1. ]] SLAMing on 125.430371743 meters Centerline goodness : 0.988797 Centerline is valid? [True, True] Translation: X:52.78, Y:35.96, Z:33.11 [[-0.35738095 -0.88628243 0.29458838 52.78090759] [ 0.58289814 -0.45810803 -0.67109373 35.95720588] [ 0.72973188 -0.0681211 0.68033146 33.11092927] [ 0. 0. 0. 1. ]] SLAMing on 125.460371743 meters Centerline goodness : 0.988131 Centerline is valid? [True, True] Translation: X:52.77, Y:35.95, Z:33.11 [[-3.58963556e-01 -8.76587414e-01 3.20530297e-01 5.27705727e+01] [ 5.80624227e-01 -4.78604441e-01 -6.58645045e-01 3.59473917e+01] [ 7.30767180e-01 -5.03219121e-02 6.80769442e-01 3.31131705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490371743 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:52.77, Y:35.94, Z:33.11 [[-3.60373148e-01 -8.75824849e-01 3.21032754e-01 5.27704423e+01] [ 5.79495400e-01 -4.79890435e-01 -6.58703462e-01 3.59443694e+01] [ 7.30969408e-01 -5.13420361e-02 6.80476098e-01 3.31102628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520371743 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:52.76, Y:35.95, Z:33.12 [[-0.36287713 -0.87452193 0.32176325 52.76441449] [ 0.57712393 -0.48202372 -0.65922766 35.94856173] [ 0.73160656 -0.05352137 0.67962291 33.11674073] [ 0. 0. 0. 1. ]] SLAMing on 125.550371743 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:52.77, Y:35.94, Z:33.11 [[-0.36409905 -0.8737668 0.32243365 52.76540788] [ 0.57562469 -0.48327424 -0.65962279 35.9420152 ] [ 0.73218038 -0.05456726 0.67892143 33.11018003] [ 0. 0. 0. 1. ]] SLAMing on 125.580371743 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:52.77, Y:35.93, Z:33.09 [[-3.54520567e-01 -8.75312516e-01 3.28851285e-01 5.27731185e+01] [ 5.86525570e-01 -4.82073525e-01 -6.50840128e-01 3.59298728e+01] [ 7.28219008e-01 -3.78565234e-02 6.84298151e-01 3.30901796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610371743 meters Centerline goodness : 0.989544 Centerline is valid? [True, True] Translation: X:52.77, Y:35.95, Z:33.11 [[-0.36591992 -0.88280634 0.29454299 52.77269505] [ 0.57623253 -0.46344867 -0.67318006 35.95048005] [ 0.73079318 -0.07660474 0.67828684 33.10621848] [ 0. 0. 0. 1. ]] SLAMing on 125.640371743 meters Centerline goodness : 0.988770 Centerline is valid? [True, True] Translation: X:52.77, Y:35.92, Z:33.08 [[-3.53331405e-01 -8.74736689e-01 3.31651388e-01 5.27698809e+01] [ 5.89093830e-01 -4.83445703e-01 -6.47494179e-01 3.59216488e+01] [ 7.26722353e-01 -3.34062420e-02 6.86118536e-01 3.30827344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670371743 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:52.77, Y:35.95, Z:33.11 [[-0.36502283 -0.88519615 0.28842003 52.76978368] [ 0.57697073 -0.45821969 -0.67612091 35.94836356] [ 0.73065936 -0.08038966 0.67799292 33.10543536] [ 0. 0. 0. 1. ]] SLAMing on 125.70037174299999 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:52.76, Y:35.93, Z:33.11 [[-0.36331419 -0.87363225 0.32368116 52.75642786] [ 0.57594168 -0.48368981 -0.65904123 35.9316833 ] [ 0.73232095 -0.05301756 0.6788926 33.10606018] [ 0. 0. 0. 1. ]] SLAMing on 125.73037174299999 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:52.75, Y:35.93, Z:33.10 [[-3.61333483e-01 -8.74471328e-01 3.23632524e-01 5.27536599e+01] [ 5.78219182e-01 -4.82429174e-01 -6.57970113e-01 3.59269210e+01] [ 7.31505770e-01 -5.06160991e-02 6.79953910e-01 3.31033749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760371743 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:52.75, Y:35.92, Z:33.10 [[-3.60230212e-01 -8.74805615e-01 3.23958840e-01 5.27539278e+01] [ 5.78963715e-01 -4.81954073e-01 -6.57663507e-01 3.59212464e+01] [ 7.31461011e-01 -4.93498513e-02 6.80095127e-01 3.30980025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790371743 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:52.75, Y:35.92, Z:33.09 [[-3.59235552e-01 -8.75128559e-01 3.24191029e-01 5.27533301e+01] [ 5.79905637e-01 -4.81496095e-01 -6.57168900e-01 3.59170836e+01] [ 7.31203987e-01 -4.80782280e-02 6.80462500e-01 3.30942902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820371743 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:52.75, Y:35.91, Z:33.09 [[-3.56787612e-01 -8.75939251e-01 3.24704526e-01 5.27506724e+01] [ 5.80863197e-01 -4.80233971e-01 -6.57246742e-01 3.59110723e+01] [ 7.31642363e-01 -4.58885868e-02 6.80142405e-01 3.30897518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850371743 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:52.75, Y:35.91, Z:33.09 [[-3.56059437e-01 -8.76025837e-01 3.25269749e-01 5.27485317e+01] [ 5.80731214e-01 -4.80142268e-01 -6.57430346e-01 3.59091499e+01] [ 7.32101724e-01 -4.51899830e-02 6.79694734e-01 3.30892659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880371743 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:52.75, Y:35.91, Z:33.09 [[-3.55430302e-01 -8.76115922e-01 3.25714895e-01 5.27475292e+01] [ 5.80876371e-01 -4.80046991e-01 -6.57371682e-01 3.59058900e+01] [ 7.32292252e-01 -4.44497292e-02 6.79538284e-01 3.30874914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910371743 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:52.74, Y:35.90, Z:33.09 [[-3.54699393e-01 -8.76242311e-01 3.26171355e-01 5.27439348e+01] [ 5.81047199e-01 -4.79891007e-01 -6.57334598e-01 3.59023713e+01] [ 7.32511087e-01 -4.36352305e-02 6.79355190e-01 3.30859061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940371743 meters Centerline goodness : 0.989563 Centerline is valid? [True, True] Translation: X:52.74, Y:35.90, Z:33.08 [[-3.54369796e-01 -8.76205233e-01 3.26628899e-01 5.27441926e+01] [ 5.80995546e-01 -4.80001935e-01 -6.57299261e-01 3.58962968e+01] [ 7.32711555e-01 -4.31570689e-02 6.79169525e-01 3.30804574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970371743 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:52.74, Y:35.89, Z:33.07 [[-3.55446628e-01 -8.76645076e-01 3.24270112e-01 5.27446559e+01] [ 5.87865233e-01 -4.79388656e-01 -6.51614137e-01 3.58924929e+01] [ 7.26685738e-01 -4.09869225e-02 6.85746243e-01 3.30738858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000371743 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:52.74, Y:35.89, Z:33.08 [[-3.54653868e-01 -8.75989128e-01 3.26900111e-01 5.27406230e+01] [ 5.82139144e-01 -4.80469628e-01 -6.55944322e-01 3.58887562e+01] [ 7.31665669e-01 -4.23318404e-02 6.80347973e-01 3.30773616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030371743 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:52.74, Y:35.89, Z:33.08 [[-3.55122032e-01 -8.75708198e-01 3.27144454e-01 5.27384197e+01] [ 5.82227882e-01 -4.80983751e-01 -6.55488615e-01 3.58877190e+01] [ 7.31367920e-01 -4.23058262e-02 6.80669657e-01 3.30769910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.060371743 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:52.74, Y:35.88, Z:33.07 [[-3.54964942e-01 -8.75640579e-01 3.27495750e-01 5.27378916e+01] [ 5.82368638e-01 -4.81145339e-01 -6.55244941e-01 3.58814870e+01] [ 7.31332113e-01 -4.18657285e-02 6.80735339e-01 3.30713474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09037174299999 meters Centerline goodness : 0.991362 Centerline is valid? [True, True] Translation: X:52.74, Y:35.88, Z:33.07 [[-3.54889065e-01 -8.75483821e-01 3.27996692e-01 5.27361010e+01] [ 5.82054039e-01 -4.81449450e-01 -6.55301093e-01 3.58819388e+01] [ 7.31619332e-01 -4.16473934e-02 6.80440040e-01 3.30727705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12037174299999 meters Centerline goodness : 0.990182 Centerline is valid? [True, True] Translation: X:52.75, Y:35.87, Z:33.05 [[-3.43048400e-01 -8.80446218e-01 3.27310637e-01 5.27494688e+01] [ 5.89168473e-01 -4.73073706e-01 -6.55043342e-01 3.58688515e+01] [ 7.31572489e-01 -3.18704618e-02 6.81018331e-01 3.30511384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150371743 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:52.74, Y:35.89, Z:33.07 [[-0.35406113 -0.88266534 0.30909969 52.73997774] [ 0.58227606 -0.46668778 -0.66570047 35.88507331] [ 0.73184378 -0.05571731 0.67919089 33.06656712] [ 0. 0. 0. 1. ]] SLAMing on 126.180371743 meters Centerline goodness : 0.990630 Centerline is valid? [True, True] Translation: X:52.73, Y:35.87, Z:33.07 [[-3.53091498e-01 -8.75674874e-01 3.29423601e-01 5.27331193e+01] [ 5.81198707e-01 -4.81220982e-01 -6.56227422e-01 3.58741398e+01] [ 7.33167414e-01 -4.02477523e-02 6.78856142e-01 3.30677957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210371743 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:52.73, Y:35.87, Z:33.07 [[-3.53202933e-01 -8.75481434e-01 3.29818052e-01 5.27318845e+01] [ 5.81075429e-01 -4.81587143e-01 -6.56067961e-01 3.58723550e+01] [ 7.33211452e-01 -4.00759618e-02 6.78818741e-01 3.30669277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240371743 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:52.73, Y:35.86, Z:33.06 [[-3.53714363e-01 -8.75112144e-01 3.30249732e-01 5.27320438e+01] [ 5.80629672e-01 -4.82241075e-01 -6.55982263e-01 3.58649594e+01] [ 7.33318031e-01 -4.02775551e-02 6.78691671e-01 3.30612765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270371743 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:52.73, Y:35.86, Z:33.06 [[-3.54383117e-01 -8.74707918e-01 3.30603486e-01 5.27321501e+01] [ 5.80308066e-01 -4.82952559e-01 -6.55743375e-01 3.58626478e+01] [ 7.33249722e-01 -4.05325110e-02 6.78750293e-01 3.30598686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300371743 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:52.73, Y:35.87, Z:33.06 [[-3.55564920e-01 -8.74093335e-01 3.30959860e-01 5.27293709e+01] [ 5.79691848e-01 -4.84005748e-01 -6.55511859e-01 3.58654523e+01] [ 7.33165022e-01 -4.12222886e-02 6.78800246e-01 3.30636862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330371743 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:52.74, Y:35.85, Z:33.04 [[-3.46559354e-01 -8.72133991e-01 3.45367798e-01 5.27363782e+01] [ 5.95887687e-01 -4.89038488e-01 -6.36992324e-01 3.58453596e+01] [ 7.24440804e-01 -1.49552302e-02 6.89174769e-01 3.30359816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360371743 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:52.75, Y:35.86, Z:33.03 [[-3.48085021e-01 -8.86552457e-01 3.04731945e-01 5.27472805e+01] [ 5.98939301e-01 -4.60379339e-01 -6.55227120e-01 3.58640754e+01] [ 7.21185505e-01 -4.55588079e-02 6.91242261e-01 3.30311107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390371743 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:52.74, Y:35.87, Z:33.05 [[-0.35902832 -0.88867496 0.28522881 52.74174507] [ 0.57976895 -0.45184453 -0.67801511 35.87304758] [ 0.73141413 -0.07805982 0.67745113 33.04886508] [ 0. 0. 0. 1. ]] SLAMing on 126.420371743 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:52.72, Y:35.85, Z:33.05 [[-3.58306876e-01 -8.72598692e-01 3.31945334e-01 5.27246544e+01] [ 5.77980505e-01 -4.86551754e-01 -6.55138097e-01 3.58523044e+01] [ 7.33181232e-01 -4.28825533e-02 6.78679872e-01 3.30549304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45037174299999 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:52.72, Y:35.85, Z:33.06 [[-3.58155752e-01 -8.72523808e-01 3.32305074e-01 5.27233342e+01] [ 5.78092983e-01 -4.86723335e-01 -6.54911367e-01 3.58513104e+01] [ 7.33166393e-01 -4.24570421e-02 6.78722653e-01 3.30554830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48037174299999 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:52.73, Y:35.84, Z:33.03 [[-3.49369149e-01 -8.68529536e-01 3.51564565e-01 5.27253538e+01] [ 5.97434064e-01 -4.95531663e-01 -6.30492593e-01 3.58363269e+01] [ 7.21812812e-01 -1.02380139e-02 6.92012606e-01 3.30343089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510371743 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:52.74, Y:35.85, Z:33.02 [[-3.49127354e-01 -8.88205565e-01 2.98665307e-01 5.27415866e+01] [ 5.98371626e-01 -4.56590255e-01 -6.58389502e-01 3.58544663e+01] [ 7.21152888e-01 -5.11489391e-02 6.90885155e-01 3.30226615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540371743 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:52.73, Y:35.86, Z:33.04 [[-0.35861644 -0.88696457 0.29101221 52.73390531] [ 0.5795802 -0.45594249 -0.67542819 35.86004386] [ 0.7317657 -0.07355474 0.67757558 33.04196889] [ 0. 0. 0. 1. ]] SLAMing on 126.570371743 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:52.72, Y:35.84, Z:33.05 [[-3.57932560e-01 -8.72209205e-01 3.33369742e-01 5.27175962e+01] [ 5.77649796e-01 -4.87342101e-01 -6.54842263e-01 3.58401119e+01] [ 7.33624561e-01 -4.18184038e-02 6.78267075e-01 3.30489571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600371743 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:52.72, Y:35.84, Z:33.05 [[-3.58685828e-01 -8.71751212e-01 3.33757848e-01 5.27176093e+01] [ 5.77178832e-01 -4.88129487e-01 -6.54671062e-01 3.58371405e+01] [ 7.33627339e-01 -4.21832669e-02 6.78241476e-01 3.30462972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630371743 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:52.72, Y:35.83, Z:33.04 [[-3.58257453e-01 -8.71695329e-01 3.34363351e-01 5.27184926e+01] [ 5.76776759e-01 -4.88264056e-01 -6.54925020e-01 3.58348034e+01] [ 7.34152687e-01 -4.17787597e-02 6.77697844e-01 3.30441611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660371743 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:52.72, Y:35.83, Z:33.04 [[-3.59004831e-01 -8.71079986e-01 3.35164421e-01 5.27157062e+01] [ 5.75180962e-01 -4.89292885e-01 -6.55560320e-01 3.58326977e+01] [ 7.35039041e-01 -4.25691279e-02 6.76687134e-01 3.30426143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690371743 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:52.71, Y:35.83, Z:33.04 [[-3.59067615e-01 -8.70891354e-01 3.35587095e-01 5.27148945e+01] [ 5.75001785e-01 -4.89644131e-01 -6.55455240e-01 3.58310345e+01] [ 7.35148553e-01 -4.23895714e-02 6.76579433e-01 3.30419025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720371743 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:52.71, Y:35.83, Z:33.04 [[-3.59102593e-01 -8.70739267e-01 3.35944128e-01 5.27137654e+01] [ 5.75018315e-01 -4.89937996e-01 -6.55221106e-01 3.58292795e+01] [ 7.35118538e-01 -4.21175723e-02 6.76629031e-01 3.30411171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750371743 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:52.71, Y:35.83, Z:33.04 [[-3.59510106e-01 -8.70490942e-01 3.36151755e-01 5.27127797e+01] [ 5.75232772e-01 -4.90388799e-01 -6.54695413e-01 3.58265424e+01] [ 7.34751483e-01 -4.20041118e-02 6.77034647e-01 3.30395975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780371743 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:52.72, Y:35.79, Z:33.00 [[-3.48327364e-01 -8.69505558e-01 3.50182999e-01 5.27238823e+01] [ 5.93514633e-01 -4.93737213e-01 -6.35581580e-01 3.57946627e+01] [ 7.25540094e-01 -1.35517225e-02 6.88046454e-01 3.29996436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.810371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:52.74, Y:35.81, Z:32.99 [[-0.34788348 -0.88834741 0.29969313 52.74022422] [ 0.5930448 -0.45609114 -0.66353503 35.81257072] [ 0.72613701 -0.05310142 0.68549638 32.98895553] [ 0. 0. 0. 1. ]] SLAMing on 126.84037174299999 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:52.72, Y:35.83, Z:33.03 [[-0.35940381 -0.88481672 0.29652702 52.7209874 ] [ 0.5767487 -0.46041912 -0.67481491 35.83118008] [ 0.73361423 -0.07150947 0.67579328 33.02509549] [ 0. 0. 0. 1. ]] SLAMing on 126.87037174299999 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:52.71, Y:35.81, Z:33.03 [[-3.58299131e-01 -8.70610286e-01 3.37134190e-01 5.27073533e+01] [ 5.75382202e-01 -4.90297399e-01 -6.54632555e-01 3.58106556e+01] [ 7.35225853e-01 -4.05732634e-02 6.76606796e-01 3.30315373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900371743 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:52.72, Y:35.80, Z:33.01 [[-3.48427892e-01 -8.74722829e-01 3.36835237e-01 5.27171005e+01] [ 5.83326727e-01 -4.83638566e-01 -6.52551659e-01 3.57999935e+01] [ 7.33708344e-01 -3.08822027e-02 6.78762371e-01 3.30145236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930371743 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:52.72, Y:35.80, Z:33.00 [[-3.47359113e-01 -8.82742440e-01 3.16397584e-01 5.27246630e+01] [ 5.85188397e-01 -4.67702347e-01 -6.62426641e-01 3.57965236e+01] [ 7.32732002e-01 -4.49477348e-02 6.79031306e-01 3.30009705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:52.71, Y:35.81, Z:33.02 [[-3.57215160e-01 -8.78103351e-01 3.18326616e-01 5.27088343e+01] [ 5.78830949e-01 -4.75597587e-01 -6.62390872e-01 3.58074411e+01] [ 7.33043015e-01 -5.23587640e-02 6.78164065e-01 3.30229336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:52.70, Y:35.80, Z:33.03 [[-3.57040058e-01 -8.71019216e-01 3.37413577e-01 5.27037258e+01] [ 5.78002477e-01 -4.89775582e-01 -6.52712047e-01 3.57977193e+01] [ 7.33781667e-01 -3.80184638e-02 6.78320767e-01 3.30252302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020371743 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:52.70, Y:35.79, Z:33.02 [[-3.56006904e-01 -8.71488669e-01 3.37293025e-01 5.27017586e+01] [ 5.79896167e-01 -4.89065428e-01 -6.51563844e-01 3.57941500e+01] [ 7.32788864e-01 -3.63662946e-02 6.79483608e-01 3.30225536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050371743 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:52.71, Y:35.78, Z:33.01 [[-3.44958984e-01 -8.77027669e-01 3.34403599e-01 5.27136361e+01] [ 5.85852985e-01 -4.79536051e-01 -6.53315740e-01 3.57837577e+01] [ 7.33334561e-01 -2.94557875e-02 6.79229547e-01 3.30058141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:52.71, Y:35.79, Z:33.01 [[-3.53852883e-01 -8.77912743e-01 3.22579220e-01 5.27056513e+01] [ 5.81940761e-01 -4.76660693e-01 -6.58892658e-01 3.57942782e+01] [ 7.32211095e-01 -4.54290693e-02 6.79560970e-01 3.30135070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:52.70, Y:35.78, Z:33.01 [[-3.50991961e-01 -8.73245482e-01 3.38004396e-01 5.26993063e+01] [ 5.82707352e-01 -4.86255235e-01 -6.51158958e-01 3.57841348e+01] [ 7.32978025e-01 -3.15939134e-02 6.79518241e-01 3.30131859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140371743 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:52.71, Y:35.78, Z:33.00 [[-3.40990564e-01 -8.75769930e-01 3.41690598e-01 5.27068366e+01] [ 5.92085907e-01 -4.82399944e-01 -6.45542076e-01 3.57761828e+01] [ 7.30177865e-01 -1.78135688e-02 6.83024862e-01 3.30003921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170371743 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:52.72, Y:35.79, Z:33.00 [[-3.38593342e-01 -8.87762192e-01 3.11821806e-01 5.27156932e+01] [ 5.87219975e-01 -4.58308822e-01 -6.67177431e-01 3.57851218e+01] [ 7.35205584e-01 -4.27938427e-02 6.76492008e-01 3.29954867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20037174299999 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:52.71, Y:35.77, Z:32.99 [[-3.36948123e-01 -8.80358640e-01 3.33818254e-01 5.27101212e+01] [ 5.92583376e-01 -4.73812916e-01 -6.51418655e-01 3.57704268e+01] [ 7.31649442e-01 -2.16791450e-02 6.81336267e-01 3.29907447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23037174299999 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:52.71, Y:35.78, Z:32.99 [[-3.36291413e-01 -8.86375827e-01 3.18191731e-01 5.27138615e+01] [ 5.94232180e-01 -4.61833959e-01 -6.58481216e-01 3.57777000e+01] [ 7.30613579e-01 -3.23618125e-02 6.82023835e-01 3.29877918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:52.71, Y:35.78, Z:33.00 [[-3.43593543e-01 -8.84615797e-01 3.15275067e-01 5.27059562e+01] [ 5.86263412e-01 -4.64309263e-01 -6.63861521e-01 3.57824150e+01] [ 7.33647523e-01 -4.32642955e-02 6.78151541e-01 3.29979005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:52.70, Y:35.77, Z:33.00 [[-3.39112827e-01 -8.77225507e-01 3.39820395e-01 5.26979338e+01] [ 5.87596967e-01 -4.79604846e-01 -6.51697012e-01 3.57695035e+01] [ 7.34664750e-01 -2.13213827e-02 6.78095202e-01 3.30031808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320371743 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:52.70, Y:35.76, Z:32.99 [[-3.37309494e-01 -8.77736316e-01 3.40295850e-01 5.27008219e+01] [ 5.88292581e-01 -4.78741606e-01 -6.51704161e-01 3.57615725e+01] [ 7.34938191e-01 -1.96324769e-02 6.77849851e-01 3.29942995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:52.71, Y:35.75, Z:32.98 [[-3.26344317e-01 -8.79134880e-01 3.47305702e-01 5.27091191e+01] [ 5.99719274e-01 -4.76570697e-01 -6.42819697e-01 3.57500452e+01] [ 7.30640938e-01 -1.49463156e-03 6.82760270e-01 3.29793662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380371743 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:52.72, Y:35.76, Z:32.97 [[-3.23528705e-01 -8.88530266e-01 3.25335431e-01 5.27176224e+01] [ 6.02503497e-01 -4.58562064e-01 -6.53230717e-01 3.57557307e+01] [ 7.29601749e-01 -1.53231532e-02 6.83700584e-01 3.29681734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410371743 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:52.71, Y:35.77, Z:32.98 [[-3.28111620e-01 -8.93536736e-01 3.06487954e-01 5.27133514e+01] [ 5.93322495e-01 -4.47402939e-01 -6.69177873e-01 3.57692221e+01] [ 7.35058625e-01 -3.77188380e-02 6.76953549e-01 3.29791000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440371743 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:52.71, Y:35.74, Z:32.97 [[-3.16325529e-01 -8.81531136e-01 3.50486827e-01 5.27117540e+01] [ 6.06301693e-01 -4.72018842e-01 -6.39997242e-01 3.57389200e+01] [ 7.29613882e-01 1.00532906e-02 6.83785430e-01 3.29695188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:52.72, Y:35.76, Z:32.97 [[-3.22183341e-01 -8.95349110e-01 3.07486368e-01 5.27175608e+01] [ 5.97775148e-01 -4.44271855e-01 -6.67298577e-01 3.57626645e+01] [ 7.34072726e-01 -3.11847761e-02 6.78354437e-01 3.29714875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500371743 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:52.71, Y:35.75, Z:32.98 [[-3.20985049e-01 -8.83531259e-01 3.41088130e-01 5.27092392e+01] [ 5.98552302e-01 -4.68351036e-01 -6.49909570e-01 3.57457200e+01] [ 7.33964400e-01 -4.45216994e-03 6.79173349e-01 3.29764464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:52.71, Y:35.74, Z:32.97 [[-3.19752642e-01 -8.83839400e-01 3.41447161e-01 5.27115044e+01] [ 5.99215173e-01 -4.67779881e-01 -6.49710057e-01 3.57445715e+01] [ 7.33961459e-01 -3.14618765e-03 6.79183832e-01 3.29743682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.560371743 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:52.72, Y:35.74, Z:32.97 [[-3.19701516e-01 -8.83878231e-01 3.41394513e-01 5.27158567e+01] [ 6.00330081e-01 -4.67710667e-01 -6.48729933e-01 3.57436031e+01] [ 7.33072121e-01 -2.45054686e-03 6.80146499e-01 3.29713027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59037174299999 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:52.73, Y:35.73, Z:32.96 [[-3.11443532e-01 -8.83838433e-01 3.49045198e-01 5.27260202e+01] [ 6.11671104e-01 -4.67559672e-01 -6.38158612e-01 3.57333855e+01] [ 7.27228566e-01 1.47504892e-02 6.86236866e-01 3.29561827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62037174299999 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:52.73, Y:35.76, Z:32.96 [[-3.21917903e-01 -8.94211009e-01 3.11055517e-01 5.27297064e+01] [ 6.00656449e-01 -4.46855575e-01 -6.62972039e-01 3.57572956e+01] [ 7.31833788e-01 -2.65850666e-02 6.80964419e-01 3.29623249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650371743 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:52.73, Y:35.75, Z:32.97 [[-3.24031815e-01 -8.82301594e-01 3.41390216e-01 5.27257206e+01] [ 6.00051510e-01 -4.70660542e-01 -6.46851482e-01 3.57457957e+01] [ 7.31396998e-01 -4.74874573e-03 6.81935394e-01 3.29678716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680371743 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:52.74, Y:35.73, Z:32.94 [[-3.15303267e-01 -8.80869458e-01 3.53062102e-01 5.27381969e+01] [ 6.14307830e-01 -4.73026176e-01 -6.31563241e-01 3.57304518e+01] [ 7.23332386e-01 1.77548609e-02 6.90271703e-01 3.29447386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:52.74, Y:35.77, Z:32.96 [[-3.28783683e-01 -8.94779741e-01 3.02110088e-01 5.27447034e+01] [ 5.98773501e-01 -4.44881618e-01 -6.65995976e-01 3.57686788e+01] [ 7.30322932e-01 -3.80730948e-02 6.82040215e-01 3.29604858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740371743 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:52.73, Y:35.75, Z:32.97 [[-3.30781802e-01 -8.79589167e-01 3.41915627e-01 5.27342835e+01] [ 5.97248796e-01 -4.75640974e-01 -6.45801471e-01 3.57526073e+01] [ 7.30669060e-01 -9.41067702e-03 6.82666950e-01 3.29679699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770371743 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:52.75, Y:35.73, Z:32.94 [[-3.21753460e-01 -8.75896023e-01 3.59556487e-01 5.27457400e+01] [ 6.14751797e-01 -4.82077502e-01 -6.24244752e-01 3.57339015e+01] [ 7.20107589e-01 2.01850876e-02 6.93568758e-01 3.29418707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:52.76, Y:35.78, Z:32.96 [[-0.33839542 -0.89427416 0.29285195 52.75634642] [ 0.59211248 -0.44423505 -0.67235261 35.78199283] [ 0.73136267 -0.05411975 0.67983799 32.96063852] [ 0. 0. 0. 1. ]] SLAMing on 127.830371743 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:52.75, Y:35.75, Z:32.95 [[-3.29999929e-01 -8.74135796e-01 3.56351874e-01 5.27525236e+01] [ 6.05084100e-01 -4.85624849e-01 -6.30905491e-01 3.57470094e+01] [ 7.24550398e-01 7.42408577e-03 6.89181837e-01 3.29479719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:52.76, Y:35.78, Z:32.96 [[-0.34473604 -0.88924274 0.30067326 52.7589345 ] [ 0.58779242 -0.45423081 -0.66945832 35.78401467] [ 0.73188601 -0.05405295 0.67927988 32.96356589] [ 0. 0. 0. 1. ]] SLAMing on 127.890371743 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:52.75, Y:35.77, Z:32.97 [[-3.50178512e-01 -8.71151073e-01 3.44195899e-01 5.27503062e+01] [ 5.83655347e-01 -4.90339090e-01 -6.47235670e-01 3.57676328e+01] [ 7.32612753e-01 -2.57562470e-02 6.80158195e-01 3.29710807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920371743 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:52.75, Y:35.77, Z:32.97 [[-3.53215119e-01 -8.69837646e-01 3.44414792e-01 5.27522006e+01] [ 5.82318522e-01 -4.92549283e-01 -6.46761426e-01 3.57690279e+01] [ 7.32218695e-01 -2.78868014e-02 6.80498426e-01 3.29723931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95037174299999 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:52.75, Y:35.77, Z:32.97 [[-3.57435558e-01 -8.67999733e-01 3.44697382e-01 5.27547450e+01] [ 5.80128689e-01 -4.95591090e-01 -6.46405582e-01 3.57713066e+01] [ 7.31908824e-01 -3.10794994e-02 6.80693425e-01 3.29743479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98037174299999 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:52.76, Y:35.77, Z:32.97 [[-3.57767170e-01 -8.67716554e-01 3.45066128e-01 5.27555358e+01] [ 5.79924340e-01 -4.96086699e-01 -6.46208749e-01 3.57696090e+01] [ 7.31908746e-01 -3.10800289e-02 6.80693484e-01 3.29725145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01037174299998 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:52.76, Y:35.77, Z:32.97 [[-3.60317889e-01 -8.66599951e-01 3.45218112e-01 5.27592444e+01] [ 5.79017034e-01 -4.97928588e-01 -6.45605449e-01 3.57698383e+01] [ 7.31375617e-01 -3.27360252e-02 6.81188711e-01 3.29716788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04037174299998 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:52.76, Y:35.77, Z:32.97 [[-3.61689040e-01 -8.65982832e-01 3.45332843e-01 5.27609339e+01] [ 5.78878173e-01 -4.98959781e-01 -6.44933484e-01 3.57691905e+01] [ 7.30808524e-01 -3.33597278e-02 6.81766844e-01 3.29700240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07037174299998 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:52.78, Y:35.76, Z:32.94 [[-3.49437953e-01 -8.72682840e-01 3.41053921e-01 5.27820625e+01] [ 5.86291828e-01 -4.87589169e-01 -6.46930209e-01 3.57550536e+01] [ 7.30859090e-01 -2.61048413e-02 6.82028978e-01 3.29444562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10037174299998 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:52.79, Y:35.77, Z:32.95 [[-0.34983334 -0.88484693 0.30767278 52.79273478] [ 0.57645607 -0.46221061 -0.67383956 35.77034723] [ 0.73845449 -0.0583717 0.67177207 32.94997632] [ 0. 0. 0. 1. ]] SLAMing on 128.13037174299998 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:52.79, Y:35.76, Z:32.96 [[-0.34754758 -0.88138186 0.31996358 52.78953386] [ 0.56607419 -0.46925831 -0.67775855 35.7640369 ] [ 0.74750966 -0.05443022 0.66201711 32.95912893] [ 0. 0. 0. 1. ]] SLAMing on 128.16037174299998 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:52.78, Y:35.76, Z:32.97 [[-3.46160643e-01 -8.74859078e-01 3.38813226e-01 5.27836151e+01] [ 5.60495199e-01 -4.82456010e-01 -6.73113162e-01 3.57558338e+01] [ 7.52341638e-01 -4.31020989e-02 6.57361597e-01 3.29667429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190371743 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:52.78, Y:35.74, Z:32.96 [[-3.44254760e-01 -8.67817118e-01 3.58304493e-01 5.27808602e+01] [ 5.61865643e-01 -4.96174178e-01 -6.61904966e-01 3.57419065e+01] [ 7.52193897e-01 -2.65449510e-02 6.58406946e-01 3.29623919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220371743 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:52.76, Y:35.75, Z:32.97 [[-3.57285306e-01 -8.52347929e-01 3.81903413e-01 5.27576544e+01] [ 5.79755011e-01 -5.22971969e-01 -6.24807528e-01 3.57468660e+01] [ 7.32278183e-01 -1.82413139e-03 6.81003183e-01 3.29668618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250371743 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:52.80, Y:35.77, Z:32.96 [[-0.3458094 -0.88784552 0.30355591 52.79648143] [ 0.55744385 -0.45462966 -0.69467131 35.76836555] [ 0.75476633 -0.07100849 0.65213924 32.96250348] [ 0. 0. 0. 1. ]] SLAMing on 128.280371743 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:52.78, Y:35.75, Z:32.98 [[-3.42561377e-01 -8.72417801e-01 3.48624272e-01 5.27808354e+01] [ 5.50876199e-01 -4.87113122e-01 -6.77684455e-01 3.57524520e+01] [ 7.61043440e-01 -4.00997060e-02 6.47460344e-01 3.29776185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310371743 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:52.78, Y:35.73, Z:32.97 [[-3.40665776e-01 -8.63151088e-01 3.72715747e-01 5.27774820e+01] [ 5.58762035e-01 -5.04694532e-01 -6.58079340e-01 3.57343968e+01] [ 7.56129498e-01 -1.59256996e-02 6.54228213e-01 3.29664350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340371743 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:52.78, Y:35.75, Z:32.97 [[-3.41997067e-01 -8.71965391e-01 3.50306098e-01 5.27801029e+01] [ 5.60408967e-01 -4.88492964e-01 -6.68817176e-01 3.57500076e+01] [ 7.54307494e-01 -3.24188337e-02 6.55720385e-01 3.29697884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370371743 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:52.75, Y:35.79, Z:33.03 [[-3.44257485e-01 -8.63854236e-01 3.67753509e-01 5.27462465e+01] [ 5.70082035e-01 -5.03551771e-01 -6.49185710e-01 3.57902703e+01] [ 7.45984757e-01 -1.38373705e-02 6.65819247e-01 3.30277576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400371743 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:52.76, Y:35.75, Z:32.96 [[-3.53038617e-01 -8.61566723e-01 3.64782835e-01 5.27646608e+01] [ 5.80313352e-01 -5.07473216e-01 -6.36951607e-01 3.57455505e+01] [ 7.33893827e-01 -1.31801644e-02 6.79136315e-01 3.29579469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430371743 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:52.77, Y:35.75, Z:32.95 [[-3.50837375e-01 -8.68789814e-01 3.49452995e-01 5.27702432e+01] [ 5.80794726e-01 -4.94604999e-01 -6.46562744e-01 3.57456927e+01] [ 7.34568324e-01 -2.38779194e-02 6.78114461e-01 3.29492767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460371743 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:52.78, Y:35.74, Z:32.95 [[-3.40787692e-01 -8.73757666e-01 3.47003299e-01 5.27778092e+01] [ 5.83618184e-01 -4.85983172e-01 -6.50546057e-01 3.57444818e+01] [ 7.37057369e-01 -1.91806544e-02 6.75557946e-01 3.29492666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.490371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:52.77, Y:35.75, Z:32.94 [[-3.50220911e-01 -8.73555962e-01 3.38001914e-01 5.27720222e+01] [ 5.80369666e-01 -4.85618682e-01 -6.53716718e-01 3.57470504e+01] [ 7.35198180e-01 -3.27792065e-02 6.77059199e-01 3.29449293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52037174299997 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:52.77, Y:35.74, Z:32.95 [[-3.51085657e-01 -8.68219186e-01 3.50619889e-01 5.27668569e+01] [ 5.79691962e-01 -4.95608528e-01 -6.46783902e-01 3.57410040e+01] [ 7.35320400e-01 -2.38250199e-02 6.77300729e-01 3.29470404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55037174299997 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:52.77, Y:35.74, Z:32.94 [[-3.52552370e-01 -8.67475094e-01 3.50989725e-01 5.27674865e+01] [ 5.78834318e-01 -4.96862478e-01 -6.46589908e-01 3.57377436e+01] [ 7.35294266e-01 -2.47919067e-02 6.77294399e-01 3.29445247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58037174299997 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:52.77, Y:35.74, Z:32.95 [[-3.54565733e-01 -8.66547788e-01 3.51252149e-01 5.27671124e+01] [ 5.77940281e-01 -4.98410307e-01 -6.46198264e-01 3.57371948e+01] [ 7.35029368e-01 -2.61169955e-02 6.77532088e-01 3.29452517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61037174299997 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:52.78, Y:35.72, Z:32.92 [[-3.48847788e-01 -8.63413943e-01 3.64446957e-01 5.27752222e+01] [ 5.91347900e-01 -5.04480634e-01 -6.29131903e-01 3.57200313e+01] [ 7.27057689e-01 -3.95633003e-03 6.86564975e-01 3.29235585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64037174299997 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:52.79, Y:35.75, Z:32.93 [[-3.53021294e-01 -8.80018541e-01 3.17715806e-01 5.27872311e+01] [ 5.87035815e-01 -4.72755837e-01 -6.57184047e-01 3.57451360e+01] [ 7.28536147e-01 -4.54894057e-02 6.83495279e-01 3.29254074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67037174299998 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:52.78, Y:35.75, Z:32.94 [[-0.3679782 -0.87267005 0.32099694 52.77593256] [ 0.57179044 -0.48460389 -0.66197791 35.74880433] [ 0.73324466 -0.06005046 0.67730806 32.94165464] [ 0. 0. 0. 1. ]] SLAMing on 128.70037174299998 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:52.77, Y:35.73, Z:32.94 [[-3.61555485e-01 -8.59855629e-01 3.60452395e-01 5.27704675e+01] [ 5.81406368e-01 -5.10161493e-01 -6.33799563e-01 3.57321901e+01] [ 7.28865053e-01 -1.95843903e-02 6.84377225e-01 3.29407366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73037174299998 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:52.78, Y:35.75, Z:32.94 [[-3.65449819e-01 -8.69311197e-01 3.32782922e-01 5.27764202e+01] [ 5.82093033e-01 -4.92411998e-01 -6.47068872e-01 3.57483087e+01] [ 7.26370519e-01 -4.27605818e-02 6.85971867e-01 3.29403128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76037174299998 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:52.77, Y:35.75, Z:32.95 [[-0.37585653 -0.87029315 0.3183107 52.77422913] [ 0.56722781 -0.48769457 -0.66363139 35.75376064] [ 0.73279225 -0.06887551 0.67695767 32.9469886 ] [ 0. 0. 0. 1. ]] SLAMing on 128.79037174299998 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:52.77, Y:35.73, Z:32.94 [[-3.69965515e-01 -8.54287224e-01 3.65128549e-01 5.27655590e+01] [ 5.79029813e-01 -5.19373134e-01 -6.28471179e-01 3.57323230e+01] [ 7.26532857e-01 -2.10923484e-02 6.86807921e-01 3.29433761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82037174299998 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:52.78, Y:35.74, Z:32.93 [[-3.71200780e-01 -8.67553974e-01 3.30998615e-01 5.27772661e+01] [ 5.79234487e-01 -4.94953028e-01 -6.47695074e-01 3.57436012e+01] [ 7.25739202e-01 -4.86991038e-02 6.86244131e-01 3.29325999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85037174299998 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:52.77, Y:35.75, Z:32.94 [[-0.37936114 -0.86926306 0.31696506 52.77488407] [ 0.563961 -0.48881892 -0.66558549 35.74811324] [ 0.7335074 -0.07374134 0.67566937 32.93990846] [ 0. 0. 0. 1. ]] SLAMing on 128.88037174299998 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:52.76, Y:35.73, Z:32.95 [[-3.78350888e-01 -8.55224246e-01 3.54178054e-01 5.27639749e+01] [ 5.62356830e-01 -5.16282573e-01 -6.45915707e-01 3.57310852e+01] [ 7.35258731e-01 -4.52083336e-02 6.76277166e-01 3.29454399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91037174299998 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:52.77, Y:35.72, Z:32.93 [[-3.70377756e-01 -8.58030676e-01 3.55814105e-01 5.27705768e+01] [ 5.77429973e-01 -5.12729360e-01 -6.35360708e-01 3.57211187e+01] [ 7.27595317e-01 -2.98657445e-02 6.85356179e-01 3.29268321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940371743 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:52.77, Y:35.72, Z:32.93 [[-3.68676282e-01 -8.61224648e-01 3.49814101e-01 5.27702197e+01] [ 5.78016458e-01 -5.07118974e-01 -6.39317856e-01 3.57235662e+01] [ 7.27993663e-01 -3.35030225e-02 6.84764758e-01 3.29267452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970371743 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:52.78, Y:35.72, Z:32.92 [[-3.67469083e-01 -8.68436257e-01 3.32843718e-01 5.27761834e+01] [ 5.79512238e-01 -4.93720117e-01 -6.48387239e-01 3.57237852e+01] [ 7.27414627e-01 -4.53752563e-02 6.84696317e-01 3.29171603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000371743 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:52.77, Y:35.71, Z:32.91 [[-3.65485472e-01 -8.67301298e-01 3.37947967e-01 5.27715582e+01] [ 5.84407037e-01 -4.96398176e-01 -6.41916869e-01 3.57149957e+01] [ 7.24492088e-01 -3.71121199e-02 6.88283303e-01 3.29128378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030371743 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:52.77, Y:35.73, Z:32.93 [[-0.37355276 -0.8747351 0.30870186 52.76887558] [ 0.56861794 -0.47886901 -0.66884834 35.73358239] [ 0.73289288 -0.07431673 0.67627291 32.92948701] [ 0. 0. 0. 1. ]] SLAMing on 129.060371743 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:52.75, Y:35.71, Z:32.94 [[-3.71767609e-01 -8.57680577e-01 3.55208210e-01 5.27548511e+01] [ 5.67315582e-01 -5.12773686e-01 -6.44372700e-01 3.57091009e+01] [ 7.34807373e-01 -3.80417456e-02 6.77208203e-01 3.29353239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090371743 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:52.75, Y:35.71, Z:32.93 [[-3.72002484e-01 -8.57429544e-01 3.55568177e-01 5.27535665e+01] [ 5.67180290e-01 -5.13199754e-01 -6.44152569e-01 3.57070897e+01] [ 7.34792944e-01 -3.79550939e-02 6.77228720e-01 3.29339959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120371743 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:52.75, Y:35.69, Z:32.92 [[-3.64786453e-01 -8.51920461e-01 3.75715813e-01 5.27526136e+01] [ 5.87936402e-01 -5.23655875e-01 -6.16534923e-01 3.56932749e+01] [ 7.21984508e-01 -4.00658475e-03 6.91897620e-01 3.29156369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150371743 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:52.76, Y:35.71, Z:32.90 [[-3.65367796e-01 -8.67752570e-01 3.36915198e-01 5.27637999e+01] [ 5.94159805e-01 -4.96018127e-01 -6.33198345e-01 3.57062577e+01] [ 7.16575537e-01 -3.11688157e-02 6.96812747e-01 3.28982480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180371743 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:52.77, Y:35.73, Z:32.92 [[-0.37686946 -0.88000199 0.28907767 52.76647204] [ 0.56704186 -0.46596318 -0.6792215 35.73350567] [ 0.73241582 -0.0920587 0.67460526 32.91964232] [ 0. 0. 0. 1. ]] SLAMing on 129.210371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:52.75, Y:35.70, Z:32.93 [[-3.76606613e-01 -8.55070189e-01 3.56402063e-01 5.27462175e+01] [ 5.64562308e-01 -5.16877660e-01 -6.43511371e-01 3.57005051e+01] [ 7.34463654e-01 -4.11394664e-02 6.77399945e-01 3.29296132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.240371743 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:52.74, Y:35.70, Z:32.93 [[-3.79135050e-01 -8.53963551e-01 3.56374617e-01 5.27436481e+01] [ 5.64043170e-01 -5.18584512e-01 -6.42592722e-01 3.56995094e+01] [ 7.33561120e-01 -4.26187549e-02 6.78285873e-01 3.29304191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27037174299997 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:52.74, Y:35.70, Z:32.93 [[-3.80584144e-01 -8.53226012e-01 3.56596524e-01 5.27422206e+01] [ 5.63522522e-01 -5.19729763e-01 -6.42124085e-01 3.56996238e+01] [ 7.33210800e-01 -4.34320728e-02 6.78612981e-01 3.29317972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30037174299997 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:52.74, Y:35.68, Z:32.91 [[-3.75289483e-01 -8.40895014e-01 3.89940225e-01 5.27390313e+01] [ 5.91095974e-01 -5.41164746e-01 -5.98118941e-01 3.56807453e+01] [ 7.13977138e-01 6.02434890e-03 7.00143095e-01 3.29130169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33037174299997 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:52.76, Y:35.71, Z:32.89 [[-0.37652926 -0.8717507 0.31349073 52.7645806 ] [ 0.59015022 -0.48655795 -0.64419258 35.70930596] [ 0.71410674 -0.05755073 0.69766717 32.89152163] [ 0. 0. 0. 1. ]] SLAMing on 129.36037174299997 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:52.76, Y:35.72, Z:32.91 [[-0.38937949 -0.8732885 0.29283239 52.7588718 ] [ 0.56326531 -0.4773107 -0.6744677 35.7202162 ] [ 0.72877692 -0.09768156 0.67774812 32.91274548] [ 0. 0. 0. 1. ]] SLAMing on 129.39037174299997 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:52.74, Y:35.68, Z:32.92 [[-3.82751483e-01 -8.43121624e-01 3.77686682e-01 5.27367545e+01] [ 5.79673702e-01 -5.37500220e-01 -6.12431150e-01 3.56846548e+01] [ 7.19360621e-01 -1.54738934e-02 6.94464438e-01 3.29178053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42037174299998 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:52.75, Y:35.70, Z:32.90 [[-0.38549735 -0.86328635 0.32577364 52.75018104] [ 0.57851972 -0.50118157 -0.64353085 35.70488673] [ 0.71882315 -0.05961296 0.69263235 32.90332383] [ 0. 0. 0. 1. ]] SLAMing on 129.45037174299998 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:52.75, Y:35.71, Z:32.91 [[-0.39268897 -0.86374405 0.31581891 52.74689857] [ 0.55852293 -0.49680341 -0.66425786 35.70533892] [ 0.73064869 -0.08445463 0.67751008 32.91464895] [ 0. 0. 0. 1. ]] SLAMing on 129.48037174299998 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:52.73, Y:35.69, Z:32.93 [[-3.91727686e-01 -8.47494415e-01 3.58193574e-01 5.27292118e+01] [ 5.56275557e-01 -5.28247561e-01 -6.41492026e-01 3.56861785e+01] [ 7.32875791e-01 -5.20358570e-02 6.78369622e-01 3.29269732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51037174299998 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:52.72, Y:35.68, Z:32.92 [[-3.86391331e-01 -8.38024738e-01 3.85248333e-01 5.27222513e+01] [ 5.78880623e-01 -5.45518033e-01 -6.06058825e-01 3.56759255e+01] [ 7.18052201e-01 -1.11630805e-02 6.95899721e-01 3.29195926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54037174299998 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:52.74, Y:35.71, Z:32.91 [[-0.39329836 -0.86840604 0.30197244 52.74248263] [ 0.55961491 -0.48670127 -0.67078538 35.70916947] [ 0.72948445 -0.09483051 0.67739177 32.91251362] [ 0. 0. 0. 1. ]] SLAMing on 129.57037174299998 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:52.72, Y:35.67, Z:32.91 [[-3.85269276e-01 -8.38187293e-01 3.86017677e-01 5.27205141e+01] [ 5.80229561e-01 -5.45306686e-01 -6.04958077e-01 3.56690108e+01] [ 7.17566193e-01 -9.09289334e-03 6.96430957e-01 3.29145563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60037174299998 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:52.74, Y:35.70, Z:32.90 [[-0.39208368 -0.8695011 0.30039678 52.74200058] [ 0.56082472 -0.48477045 -0.67117304 35.70187988] [ 0.72920918 -0.09468606 0.67770829 32.90432186] [ 0. 0. 0. 1. ]] SLAMing on 129.63037174299998 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:52.72, Y:35.67, Z:32.91 [[-3.82519392e-01 -8.43400111e-01 3.77299839e-01 5.27171047e+01] [ 5.76910895e-01 -5.36992270e-01 -6.15477961e-01 3.56679113e+01] [ 7.21701278e-01 -1.77638677e-02 6.91976669e-01 3.29131629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66037174299998 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:52.73, Y:35.68, Z:32.90 [[-3.81287614e-01 -8.60405899e-01 3.38114544e-01 5.27281329e+01] [ 5.82127126e-01 -5.07585713e-01 -6.35204497e-01 3.56827854e+01] [ 7.18155808e-01 -4.53699589e-02 6.94401759e-01 3.28985715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690371743 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:52.73, Y:35.70, Z:32.91 [[-0.38664663 -0.86831035 0.31071132 52.72793432] [ 0.5640738 -0.48920732 -0.66520444 35.69663761] [ 0.72960615 -0.08193493 0.67894148 32.91115823] [ 0. 0. 0. 1. ]] SLAMing on 129.720371743 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:52.72, Y:35.66, Z:32.91 [[-3.82175474e-01 -8.50925725e-01 3.60371084e-01 5.27165393e+01] [ 5.66326149e-01 -5.23829492e-01 -6.36299737e-01 3.56589683e+01] [ 7.30216817e-01 -3.90905854e-02 6.82096273e-01 3.29100918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750371743 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:52.72, Y:35.66, Z:32.90 [[-3.77930515e-01 -8.51472437e-01 3.63542591e-01 5.27188249e+01] [ 5.80038721e-01 -5.23807835e-01 -6.23843277e-01 3.56559262e+01] [ 7.21611813e-01 -2.49006318e-02 6.91849948e-01 3.29016042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780371743 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:52.73, Y:35.66, Z:32.89 [[-3.76495398e-01 -8.62012272e-01 3.39390715e-01 5.27260162e+01] [ 5.79779216e-01 -5.04977070e-01 -6.39417093e-01 3.56636373e+01] [ 7.22569911e-01 -4.39659103e-02 6.89898343e-01 3.28909125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810371743 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:52.72, Y:35.65, Z:32.90 [[-3.79021817e-01 -8.55900557e-01 3.51819127e-01 5.27165548e+01] [ 5.71707888e-01 -5.15530240e-01 -6.38262221e-01 3.56504743e+01] [ 7.27662390e-01 -4.07775368e-02 6.84722308e-01 3.28976027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840371743 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:52.72, Y:35.63, Z:32.88 [[-3.72703400e-01 -8.51363001e-01 3.69152023e-01 5.27205158e+01] [ 5.89734350e-01 -5.24457706e-01 -6.14131510e-01 3.56317970e+01] [ 7.16453468e-01 -1.11872729e-02 6.97545176e-01 3.28753421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870371743 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:52.73, Y:35.64, Z:32.86 [[-3.72304430e-01 -8.59621892e-01 3.49913725e-01 5.27262947e+01] [ 5.98682437e-01 -5.10527261e-01 -6.17204387e-01 3.56372367e+01] [ 7.09202898e-01 -2.03007256e-02 7.04712090e-01 3.28614300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900371743 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:52.73, Y:35.65, Z:32.85 [[-3.73127214e-01 -8.69822676e-01 3.22776386e-01 5.27331074e+01] [ 5.96259444e-01 -4.91360485e-01 -6.34853959e-01 3.56518760e+01] [ 7.10809931e-01 -4.44228204e-02 7.01979954e-01 3.28545271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930371743 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:52.72, Y:35.66, Z:32.87 [[-3.76555578e-01 -8.67184877e-01 3.25877715e-01 5.27247121e+01] [ 5.82794420e-01 -4.95190023e-01 -6.44311653e-01 3.56574010e+01] [ 7.20108715e-01 -5.26994333e-02 6.91857073e-01 3.28720351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960371743 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:52.72, Y:35.66, Z:32.89 [[-0.38557609 -0.86364624 0.32472489 52.71646333] [ 0.56775598 -0.49950031 -0.6543337 35.66176753] [ 0.72731302 -0.06793093 0.68293569 32.88691482] [ 0. 0. 0. 1. ]] SLAMing on 129.990371743 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:52.71, Y:35.62, Z:32.87 [[-3.81851571e-01 -8.36440559e-01 3.93136833e-01 5.27062630e+01] [ 5.90861530e-01 -5.48022535e-01 -5.92075970e-01 3.56160880e+01] [ 7.10684198e-01 6.20429093e-03 7.03483814e-01 3.28724670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02037174299997 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:52.73, Y:35.68, Z:32.88 [[-0.393613 -0.87417926 0.2843931 52.72520346] [ 0.56449863 -0.4740162 -0.67575879 35.67958882] [ 0.72554125 -0.10544792 0.68005193 32.87590491] [ 0. 0. 0. 1. ]] SLAMing on 130.05037174299997 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:52.69, Y:35.67, Z:32.92 [[-3.92807191e-01 -8.46317158e-01 3.59791298e-01 5.26890128e+01] [ 5.59744545e-01 -5.30449836e-01 -6.36638842e-01 3.56662332e+01] [ 7.29649611e-01 -4.86850989e-02 6.82085923e-01 3.29243021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08037174299997 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:52.69, Y:35.65, Z:32.91 [[-3.93463457e-01 -8.44141134e-01 3.64159655e-01 5.26947256e+01] [ 5.59052947e-01 -5.34150004e-01 -6.34147913e-01 3.56456436e+01] [ 7.29826219e-01 -4.59295021e-02 6.82088096e-01 3.29056692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11037174299997 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:52.69, Y:35.64, Z:32.90 [[-3.88231425e-01 -8.41955490e-01 3.74682950e-01 5.26949712e+01] [ 5.74882678e-01 -5.39030863e-01 -6.15593726e-01 3.56384590e+01] [ 7.20268192e-01 -2.35940915e-02 6.93294347e-01 3.28962051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14037174299997 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:52.71, Y:35.65, Z:32.87 [[-3.88525476e-01 -8.56896510e-01 3.38786550e-01 5.27085391e+01] [ 5.77778817e-01 -5.12968172e-01 -6.34850607e-01 3.56461595e+01] [ 7.17787987e-01 -5.09119421e-02 6.94397854e-01 3.28748688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17037174299998 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:52.71, Y:35.64, Z:32.87 [[-3.87703310e-01 -8.58649269e-01 3.35272392e-01 5.27081799e+01] [ 5.82135763e-01 -5.10088028e-01 -6.33188880e-01 3.56424074e+01] [ 7.14705602e-01 -5.03153748e-02 6.97613264e-01 3.28700524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20037174299998 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:52.70, Y:35.63, Z:32.87 [[-3.85999157e-01 -8.52378249e-01 3.52783180e-01 5.27037251e+01] [ 5.89653684e-01 -5.22073246e-01 -6.16237015e-01 3.56276961e+01] [ 7.09445687e-01 -2.98470665e-02 7.04127807e-01 3.28652885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23037174299998 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:52.71, Y:35.64, Z:32.86 [[-3.84141513e-01 -8.63198457e-01 3.27602996e-01 5.27100412e+01] [ 5.88676556e-01 -5.02338885e-01 -6.33336844e-01 3.56389439e+01] [ 7.11263109e-01 -5.04387699e-02 7.01113914e-01 3.28591023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26037174299998 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:52.71, Y:35.65, Z:32.87 [[-0.38482231 -0.8687994 0.31160775 52.71128746] [ 0.57999096 -0.49024364 -0.65059331 35.64902861] [ 0.7179988 -0.06963314 0.69255249 32.86513753] [ 0. 0. 0. 1. ]] SLAMing on 130.29037174299998 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:52.70, Y:35.62, Z:32.87 [[-3.82369820e-01 -8.53886343e-01 3.53088421e-01 5.27002219e+01] [ 5.86005600e-01 -5.19543996e-01 -6.21829135e-01 3.56210082e+01] [ 7.14416375e-01 -3.08569023e-02 6.99040123e-01 3.28655364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32037174299998 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:52.70, Y:35.64, Z:32.87 [[-0.38792107 -0.86574085 0.31624362 52.70368035] [ 0.57030668 -0.49500073 -0.6555338 35.63895317] [ 0.72406321 -0.07393953 0.685759 32.86715813] [ 0. 0. 0. 1. ]] SLAMing on 130.35037174299998 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:52.70, Y:35.60, Z:32.86 [[-3.81855825e-01 -8.46010339e-01 3.72092241e-01 5.26972442e+01] [ 5.87475060e-01 -5.32984484e-01 -6.08933982e-01 3.56030856e+01] [ 7.13483835e-01 -1.39300763e-02 7.00533204e-01 3.28595801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38037174299998 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:52.70, Y:35.63, Z:32.87 [[-0.38680408 -0.85933596 0.33455091 52.69671259] [ 0.56950523 -0.50794443 -0.6462633 35.62865356] [ 0.72529056 -0.05944879 0.6858713 32.87091372] [ 0. 0. 0. 1. ]] SLAMing on 130.41037174299998 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:52.69, Y:35.60, Z:32.86 [[-3.80468785e-01 -8.45298177e-01 3.75119308e-01 5.26939795e+01] [ 5.85963157e-01 -5.34159252e-01 -6.09361201e-01 3.56006292e+01] [ 7.15465361e-01 -1.20368215e-02 6.98544510e-01 3.28620223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440371743 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:52.70, Y:35.62, Z:32.85 [[-3.78838826e-01 -8.60171430e-01 3.41447294e-01 5.27004418e+01] [ 5.85493858e-01 -5.08490571e-01 -6.31374914e-01 3.56177297e+01] [ 7.16713392e-01 -3.92740377e-02 6.96261060e-01 3.28524550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470371743 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:52.70, Y:35.63, Z:32.86 [[-0.38491755 -0.86419485 0.32404589 52.69877615] [ 0.57111112 -0.49882697 -0.65192312 35.62566653] [ 0.72503143 -0.06587044 0.68555854 32.85845889] [ 0. 0. 0. 1. ]] SLAMing on 130.500371743 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:52.69, Y:35.59, Z:32.85 [[-3.78622765e-01 -8.48797759e-01 3.69035454e-01 5.26937845e+01] [ 5.83469381e-01 -5.28404805e-01 -6.16726718e-01 3.55945143e+01] [ 7.18476363e-01 -1.81858873e-02 6.95313591e-01 3.28546931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:52.70, Y:35.60, Z:32.85 [[-3.77231179e-01 -8.58754449e-01 3.46752699e-01 5.26973270e+01] [ 5.86467057e-01 -5.11283129e-01 -6.28208527e-01 3.56039179e+01] [ 7.16765672e-01 -3.36208081e-02 6.96503132e-01 3.28461719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560371743 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:52.70, Y:35.61, Z:32.85 [[-3.76859429e-01 -8.59861089e-01 3.44406561e-01 5.26953480e+01] [ 5.84904808e-01 -5.09223214e-01 -6.31330409e-01 3.56077949e+01] [ 7.18236268e-01 -3.64777643e-02 6.94842454e-01 3.28492705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590371743 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:52.70, Y:35.61, Z:32.84 [[-3.77343294e-01 -8.62816692e-01 3.36391727e-01 5.26978534e+01] [ 5.85932795e-01 -5.03733626e-01 -6.34771765e-01 3.56101933e+01] [ 7.17143499e-01 -4.24239241e-02 6.95633102e-01 3.28446620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620371743 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:52.69, Y:35.60, Z:32.86 [[-3.77122671e-01 -8.54055974e-01 3.58283246e-01 5.26866786e+01] [ 5.87050553e-01 -5.19637559e-01 -6.20764412e-01 3.56034967e+01] [ 7.16344986e-01 -2.37739552e-02 6.97341136e-01 3.28553603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650371743 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:52.69, Y:35.62, Z:32.85 [[-0.38408186 -0.86564498 0.321154 52.69238446] [ 0.57074094 -0.49601296 -0.65438974 35.62115206] [ 0.72576574 -0.06804349 0.68456861 32.85322855] [ 0. 0. 0. 1. ]] SLAMing on 130.680371743 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:52.68, Y:35.58, Z:32.85 [[-3.77277238e-01 -8.43170821e-01 3.83046801e-01 5.26849886e+01] [ 5.87191930e-01 -5.37635195e-01 -6.05106630e-01 3.55805933e+01] [ 7.16147696e-01 -3.37096751e-03 6.97940623e-01 3.28493583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710371743 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:52.69, Y:35.61, Z:32.84 [[-3.80679160e-01 -8.63077836e-01 3.31933768e-01 5.26944825e+01] [ 5.86736244e-01 -5.02892596e-01 -6.34696476e-01 3.56137253e+01] [ 7.14719496e-01 -4.68581491e-02 6.97839779e-01 3.28414514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.740371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:52.70, Y:35.61, Z:32.84 [[-3.81726671e-01 -8.61137433e-01 3.35748523e-01 5.26965950e+01] [ 5.86248598e-01 -5.06416515e-01 -6.32340806e-01 3.56050791e+01] [ 7.14560935e-01 -4.45492498e-02 6.98153303e-01 3.28354532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77037174299997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:52.70, Y:35.61, Z:32.84 [[-0.38546707 -0.86272279 0.32729882 52.69645621] [ 0.5791452 -0.50234699 -0.6420579 35.61255963] [ 0.71833556 -0.05793864 0.69327998 32.84127184] [ 0. 0. 0. 1. ]] SLAMing on 130.80037174299997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:52.69, Y:35.60, Z:32.84 [[-3.85591740e-01 -8.56317505e-01 3.43568539e-01 5.26929399e+01] [ 5.78392683e-01 -5.14450659e-01 -6.33089586e-01 3.56024416e+01] [ 7.18874756e-01 -4.53965860e-02 6.93655704e-01 3.28442453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83037174299997 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:52.69, Y:35.60, Z:32.84 [[-3.88186113e-01 -8.53884834e-01 3.46687513e-01 5.26928209e+01] [ 5.79469914e-01 -5.18671329e-01 -6.28645107e-01 3.55992770e+01] [ 7.16607396e-01 -4.31363170e-02 6.96141579e-01 3.28421622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86037174299997 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:52.70, Y:35.60, Z:32.84 [[-3.89208278e-01 -8.56763155e-01 3.38339789e-01 5.26971081e+01] [ 5.78338178e-01 -5.13166857e-01 -6.34180359e-01 3.55997809e+01] [ 7.16967132e-01 -5.11534284e-02 6.95227631e-01 3.28355378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89037174299997 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:52.70, Y:35.59, Z:32.83 [[-3.89527420e-01 -8.54044661e-01 3.44784145e-01 5.26974660e+01] [ 5.78916683e-01 -5.18195061e-01 -6.29546942e-01 3.55920730e+01] [ 7.16326646e-01 -4.56245023e-02 6.96271888e-01 3.28309552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92037174299998 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:52.69, Y:35.60, Z:32.84 [[-0.3931563 -0.85615357 0.33530461 52.69499305] [ 0.57389148 -0.51340952 -0.63801194 35.60194053] [ 0.71838478 -0.05840995 0.69318943 32.83685862] [ 0. 0. 0. 1. ]] SLAMing on 130.95037174299998 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:52.69, Y:35.60, Z:32.84 [[-3.93525617e-01 -8.50926481e-01 3.47939236e-01 5.26882717e+01] [ 5.73086128e-01 -5.23005902e-01 -6.30901828e-01 3.55995707e+01] [ 7.18825346e-01 -4.88768816e-02 6.93470383e-01 3.28446017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98037174299998 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:52.69, Y:35.60, Z:32.84 [[-0.39435235 -0.85319125 0.34139553 52.69066767] [ 0.57085244 -0.51856773 -0.636565 35.5998911 ] [ 0.7201484 -0.05614443 0.69154471 32.84023026] [ 0. 0. 0. 1. ]] SLAMing on 131.01037174299998 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:52.69, Y:35.59, Z:32.84 [[-0.39438147 -0.85154833 0.34543986 52.69022641] [ 0.56985544 -0.5215294 -0.6350369 35.59061622] [ 0.72092165 -0.053596 0.69094098 32.83518086] [ 0. 0. 0. 1. ]] SLAMing on 131.04037174299998 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:52.68, Y:35.59, Z:32.84 [[-3.94913838e-01 -8.49933471e-01 3.48792423e-01 5.26847788e+01] [ 5.71473755e-01 -5.24521105e-01 -6.31106455e-01 3.55937150e+01] [ 7.19347487e-01 -4.99069567e-02 6.92855315e-01 3.28421282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07037174299998 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:52.69, Y:35.59, Z:32.84 [[-0.39543923 -0.85179792 0.34361042 52.68750528] [ 0.56926736 -0.52087604 -0.6360997 35.59110658] [ 0.72080684 -0.05593258 0.69087557 32.83678144] [ 0. 0. 0. 1. ]] SLAMing on 131.10037174299998 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:52.69, Y:35.58, Z:32.83 [[-3.95368427e-01 -8.48754394e-01 3.51140692e-01 5.26867222e+01] [ 5.69711443e-01 -5.26469137e-01 -6.31077745e-01 3.55818237e+01] [ 7.20494746e-01 -4.94593446e-02 6.91694365e-01 3.28338808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13037174299998 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:52.69, Y:35.58, Z:32.83 [[-3.94881165e-01 -8.47442994e-01 3.54836917e-01 5.26855379e+01] [ 5.71410215e-01 -5.28975345e-01 -6.27435614e-01 3.55766278e+01] [ 7.19415896e-01 -4.50050670e-02 6.93119984e-01 3.28316254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16037174299998 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:52.68, Y:35.58, Z:32.83 [[-3.94515786e-01 -8.50702751e-01 3.47364541e-01 5.26838488e+01] [ 5.70620754e-01 -5.23115000e-01 -6.33042377e-01 3.55809043e+01] [ 7.20242494e-01 -5.15317945e-02 6.91805771e-01 3.28316192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190371743 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:52.68, Y:35.57, Z:32.83 [[-3.94426995e-01 -8.48380664e-01 3.53097145e-01 5.26825374e+01] [ 5.70871828e-01 -5.27327820e-01 -6.29309722e-01 3.55742389e+01] [ 7.20092148e-01 -4.66435300e-02 6.92308948e-01 3.28295446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:52.69, Y:35.56, Z:32.82 [[-3.93163474e-01 -8.47862774e-01 3.55740353e-01 5.26853839e+01] [ 5.75894521e-01 -5.28682248e-01 -6.23570831e-01 3.55648476e+01] [ 7.16776104e-01 -4.02963540e-02 6.96138075e-01 3.28173897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:52.68, Y:35.59, Z:32.84 [[-0.39661604 -0.85259172 0.34026913 52.67679156] [ 0.56958495 -0.51924885 -0.63714489 35.59062924] [ 0.71990881 -0.05888971 0.69156584 32.83630091] [ 0. 0. 0. 1. ]] SLAMing on 131.280371743 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:52.67, Y:35.58, Z:32.84 [[-3.97369240e-01 -8.47271511e-01 3.52460883e-01 5.26732551e+01] [ 5.68538791e-01 -5.28798699e-01 -6.30186940e-01 3.55832149e+01] [ 7.20320297e-01 -5.00292212e-02 6.91835058e-01 3.28389372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310371743 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:52.69, Y:35.58, Z:32.81 [[-0.39905471 -0.85365176 0.33471483 52.68702541] [ 0.56149571 -0.51609535 -0.64681385 35.57515552] [ 0.72489854 -0.07017318 0.68527208 32.81411846] [ 0. 0. 0. 1. ]] SLAMing on 131.340371743 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:52.67, Y:35.56, Z:32.83 [[-4.00426756e-01 -8.34518779e-01 3.78466406e-01 5.26708504e+01] [ 5.64003007e-01 -5.49978554e-01 -6.15974186e-01 3.55567124e+01] [ 7.22190433e-01 -3.31963539e-02 6.90897229e-01 3.28344245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:52.68, Y:35.57, Z:32.82 [[-0.40144336 -0.84500535 0.35328344 52.67871238] [ 0.56572108 -0.53212304 -0.62992438 35.56628855] [ 0.72027973 -0.05301907 0.6916546 32.81967947] [ 0. 0. 0. 1. ]] SLAMing on 131.400371743 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:52.67, Y:35.58, Z:32.83 [[-0.40069424 -0.84658551 0.35033855 52.6703865 ] [ 0.5632429 -0.52919699 -0.63459277 35.58039261] [ 0.72263515 -0.05695196 0.68887947 32.83417525] [ 0. 0. 0. 1. ]] SLAMing on 131.430371743 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:52.67, Y:35.58, Z:32.83 [[-0.40002252 -0.84608998 0.3522978 52.66943259] [ 0.56288534 -0.53015817 -0.63410757 35.57806858] [ 0.72328562 -0.05535404 0.68832685 32.83322197] [ 0. 0. 0. 1. ]] SLAMing on 131.460371743 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:52.67, Y:35.57, Z:32.82 [[-0.40297374 -0.84754544 0.34536775 52.67473727] [ 0.55110921 -0.52599257 -0.64777346 35.56715975] [ 0.73067831 -0.07070034 0.6790513 32.82260621] [ 0. 0. 0. 1. ]] SLAMing on 131.490371743 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:52.66, Y:35.55, Z:32.84 [[-3.96117612e-01 -8.34310299e-01 3.83428170e-01 5.26624846e+01] [ 5.64323141e-01 -5.50619890e-01 -6.15107413e-01 3.55524357e+01] [ 7.24313627e-01 -2.72774907e-02 6.88930845e-01 3.28351006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52037174299997 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:52.68, Y:35.55, Z:32.81 [[-3.95907952e-01 -8.47242625e-01 3.54170619e-01 5.26773501e+01] [ 5.67109526e-01 -5.28931331e-01 -6.31362362e-01 3.55537199e+01] [ 7.22249042e-01 -4.91078476e-02 6.89887484e-01 3.28073509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55037174299997 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:52.68, Y:35.55, Z:32.81 [[-3.95262833e-01 -8.49022318e-01 3.50611460e-01 5.26781924e+01] [ 5.67219932e-01 -5.25824930e-01 -6.33853052e-01 3.55536096e+01] [ 7.22515634e-01 -5.16647450e-02 6.89421433e-01 3.28053777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58037174299997 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:52.68, Y:35.55, Z:32.80 [[-0.39306816 -0.8517305 0.34648603 52.68310841] [ 0.56488459 -0.5210008 -0.6398934 35.54695338] [ 0.72553623 -0.0557971 0.68591826 32.79656679] [ 0. 0. 0. 1. ]] SLAMing on 131.61037174299997 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:52.66, Y:35.56, Z:32.83 [[-3.92296940e-01 -8.45448256e-01 3.62381508e-01 5.26641202e+01] [ 5.72259057e-01 -5.32760159e-01 -6.23447018e-01 3.55573812e+01] [ 7.20154624e-01 -3.72002572e-02 6.92815602e-01 3.28252051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64037174299997 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:52.67, Y:35.56, Z:32.82 [[-3.91621034e-01 -8.50685019e-01 3.50667883e-01 5.26668513e+01] [ 5.73020086e-01 -5.23664131e-01 -6.30415624e-01 3.55613638e+01] [ 7.19917320e-01 -4.59442783e-02 6.92537491e-01 3.28198376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67037174299998 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:52.67, Y:35.54, Z:32.80 [[-3.88691755e-01 -8.51364945e-01 3.52273262e-01 5.26739288e+01] [ 5.76242260e-01 -5.22959197e-01 -6.28059341e-01 3.55425446e+01] [ 7.18932248e-01 -4.11267468e-02 6.93862388e-01 3.28008659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70037174299998 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:52.67, Y:35.55, Z:32.81 [[-3.87749202e-01 -8.52514355e-01 3.50527931e-01 5.26666833e+01] [ 5.77294488e-01 -5.21061034e-01 -6.28670401e-01 3.55542536e+01] [ 7.18596988e-01 -4.14086035e-02 6.94192838e-01 3.28140163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73037174299998 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:52.68, Y:35.54, Z:32.79 [[-3.87493411e-01 -8.54360444e-01 3.46290467e-01 5.26773859e+01] [ 5.75926156e-01 -5.17664373e-01 -6.32718468e-01 3.55381973e+01] [ 7.19831869e-01 -4.57364995e-02 6.92640060e-01 3.27913566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76037174299998 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:52.67, Y:35.53, Z:32.79 [[-3.86277625e-01 -8.52032095e-01 3.53314175e-01 5.26747855e+01] [ 5.78732954e-01 -5.22144154e-01 -6.26445250e-01 3.55343892e+01] [ 7.18232389e-01 -3.75072273e-02 6.94791654e-01 3.27910713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79037174299998 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:52.68, Y:35.54, Z:32.79 [[-3.87519979e-01 -8.56749267e-01 3.40307155e-01 5.26766301e+01] [ 5.73998751e-01 -5.13108716e-01 -6.38157410e-01 3.55445661e+01] [ 7.21355460e-01 -5.19628639e-02 6.90612888e-01 3.27911577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82037174299998 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:52.67, Y:35.53, Z:32.80 [[-3.87395569e-01 -8.46771171e-01 3.64558990e-01 5.26708896e+01] [ 5.74525455e-01 -5.31003263e-01 -6.22861170e-01 3.55298786e+01] [ 7.21002895e-01 -3.18452384e-02 6.92199903e-01 3.27966348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85037174299998 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:52.68, Y:35.52, Z:32.79 [[-3.87703595e-01 -8.46437228e-01 3.65006768e-01 5.26757442e+01] [ 5.71834568e-01 -5.31428640e-01 -6.24971061e-01 3.55213947e+01] [ 7.22973823e-01 -3.35800394e-02 6.90058861e-01 3.27879494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88037174299998 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:52.67, Y:35.54, Z:32.79 [[-3.88545543e-01 -8.50400883e-01 3.54754420e-01 5.26730594e+01] [ 5.72522956e-01 -5.24475920e-01 -6.30192410e-01 3.55365082e+01] [ 7.21976333e-01 -4.17534032e-02 6.90656809e-01 3.27947624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91037174299998 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:52.67, Y:35.55, Z:32.81 [[-3.89211868e-01 -8.50054335e-01 3.54854546e-01 5.26671448e+01] [ 5.72684339e-01 -5.25032004e-01 -6.29582436e-01 3.55469535e+01] [ 7.21489272e-01 -4.18213146e-02 6.91161492e-01 3.28063347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940371743 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:52.67, Y:35.55, Z:32.81 [[-3.90114215e-01 -8.52912014e-01 3.46917852e-01 5.26697598e+01] [ 5.67644873e-01 -5.19433467e-01 -6.38723862e-01 3.55513433e+01] [ 7.24975998e-01 -5.22491178e-02 6.86789511e-01 3.28056438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970371743 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:52.66, Y:35.56, Z:32.82 [[-3.90629248e-01 -8.47362871e-01 3.59701205e-01 5.26595142e+01] [ 5.66813427e-01 -5.29292206e-01 -6.31325827e-01 3.55564863e+01] [ 7.25349109e-01 -4.27308604e-02 6.87053668e-01 3.28246827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000371743 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:52.67, Y:35.54, Z:32.81 [[-3.90397484e-01 -8.47345418e-01 3.59993815e-01 5.26684936e+01] [ 5.66645246e-01 -5.29336839e-01 -6.31439368e-01 3.55419713e+01] [ 7.25605244e-01 -4.25235566e-02 6.86796023e-01 3.28067773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030371743 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:52.67, Y:35.54, Z:32.81 [[-3.90108476e-01 -8.47402131e-01 3.60173576e-01 5.26691554e+01] [ 5.66835929e-01 -5.29278077e-01 -6.31317469e-01 3.55417604e+01] [ 7.25611746e-01 -4.21229716e-02 6.86813839e-01 3.28071553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060371743 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:52.67, Y:35.54, Z:32.80 [[-3.90395962e-01 -8.46882966e-01 3.61082033e-01 5.26724706e+01] [ 5.67562663e-01 -5.30198738e-01 -6.29890405e-01 3.55360113e+01] [ 7.24888692e-01 -4.09699906e-02 6.87646598e-01 3.28002882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090371743 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:52.68, Y:35.53, Z:32.79 [[-3.89139829e-01 -8.49515669e-01 3.56220889e-01 5.26809527e+01] [ 5.67599112e-01 -5.25693639e-01 -6.33622479e-01 3.55275297e+01] [ 7.25535280e-01 -4.43770832e-02 6.86752672e-01 3.27856754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120371743 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:52.69, Y:35.52, Z:32.78 [[-3.90516039e-01 -8.48728475e-01 3.56591081e-01 5.26864445e+01] [ 5.67621981e-01 -5.26943349e-01 -6.32563036e-01 3.55204118e+01] [ 7.24777559e-01 -4.46170756e-02 6.87536767e-01 3.27762680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150371743 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:52.70, Y:35.50, Z:32.76 [[-3.88780244e-01 -8.49827372e-01 3.55869863e-01 5.26966645e+01] [ 5.67040273e-01 -5.25143528e-01 -6.34578288e-01 3.55049810e+01] [ 7.26164754e-01 -4.49189570e-02 6.86051774e-01 3.27562447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180371743 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:52.69, Y:35.52, Z:32.78 [[-3.89727455e-01 -8.49073247e-01 3.56633050e-01 5.26856568e+01] [ 5.66162486e-01 -5.26327272e-01 -6.34381307e-01 3.55246239e+01] [ 7.26341897e-01 -4.53235581e-02 6.85837608e-01 3.27776968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210371743 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:52.70, Y:35.51, Z:32.75 [[-3.89779757e-01 -8.49715490e-01 3.55042710e-01 5.26983405e+01] [ 5.66245522e-01 -5.25180851e-01 -6.35256706e-01 3.55070083e+01] [ 7.26249096e-01 -4.65688600e-02 6.85852456e-01 3.27526565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.240371743 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:52.70, Y:35.51, Z:32.75 [[-3.90146610e-01 -8.49131351e-01 3.56035914e-01 5.26983730e+01] [ 5.65996210e-01 -5.26166367e-01 -6.34663096e-01 3.55078281e+01] [ 7.26246455e-01 -4.60966778e-02 6.85887151e-01 3.27532414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27037174299997 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:52.68, Y:35.53, Z:32.79 [[-0.39993474 -0.84346438 0.35863637 52.67841531] [ 0.55816885 -0.53450121 -0.63463059 35.5291854 ] [ 0.72697987 -0.05363117 0.68456114 32.7875315 ] [ 0. 0. 0. 1. ]] SLAMing on 132.30037174299997 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:52.69, Y:35.50, Z:32.76 [[-3.90434199e-01 -8.41252582e-01 3.73972230e-01 5.26930866e+01] [ 5.65407714e-01 -5.39689580e-01 -6.23738145e-01 3.55010133e+01] [ 7.26550242e-01 -3.20819192e-02 6.86363968e-01 3.27625117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33037174299997 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:52.69, Y:35.52, Z:32.76 [[-3.90928090e-01 -8.48069936e-01 3.57704643e-01 5.26933418e+01] [ 5.66479682e-01 -5.27994537e-01 -6.32710470e-01 3.55170438e+01] [ 7.25448825e-01 -4.47118830e-02 6.86822284e-01 3.27648280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36037174299997 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:52.70, Y:35.51, Z:32.75 [[-3.91937755e-01 -8.48177256e-01 3.56342727e-01 5.26992375e+01] [ 5.66214119e-01 -5.27675136e-01 -6.33214436e-01 3.55088946e+01] [ 7.25111280e-01 -4.64143609e-02 6.87065746e-01 3.27540437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39037174299997 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:52.70, Y:35.50, Z:32.75 [[-3.92186412e-01 -8.47646448e-01 3.57330823e-01 5.27024833e+01] [ 5.66030834e-01 -5.28576909e-01 -6.32625913e-01 3.55035796e+01] [ 7.25119930e-01 -4.58470228e-02 6.87094708e-01 3.27487838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42037174299998 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:52.70, Y:35.51, Z:32.76 [[-3.92828123e-01 -8.44340630e-01 3.64382995e-01 5.26980777e+01] [ 5.70887502e-01 -5.34542898e-01 -6.23178426e-01 3.55089573e+01] [ 7.20953206e-01 -3.67803129e-02 6.92006996e-01 3.27566620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45037174299998 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:52.71, Y:35.50, Z:32.74 [[-3.91004747e-01 -8.51380114e-01 3.49667256e-01 5.27118808e+01] [ 5.68527918e-01 -5.22183558e-01 -6.35688869e-01 3.55041115e+01] [ 7.23803354e-01 -4.97617683e-02 6.88209613e-01 3.27369077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48037174299998 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:52.71, Y:35.50, Z:32.74 [[-3.91290553e-01 -8.44734771e-01 3.65123088e-01 5.27070340e+01] [ 5.75696155e-01 -5.34226825e-01 -6.19011822e-01 3.54987956e+01] [ 7.17959358e-01 -3.20135202e-02 6.95348470e-01 3.27412782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51037174299998 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:52.71, Y:35.52, Z:32.75 [[-0.39248766 -0.85471995 0.33971641 52.70913295] [ 0.56769671 -0.51572624 -0.64167507 35.52157326] [ 0.72365315 -0.05899365 0.68763789 32.74946346] [ 0. 0. 0. 1. ]] SLAMing on 132.54037174299998 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:52.71, Y:35.50, Z:32.75 [[-3.91834407e-01 -8.46316761e-01 3.60851406e-01 5.27077809e+01] [ 5.67152517e-01 -5.31019320e-01 -6.29568506e-01 3.55042576e+01] [ 7.24433447e-01 -4.20288191e-02 6.88062322e-01 3.27489222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57037174299998 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:52.71, Y:35.51, Z:32.75 [[-3.91755026e-01 -8.45480194e-01 3.62892879e-01 5.27066461e+01] [ 5.69304234e-01 -5.32598743e-01 -6.26283696e-01 3.55059622e+01] [ 7.22786752e-01 -3.87533332e-02 6.89983689e-01 3.27504650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60037174299998 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:52.70, Y:35.52, Z:32.77 [[-3.92103754e-01 -8.46748308e-01 3.59544084e-01 5.26996867e+01] [ 5.70192816e-01 -5.30413882e-01 -6.27328674e-01 3.55236439e+01] [ 7.21896667e-01 -4.09684744e-02 6.90787077e-01 3.27654963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63037174299998 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:52.71, Y:35.51, Z:32.75 [[-3.91994287e-01 -8.46536188e-01 3.60162409e-01 5.27102009e+01] [ 5.71281405e-01 -5.30854709e-01 -6.25963924e-01 3.55105991e+01] [ 7.21095025e-01 -3.96201944e-02 6.91702396e-01 3.27464901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66037174299998 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:52.70, Y:35.54, Z:32.78 [[-3.92906007e-01 -8.46936710e-01 3.58222110e-01 5.26968049e+01] [ 5.69629840e-01 -5.29970274e-01 -6.28214417e-01 3.55355480e+01] [ 7.21904921e-01 -4.27752149e-02 6.90668927e-01 3.27760603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690371743 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:52.70, Y:35.53, Z:32.77 [[-3.93214263e-01 -8.46611274e-01 3.58652889e-01 5.26977205e+01] [ 5.69431728e-01 -5.30496826e-01 -6.27949540e-01 3.55337655e+01] [ 7.21893379e-01 -4.26903812e-02 6.90686239e-01 3.27742647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720371743 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:52.72, Y:35.50, Z:32.73 [[-3.93312495e-01 -8.45725463e-01 3.60629620e-01 5.27186743e+01] [ 5.73628109e-01 -5.32262484e-01 -6.22613396e-01 3.54977464e+01] [ 7.18509620e-01 -3.80143413e-02 6.94477384e-01 3.27311299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750371743 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:52.72, Y:35.50, Z:32.74 [[-3.94930946e-01 -8.47495839e-01 3.54655255e-01 5.27179056e+01] [ 5.71702927e-01 -5.28894693e-01 -6.27236930e-01 3.55046203e+01] [ 7.19155971e-01 -4.49578270e-02 6.93392734e-01 3.27350316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780371743 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:52.72, Y:35.51, Z:32.73 [[-3.97374959e-01 -8.48148913e-01 3.50337784e-01 5.27195336e+01] [ 5.74128555e-01 -5.27609786e-01 -6.26102481e-01 3.55076680e+01] [ 7.15869782e-01 -4.76585226e-02 6.96605427e-01 3.27339825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810371743 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:52.72, Y:35.50, Z:32.74 [[-3.97714726e-01 -8.39993726e-01 3.69098276e-01 5.27157796e+01] [ 5.69425590e-01 -5.41411133e-01 -6.18569707e-01 3.54986842e+01] [ 7.19428589e-01 -3.58402777e-02 6.93641103e-01 3.27391997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840371743 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:52.72, Y:35.50, Z:32.73 [[-3.99107881e-01 -8.45384376e-01 3.55018529e-01 5.27219778e+01] [ 5.68458728e-01 -5.31936360e-01 -6.27613244e-01 3.55048642e+01] [ 7.19421695e-01 -4.86720105e-02 6.92866120e-01 3.27314282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870371743 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:52.72, Y:35.51, Z:32.73 [[-0.39958766 -0.84672869 0.35125523 52.72480162] [ 0.56090495 -0.52891123 -0.6368976 35.50529549] [ 0.7250623 -0.05747562 0.68628071 32.73208187] [ 0. 0. 0. 1. ]] SLAMing on 132.900371743 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:52.72, Y:35.49, Z:32.73 [[-4.00981545e-01 -8.40022077e-01 3.65481479e-01 5.27241596e+01] [ 5.59563706e-01 -5.40474976e-01 -6.28311435e-01 3.54939072e+01] [ 7.25329070e-01 -4.74311190e-02 6.86766357e-01 3.27313329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930371743 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:52.73, Y:35.49, Z:32.72 [[-4.02834466e-01 -8.40177004e-01 3.63079875e-01 5.27288790e+01] [ 5.57772821e-01 -5.39867144e-01 -6.30422832e-01 3.54920486e+01] [ 7.25681661e-01 -5.14399588e-02 6.86104990e-01 3.27242983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:52.72, Y:35.50, Z:32.73 [[-4.04856247e-01 -8.37862552e-01 3.66166305e-01 5.27240504e+01] [ 5.58513996e-01 -5.43665941e-01 -6.26489794e-01 3.54992906e+01] [ 7.23984486e-01 -4.91293008e-02 6.88064514e-01 3.27335678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.990371743 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:52.72, Y:35.51, Z:32.75 [[-0.40606087 -0.84017362 0.35947581 52.72020817] [ 0.55604683 -0.53932305 -0.63241013 35.51437382] [ 0.7252079 -0.05691162 0.68617386 32.74526523] [ 0. 0. 0. 1. ]] SLAMing on 133.02037174299997 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:52.72, Y:35.52, Z:32.75 [[-0.40695866 -0.83705447 0.36568355 52.71730814] [ 0.55462879 -0.5445234 -0.62919088 35.51584444] [ 0.72579029 -0.05323606 0.68585303 32.75223339] [ 0. 0. 0. 1. ]] SLAMing on 133.05037174299997 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:52.71, Y:35.52, Z:32.76 [[-4.07459014e-01 -8.35080038e-01 3.69619374e-01 5.27123534e+01] [ 5.56968799e-01 -5.47993020e-01 -6.24090864e-01 3.55203222e+01] [ 7.23714660e-01 -4.84249895e-02 6.88398222e-01 3.27598710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08037174299997 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:52.73, Y:35.50, Z:32.73 [[-4.07552563e-01 -8.37463838e-01 3.64081349e-01 5.27280135e+01] [ 5.60535661e-01 -5.44170108e-01 -6.24242474e-01 3.55003537e+01] [ 7.20902685e-01 -5.03310410e-02 6.91206268e-01 3.27291567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11037174299997 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:52.73, Y:35.50, Z:32.73 [[-0.41533605 -0.83909035 0.35131658 52.72796161] [ 0.54751742 -0.53900449 -0.64007721 35.50362375] [ 0.72644383 -0.07349519 0.68328458 32.73174133] [ 0. 0. 0. 1. ]] SLAMing on 133.14037174299997 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:52.71, Y:35.50, Z:32.76 [[-4.07729672e-01 -8.23320174e-01 3.94842254e-01 5.27109849e+01] [ 5.64719578e-01 -5.67171306e-01 -5.99506886e-01 3.55005434e+01] [ 7.17529311e-01 -2.14615950e-02 6.96197592e-01 3.27600504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17037174299998 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:52.72, Y:35.52, Z:32.75 [[-4.08266280e-01 -8.39932088e-01 3.57537036e-01 5.27195823e+01] [ 5.68428991e-01 -5.40378797e-01 -6.20386362e-01 3.55249874e+01] [ 7.14287846e-01 -5.00484158e-02 6.98060190e-01 3.27512132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20037174299998 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:52.73, Y:35.52, Z:32.74 [[-0.40897538 -0.8428245 0.34983712 52.72639438] [ 0.56887556 -0.53522911 -0.62442805 35.52261939] [ 0.71352627 -0.05636191 0.69835779 32.74081214] [ 0. 0. 0. 1. ]] SLAMing on 133.23037174299998 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:52.74, Y:35.50, Z:32.71 [[-0.4094706 -0.84382389 0.3468358 52.74087165] [ 0.57564783 -0.53390184 -0.61933707 35.50254239] [ 0.70778769 -0.05394504 0.7043625 32.71137453] [ 0. 0. 0. 1. ]] SLAMing on 133.26037174299998 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:52.73, Y:35.51, Z:32.74 [[-0.41493982 -0.84128598 0.34650086 52.73122704] [ 0.55073621 -0.53537927 -0.64035823 35.51094254] [ 0.72423378 -0.07487956 0.68547683 32.73623181] [ 0. 0. 0. 1. ]] SLAMing on 133.29037174299998 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:52.73, Y:35.48, Z:32.73 [[-4.13197929e-01 -8.26664864e-01 3.81958995e-01 5.27296664e+01] [ 5.49335753e-01 -5.60799959e-01 -6.19462377e-01 3.54827030e+01] [ 7.26290370e-01 -4.61368394e-02 6.85837947e-01 3.27340922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32037174299998 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:52.73, Y:35.48, Z:32.73 [[-4.12836110e-01 -8.26559698e-01 3.82577328e-01 5.27314415e+01] [ 5.48917230e-01 -5.60981033e-01 -6.19669392e-01 3.54815982e+01] [ 7.26812370e-01 -4.58186142e-02 6.85306087e-01 3.27321947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35037174299998 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:52.74, Y:35.48, Z:32.72 [[-4.05404955e-01 -8.26891003e-01 3.89741058e-01 5.27370379e+01] [ 5.61188616e-01 -5.61677540e-01 -6.07935587e-01 3.54765635e+01] [ 7.21605266e-01 -2.77418544e-02 6.91748675e-01 3.27213980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38037174299998 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:52.74, Y:35.49, Z:32.71 [[-4.04995241e-01 -8.34603413e-01 3.73384519e-01 5.27430790e+01] [ 5.70079313e-01 -5.49775743e-01 -6.10537640e-01 3.54878579e+01] [ 7.14834549e-01 -3.44060486e-02 6.98446699e-01 3.27112064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41037174299998 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:52.75, Y:35.49, Z:32.70 [[-4.03296852e-01 -8.38817433e-01 3.65700647e-01 5.27450577e+01] [ 5.81002860e-01 -5.43479285e-01 -6.05859672e-01 3.54943652e+01] [ 7.06956382e-01 -3.18681766e-02 7.06538813e-01 3.27041540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440371743 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:52.76, Y:35.51, Z:32.69 [[-0.40357165 -0.85195427 0.3336223 52.75713312] [ 0.57619346 -0.51989949 -0.63063906 35.50989996] [ 0.7107257 -0.06227706 0.70070717 32.69383056] [ 0. 0. 0. 1. ]] SLAMing on 133.470371743 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:52.76, Y:35.50, Z:32.69 [[-4.03153588e-01 -8.45659015e-01 3.49754220e-01 5.27564592e+01] [ 5.73957529e-01 -5.31332634e-01 -6.23103834e-01 3.54975824e+01] [ 7.12769205e-01 -5.04624786e-02 6.99581016e-01 3.26935999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500371743 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:52.77, Y:35.49, Z:32.68 [[-4.01498445e-01 -8.46667657e-01 3.49217520e-01 5.27654198e+01] [ 5.75770369e-01 -5.29867139e-01 -6.22679128e-01 3.54901167e+01] [ 7.12241167e-01 -4.89356011e-02 7.00226982e-01 3.26790227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530371743 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:52.77, Y:35.49, Z:32.68 [[-4.01379641e-01 -8.47388939e-01 3.47600879e-01 5.27661621e+01] [ 5.74704092e-01 -5.28516000e-01 -6.24808806e-01 3.54944238e+01] [ 7.13168697e-01 -5.10178870e-02 6.99133453e-01 3.26815560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560371743 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:52.76, Y:35.50, Z:32.69 [[-4.02863396e-01 -8.44448886e-01 3.52997398e-01 5.27619150e+01] [ 5.72315321e-01 -5.33399631e-01 -6.22848302e-01 3.54983929e+01] [ 7.14252237e-01 -4.88969629e-02 6.98178222e-01 3.26919499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590371743 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:52.77, Y:35.50, Z:32.69 [[-0.4027526 -0.84875772 0.34263782 52.77031979] [ 0.56761095 -0.52526961 -0.63396345 35.50035582] [ 0.7180586 -0.06084545 0.69331787 32.68624618] [ 0. 0. 0. 1. ]] SLAMing on 133.620371743 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:52.76, Y:35.49, Z:32.69 [[-4.02713907e-01 -8.40942672e-01 3.61437313e-01 5.27646738e+01] [ 5.70334801e-01 -5.39385717e-01 -6.19500818e-01 3.54932625e+01] [ 7.15918797e-01 -4.33413170e-02 6.96837001e-01 3.26923260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650371743 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:52.77, Y:35.50, Z:32.69 [[-0.40240273 -0.8456363 0.35067262 52.7697206 ] [ 0.56923677 -0.53112877 -0.62759201 35.49818894] [ 0.7169669 -0.05292899 0.69509495 32.68848032] [ 0. 0. 0. 1. ]] SLAMing on 133.680371743 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:52.77, Y:35.51, Z:32.70 [[-4.01942899e-01 -8.45130215e-01 3.52415701e-01 5.27662548e+01] [ 5.68101568e-01 -5.32009458e-01 -6.27874625e-01 3.55066891e+01] [ 7.18124303e-01 -5.21618353e-02 6.93957224e-01 3.26983518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710371743 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:52.76, Y:35.50, Z:32.70 [[-4.01186593e-01 -8.40419229e-01 3.64341649e-01 5.27641880e+01] [ 5.66383013e-01 -5.40200605e-01 -6.22409503e-01 3.54991842e+01] [ 7.19902494e-01 -4.33454270e-02 6.92720415e-01 3.27009714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.740371743 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:52.77, Y:35.49, Z:32.69 [[-4.00161324e-01 -8.44105358e-01 3.56871209e-01 5.27745102e+01] [ 5.64259495e-01 -5.33777978e-01 -6.29835132e-01 3.54941169e+01] [ 7.22137201e-01 -5.06676924e-02 6.89891765e-01 3.26867907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77037174299997 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:52.77, Y:35.49, Z:32.69 [[-3.99775577e-01 -8.41898093e-01 3.62473571e-01 5.27743963e+01] [ 5.62808087e-01 -5.37584743e-01 -6.27893066e-01 3.54903064e+01] [ 7.23482236e-01 -4.70132556e-02 6.88740306e-01 3.26876004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80037174299997 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:52.77, Y:35.49, Z:32.70 [[-0.40722557 -0.84170353 0.35454548 52.77142143] [ 0.54797585 -0.53572514 -0.64243369 35.4942993 ] [ 0.73067763 -0.06733306 0.67939419 32.69543057] [ 0. 0. 0. 1. ]] SLAMing on 133.83037174299997 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:52.77, Y:35.47, Z:32.70 [[-4.00270005e-01 -8.26008061e-01 3.96855900e-01 5.27655284e+01] [ 5.58517988e-01 -5.63224955e-01 -6.08962485e-01 3.54735635e+01] [ 7.26527068e-01 -2.20982582e-02 6.86782416e-01 3.27016383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86037174299997 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:52.78, Y:35.49, Z:32.69 [[-4.01522848e-01 -8.39543505e-01 3.65986484e-01 5.27784632e+01] [ 5.57920004e-01 -5.41127690e-01 -6.29210690e-01 3.54853603e+01] [ 7.26295168e-01 -4.84512882e-02 6.85673246e-01 3.26866097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89037174299997 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:52.78, Y:35.48, Z:32.69 [[-0.40308757 -0.83936547 0.36467248 52.78083779] [ 0.55320578 -0.540915 -0.6335411 35.48303503] [ 0.72902934 -0.05363362 0.68237794 32.68613201] [ 0. 0. 0. 1. ]] SLAMing on 133.92037174299998 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:52.77, Y:35.48, Z:32.70 [[-4.04253039e-01 -8.32520096e-01 3.78800435e-01 5.27731802e+01] [ 5.56001520e-01 -5.52519122e-01 -6.20954853e-01 3.54832737e+01] [ 7.26251878e-01 -4.04092686e-02 6.86239974e-01 3.26984548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95037174299998 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:52.78, Y:35.48, Z:32.69 [[-4.05530237e-01 -8.33945603e-01 3.74272572e-01 5.27792554e+01] [ 5.55897674e-01 -5.50034175e-01 -6.23249695e-01 3.54782083e+01] [ 7.25619048e-01 -4.46893438e-02 6.86643910e-01 3.26887698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98037174299998 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:52.78, Y:35.48, Z:32.69 [[-4.07531585e-01 -8.34128406e-01 3.71682405e-01 5.27796858e+01] [ 5.56756950e-01 -5.49571817e-01 -6.22890453e-01 3.54820798e+01] [ 7.23836795e-01 -4.69107716e-02 6.88374661e-01 3.26915467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01037174299998 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:52.78, Y:35.48, Z:32.69 [[-4.08498499e-01 -8.34131684e-01 3.70612076e-01 5.27820650e+01] [ 5.56939639e-01 -5.49471855e-01 -6.22815317e-01 3.54800708e+01] [ 7.23150894e-01 -4.80105665e-02 6.89019426e-01 3.26883259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04037174299998 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:52.78, Y:35.48, Z:32.69 [[-4.09658376e-01 -8.32030330e-01 3.74039496e-01 5.27804345e+01] [ 5.57756783e-01 -5.52904379e-01 -6.19034829e-01 3.54811157e+01] [ 7.21863828e-01 -4.49697370e-02 6.90572470e-01 3.26918081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07037174299998 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:52.78, Y:35.48, Z:32.69 [[-4.10174582e-01 -8.30521020e-01 3.76817790e-01 5.27817360e+01] [ 5.61161695e-01 -5.55533305e-01 -6.13579904e-01 3.54779825e+01] [ 7.18925841e-01 -4.02191713e-02 6.93922225e-01 3.26868308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10037174299998 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:52.79, Y:35.48, Z:32.68 [[-0.41088474 -0.83609311 0.36348595 52.79014257] [ 0.55912039 -0.54600961 -0.62390536 35.47927783] [ 0.72010979 -0.05312078 0.69182373 32.67602909] [ 0. 0. 0. 1. ]] SLAMing on 134.13037174299998 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:52.78, Y:35.49, Z:32.69 [[-0.41751943 -0.83515101 0.35805071 52.78489978] [ 0.54530654 -0.54548522 -0.63646418 35.48684525] [ 0.72685507 -0.07048877 0.68316399 32.68780389] [ 0. 0. 0. 1. ]] SLAMing on 134.16037174299998 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:52.78, Y:35.47, Z:32.69 [[-4.16638434e-01 -8.21425337e-01 3.89451963e-01 5.27787105e+01] [ 5.42896772e-01 -5.68448232e-01 -6.18166404e-01 3.54695970e+01] [ 7.29160826e-01 -4.61196690e-02 6.82786545e-01 3.26947476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190371743 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:52.78, Y:35.47, Z:32.69 [[-4.17341003e-01 -8.20900092e-01 3.89807038e-01 5.27812129e+01] [ 5.42381784e-01 -5.69177954e-01 -6.17946970e-01 3.54655028e+01] [ 7.29142296e-01 -4.64703716e-02 6.82782554e-01 3.26903155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220371743 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:52.78, Y:35.47, Z:32.69 [[-4.17870250e-01 -8.20421893e-01 3.90246552e-01 5.27816873e+01] [ 5.41779218e-01 -5.69843429e-01 -6.17862238e-01 3.54664366e+01] [ 7.29287140e-01 -4.67587763e-02 6.82608148e-01 3.26908804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250371743 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:52.78, Y:35.47, Z:32.69 [[-4.18064299e-01 -8.20098388e-01 3.90718410e-01 5.27828810e+01] [ 5.41329949e-01 -5.70306802e-01 -6.17828487e-01 3.54659430e+01] [ 7.29509513e-01 -4.67844565e-02 6.82368731e-01 3.26895502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280371743 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:52.79, Y:35.46, Z:32.68 [[-4.18259306e-01 -8.19870412e-01 3.90988057e-01 5.27870549e+01] [ 5.41372780e-01 -5.70650082e-01 -6.17473884e-01 3.54611920e+01] [ 7.29365934e-01 -4.65939064e-02 6.82535231e-01 3.26831305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310371743 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:52.78, Y:35.47, Z:32.69 [[-4.17445895e-01 -8.20085680e-01 3.91405675e-01 5.27827497e+01] [ 5.41756166e-01 -5.70415760e-01 -6.17354127e-01 3.54689485e+01] [ 7.29547244e-01 -4.56655084e-02 6.82404191e-01 3.26931399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340371743 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:52.79, Y:35.46, Z:32.68 [[-4.16908381e-01 -8.20156968e-01 3.91828981e-01 5.27905287e+01] [ 5.41936634e-01 -5.70367235e-01 -6.17240555e-01 3.54554220e+01] [ 7.29720554e-01 -4.49862817e-02 6.82263987e-01 3.26783070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370371743 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:52.79, Y:35.46, Z:32.68 [[-4.16119066e-01 -8.20475707e-01 3.92000685e-01 5.27877902e+01] [ 5.42901163e-01 -5.69999770e-01 -6.16732187e-01 3.54587655e+01] [ 7.29454077e-01 -4.38163941e-02 6.82624987e-01 3.26837167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400371743 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:52.79, Y:35.45, Z:32.68 [[-4.15195493e-01 -8.20905195e-01 3.92080812e-01 5.27902398e+01] [ 5.44175719e-01 -5.69485731e-01 -6.16083426e-01 3.54539775e+01] [ 7.29030513e-01 -4.24342041e-02 6.83164584e-01 3.26786133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430371743 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:52.79, Y:35.44, Z:32.67 [[-4.07498370e-01 -8.13974246e-01 4.13993968e-01 5.27904337e+01] [ 5.74421955e-01 -5.80894231e-01 -5.76715970e-01 3.54400726e+01] [ 7.09918654e-01 2.79640664e-03 7.04278130e-01 3.26652030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460371743 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:52.80, Y:35.46, Z:32.65 [[-4.05542797e-01 -8.36305446e-01 3.68955609e-01 5.28035953e+01] [ 5.83391300e-01 -5.47546899e-01 -5.99872473e-01 3.54636309e+01] [ 7.03697116e-01 -2.80284678e-02 7.09947022e-01 3.26481357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.490371743 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:52.81, Y:35.47, Z:32.64 [[-4.05076748e-01 -8.45453332e-01 3.48025130e-01 5.28134295e+01] [ 5.83373982e-01 -5.32104287e-01 -6.13628409e-01 3.54682746e+01] [ 7.03979847e-01 -4.55377940e-02 7.08758552e-01 3.26356419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52037174299997 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:52.82, Y:35.49, Z:32.65 [[-0.41333878 -0.85523368 0.31261222 52.81754804] [ 0.5529621 -0.50851166 -0.66003697 35.48608114] [ 0.72345281 -0.09995617 0.68309941 32.64746979] [ 0. 0. 0. 1. ]] SLAMing on 134.55037174299997 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:52.80, Y:35.43, Z:32.65 [[-4.05901444e-01 -8.12747662e-01 4.17953652e-01 5.27954890e+01] [ 5.79563893e-01 -5.82513727e-01 -5.69897756e-01 3.54270007e+01] [ 7.06646808e-01 1.09085238e-02 7.07482362e-01 3.26548883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58037174299997 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:52.81, Y:35.48, Z:32.65 [[-0.41468015 -0.85008963 0.32463517 52.81450174] [ 0.55213018 -0.51863368 -0.65281802 35.47831787] [ 0.72332057 -0.0914698 0.68442723 32.64888221] [ 0. 0. 0. 1. ]] SLAMing on 134.61037174299997 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:52.80, Y:35.44, Z:32.67 [[-4.13081180e-01 -8.22347874e-01 3.91290063e-01 5.27971039e+01] [ 5.49655406e-01 -5.67709191e-01 -6.12850071e-01 3.54411736e+01] [ 7.26114918e-01 -3.80821315e-02 6.86517937e-01 3.26662179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64037174299997 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:52.80, Y:35.44, Z:32.66 [[-4.14938458e-01 -8.21164282e-01 3.91810284e-01 5.27987218e+01] [ 5.47936778e-01 -5.69314325e-01 -6.12900062e-01 3.54402485e+01] [ 7.26354847e-01 -3.96285424e-02 6.86176519e-01 3.26637310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67037174299998 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:52.79, Y:35.43, Z:32.66 [[-4.09993491e-01 -8.10408499e-01 4.18501376e-01 5.27936559e+01] [ 5.73866198e-01 -5.85838987e-01 -5.72250180e-01 3.54325981e+01] [ 7.08930831e-01 5.54494461e-03 7.05256216e-01 3.26607224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70037174299998 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:52.81, Y:35.48, Z:32.65 [[-0.41861556 -0.84653142 0.32885493 52.81496924] [ 0.54844975 -0.52427018 -0.65141665 35.47804693] [ 0.72385349 -0.09233274 0.6837476 32.64843159] [ 0. 0. 0. 1. ]] SLAMing on 134.73037174299998 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:52.80, Y:35.42, Z:32.65 [[-4.11152149e-01 -8.07743276e-01 4.22498178e-01 5.27961685e+01] [ 5.73738461e-01 -5.89471554e-01 -5.68636496e-01 3.54248575e+01] [ 7.08362964e-01 8.60733707e-03 7.05795881e-01 3.26537897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76037174299998 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:52.82, Y:35.48, Z:32.65 [[-0.42025446 -0.84766636 0.32380231 52.816012 ] [ 0.54690965 -0.52136399 -0.65503391 35.47791975] [ 0.72406907 -0.09819031 0.68270245 32.64524142] [ 0. 0. 0. 1. ]] SLAMing on 134.79037174299998 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:52.80, Y:35.44, Z:32.67 [[-4.18873044e-01 -8.18494803e-01 3.93206855e-01 5.27958829e+01] [ 5.43974081e-01 -5.72909357e-01 -6.13079984e-01 3.54411937e+01] [ 7.27074667e-01 -4.29083415e-02 6.85216245e-01 3.26655194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82037174299998 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:52.80, Y:35.43, Z:32.66 [[-4.12990032e-01 -8.12912775e-01 4.10623981e-01 5.27964121e+01] [ 5.64221275e-01 -5.82298866e-01 -5.85305377e-01 3.54322668e+01] [ 7.14908096e-01 -1.00425000e-02 6.99146309e-01 3.26568616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85037174299998 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:52.82, Y:35.46, Z:32.63 [[-0.41433125 -0.83892644 0.352891 52.81626504] [ 0.56406695 -0.54099189 -0.62382389 35.45831303] [ 0.71425352 -0.05941558 0.69736052 32.63176707] [ 0. 0. 0. 1. ]] SLAMing on 134.88037174299998 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:52.80, Y:35.45, Z:32.65 [[-0.4210616 -0.82825643 0.36972749 52.80425261] [ 0.54467585 -0.55683375 -0.62710796 35.44763931] [ 0.72528294 -0.06266945 0.68559258 32.65222061] [ 0. 0. 0. 1. ]] SLAMing on 134.91037174299998 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:52.80, Y:35.43, Z:32.66 [[-4.15595981e-01 -8.11972531e-01 4.09854351e-01 5.27960218e+01] [ 5.63731470e-01 -5.83574931e-01 -5.84505886e-01 3.54298032e+01] [ 7.13783448e-01 -1.18705012e-02 7.00265864e-01 3.26560174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940371743 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:52.81, Y:35.46, Z:32.64 [[-0.42221555 -0.83625715 0.34986856 52.80969797] [ 0.5456051 -0.5426535 -0.63862529 35.45618177] [ 0.72391236 -0.07874745 0.68538291 32.64492186] [ 0. 0. 0. 1. ]] SLAMing on 134.970371743 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:52.79, Y:35.44, Z:32.67 [[-4.21530113e-01 -8.16888428e-01 3.93707582e-01 5.27890881e+01] [ 5.43423670e-01 -5.75129511e-01 -6.11487335e-01 3.54441559e+01] [ 7.25949777e-01 -4.38103064e-02 6.86350915e-01 3.26728628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000371743 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:52.78, Y:35.45, Z:32.68 [[-4.18552260e-01 -8.08886323e-01 4.12936946e-01 5.27784209e+01] [ 5.63009276e-01 -5.87868699e-01 -5.80888068e-01 3.54481569e+01] [ 7.12625119e-01 -1.06446827e-02 7.01464276e-01 3.26822394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030371743 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:52.79, Y:35.47, Z:32.67 [[-4.19694242e-01 -8.30744371e-01 3.65678181e-01 5.27914202e+01] [ 5.62080334e-01 -5.54208201e-01 -6.13937268e-01 3.54732121e+01] [ 7.12686776e-01 -5.21254221e-02 6.99543065e-01 3.26675382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:52.78, Y:35.49, Z:32.69 [[-4.20529062e-01 -8.28718417e-01 3.69298108e-01 5.27788164e+01] [ 5.58286119e-01 -5.57215284e-01 -6.14676937e-01 3.54883889e+01] [ 7.15172649e-01 -5.23155079e-02 6.96987209e-01 3.26913756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090371743 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:52.76, Y:35.50, Z:32.71 [[-4.21439279e-01 -8.19579100e-01 3.88173974e-01 5.27610837e+01] [ 5.68272095e-01 -5.72252121e-01 -5.91265031e-01 3.54963277e+01] [ 7.06721841e-01 -2.85938709e-02 7.06913453e-01 3.27146140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120371743 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:52.80, Y:35.45, Z:32.65 [[-4.22191782e-01 -8.26313265e-01 3.72774043e-01 5.27961693e+01] [ 5.76004823e-01 -5.62067290e-01 -5.93547644e-01 3.54534767e+01] [ 6.99980388e-01 -3.58712907e-02 7.13260616e-01 3.26470804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150371743 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:52.82, Y:35.46, Z:32.63 [[-0.42701607 -0.84668544 0.31746031 52.82113817] [ 0.54673278 -0.52138812 -0.65516234 35.46264462] [ 0.72023645 -0.10619889 0.68555179 32.6255235 ] [ 0. 0. 0. 1. ]] SLAMing on 135.180371743 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:52.80, Y:35.42, Z:32.65 [[-4.24220987e-01 -8.15609479e-01 3.93468844e-01 5.27973019e+01] [ 5.43353531e-01 -5.76854158e-01 -6.09923128e-01 3.54247066e+01] [ 7.24433223e-01 -4.49495058e-02 6.87877930e-01 3.26525093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:52.80, Y:35.42, Z:32.65 [[-4.22129425e-01 -8.16320556e-01 3.94242943e-01 5.27975876e+01] [ 5.43791502e-01 -5.75976401e-01 -6.10362178e-01 3.54208130e+01] [ 7.25325824e-01 -4.32658732e-02 6.87044768e-01 3.26490353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.240371743 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:52.80, Y:35.41, Z:32.64 [[-4.17809705e-01 -8.09845018e-01 4.11808325e-01 5.27950423e+01] [ 5.61205581e-01 -5.86502157e-01 -5.84006435e-01 3.54117866e+01] [ 7.14481173e-01 -1.28944255e-02 6.99535837e-01 3.26426259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27037174299997 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:52.81, Y:35.43, Z:32.62 [[-4.16772623e-01 -8.27988567e-01 3.75147323e-01 5.28084332e+01] [ 5.65633521e-01 -5.59289582e-01 -6.06014756e-01 3.54265212e+01] [ 7.11589278e-01 -4.03744582e-02 7.01434674e-01 3.26214252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30037174299997 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:52.81, Y:35.43, Z:32.62 [[-4.13522117e-01 -8.31996097e-01 3.69840442e-01 5.28077582e+01] [ 5.68009656e-01 -5.53195627e-01 -6.09376426e-01 3.54289372e+01] [ 7.11592924e-01 -4.19176875e-02 7.01340444e-01 3.26196700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33037174299997 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:52.81, Y:35.41, Z:32.60 [[-4.10773567e-01 -8.30265296e-01 3.76728835e-01 5.28117935e+01] [ 5.78323740e-01 -5.56709800e-01 -5.96335350e-01 3.54135417e+01] [ 7.04845180e-01 -2.70875704e-02 7.08843802e-01 3.26035394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36037174299997 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:52.82, Y:35.43, Z:32.60 [[-0.41065769 -0.84248063 0.34869278 52.81619178] [ 0.57445196 -0.53604103 -0.61859919 35.43211038] [ 0.70807147 -0.05372526 0.70409402 32.60353315] [ 0. 0. 0. 1. ]] SLAMing on 135.39037174299997 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:52.81, Y:35.43, Z:32.62 [[-0.41422497 -0.8439573 0.34081337 52.81387412] [ 0.5527009 -0.53074116 -0.64252279 35.43197879] [ 0.72314548 -0.07778113 0.6863022 32.61562831] [ 0. 0. 0. 1. ]] SLAMing on 135.42037174299998 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:52.82, Y:35.36, Z:32.58 [[-4.02402787e-01 -8.14421978e-01 4.18077550e-01 5.28192216e+01] [ 5.81333670e-01 -5.80117041e-01 -5.70539554e-01 3.53557545e+01] [ 7.07193863e-01 1.34558499e-02 7.06891632e-01 3.25797560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45037174299998 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:52.82, Y:35.44, Z:32.61 [[-0.41380219 -0.84969816 0.32677329 52.8170748 ] [ 0.55448678 -0.51992624 -0.64978544 35.43903254] [ 0.7220195 -0.08769117 0.68629301 32.61168354] [ 0. 0. 0. 1. ]] SLAMing on 135.48037174299998 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:52.80, Y:35.40, Z:32.63 [[-4.12074754e-01 -8.21089802e-01 3.94975865e-01 5.28007806e+01] [ 5.52206964e-01 -5.69864125e-01 -6.08541164e-01 3.53976250e+01] [ 7.24749520e-01 -3.26560269e-02 6.88238126e-01 3.26275706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51037174299998 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:52.80, Y:35.40, Z:32.63 [[-4.12483384e-01 -8.20695687e-01 3.95368242e-01 5.27992474e+01] [ 5.51787828e-01 -5.70423633e-01 -6.08397134e-01 3.54002346e+01] [ 7.24836293e-01 -3.27943249e-02 6.88140161e-01 3.26302373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54037174299998 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:52.81, Y:35.37, Z:32.60 [[-4.04923376e-01 -8.14705991e-01 4.15079760e-01 5.28125818e+01] [ 5.75605908e-01 -5.79848654e-01 -5.76587702e-01 3.53693159e+01] [ 7.10432895e-01 5.44852334e-03 7.03743856e-01 3.25951879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57037174299998 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:52.81, Y:35.43, Z:32.61 [[-4.07922534e-01 -8.41254283e-01 3.54810425e-01 5.28141732e+01] [ 5.69543491e-01 -5.38195849e-01 -6.21261169e-01 3.54276381e+01] [ 7.13596117e-01 -5.13464625e-02 6.98673116e-01 3.26086706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60037174299998 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:52.82, Y:35.41, Z:32.60 [[-4.09243304e-01 -8.34031670e-01 3.70014988e-01 5.28157977e+01] [ 5.68196910e-01 -5.50253086e-01 -6.11860942e-01 3.54108791e+01] [ 7.13913293e-01 -4.01586206e-02 6.99081609e-01 3.26032139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63037174299998 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:52.81, Y:35.42, Z:32.61 [[-4.10699364e-01 -8.34344640e-01 3.67688801e-01 5.28137645e+01] [ 5.64883471e-01 -5.49389938e-01 -6.15692585e-01 3.54185435e+01] [ 7.15704336e-01 -4.51632268e-02 6.96941595e-01 3.26112373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66037174299998 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:52.81, Y:35.41, Z:32.61 [[-4.12905211e-01 -8.30735102e-01 3.73347663e-01 5.28137957e+01] [ 5.60477253e-01 -5.54878395e-01 -6.14796889e-01 3.54142345e+01] [ 7.17895908e-01 -4.45999661e-02 6.94720309e-01 3.26138313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690371743 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:52.81, Y:35.41, Z:32.61 [[-4.14374488e-01 -8.26136191e-01 3.81828205e-01 5.28117919e+01] [ 5.62343745e-01 -5.62285894e-01 -6.06303626e-01 3.54093445e+01] [ 7.15585981e-01 -3.65180519e-02 6.97569449e-01 3.26142231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720371743 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:52.82, Y:35.41, Z:32.61 [[-4.15191571e-01 -8.28834216e-01 3.75033068e-01 5.28153523e+01] [ 5.62179080e-01 -5.57866406e-01 -6.10524164e-01 3.54114335e+01] [ 7.15241667e-01 -4.26487414e-02 6.97574687e-01 3.26094518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750371743 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:52.82, Y:35.41, Z:32.61 [[-4.16345583e-01 -8.28135462e-01 3.75297231e-01 5.28166504e+01] [ 5.62273050e-01 -5.58896108e-01 -6.09495002e-01 3.54107779e+01] [ 7.14496587e-01 -4.27410335e-02 6.98332178e-01 3.26071924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:52.82, Y:35.41, Z:32.61 [[-0.42378532 -0.83011393 0.36237669 52.82001328] [ 0.54502613 -0.55324967 -0.6299693 35.41350116] [ 0.72343108 -0.06946698 0.68689287 32.6073432 ] [ 0. 0. 0. 1. ]] SLAMing on 135.810371743 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:52.81, Y:35.39, Z:32.61 [[-4.18949820e-01 -8.10621845e-01 4.09112787e-01 5.28130160e+01] [ 5.57175550e-01 -5.85266571e-01 -5.89082717e-01 3.53883606e+01] [ 7.16963357e-01 -1.88484558e-02 6.96855997e-01 3.26124404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840371743 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:52.82, Y:35.40, Z:32.60 [[-4.20737636e-01 -8.26305408e-01 3.74431856e-01 5.28246326e+01] [ 5.55097973e-01 -5.60948589e-01 -6.14168479e-01 3.54048196e+01] [ 7.17527757e-01 -5.05574292e-02 6.94692641e-01 3.25997661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:52.82, Y:35.40, Z:32.60 [[-4.22338923e-01 -8.23378406e-01 3.79048592e-01 5.28227709e+01] [ 5.54385299e-01 -5.65479332e-01 -6.10647251e-01 3.54038815e+01] [ 7.17137904e-01 -4.77611354e-02 6.95292816e-01 3.26031092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900371743 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:52.82, Y:35.40, Z:32.61 [[-0.43042281 -0.82188499 0.37315045 52.82213551] [ 0.54147237 -0.56586657 -0.62177383 35.40465578] [ 0.72217994 -0.06557498 0.6885899 32.60770756] [ 0. 0. 0. 1. ]] SLAMing on 135.930371743 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:52.82, Y:35.39, Z:32.61 [[-4.26154353e-01 -8.07378789e-01 4.08083274e-01 5.28173557e+01] [ 5.54548102e-01 -5.89546166e-01 -5.87291853e-01 3.53869913e+01] [ 7.14750915e-01 -2.39751746e-02 6.98968040e-01 3.26098320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960371743 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:52.83, Y:35.41, Z:32.60 [[-0.43430501 -0.82246274 0.36733391 52.82630571] [ 0.54045213 -0.56417132 -0.62419726 35.4065217 ] [ 0.72061825 -0.07256561 0.68952417 32.60328904] [ 0. 0. 0. 1. ]] SLAMing on 135.990371743 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:52.82, Y:35.39, Z:32.62 [[-4.29512988e-01 -8.05638426e-01 4.08001616e-01 5.28155200e+01] [ 5.52317143e-01 -5.91799570e-01 -5.87127791e-01 3.53919669e+01] [ 7.14467891e-01 -2.68327248e-02 6.99153515e-01 3.26155411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02037174299997 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:52.83, Y:35.41, Z:32.60 [[-4.30754944e-01 -8.19436738e-01 3.78118513e-01 5.28251163e+01] [ 5.54310869e-01 -5.70868889e-01 -6.05679926e-01 3.54052457e+01] [ 7.12172478e-01 -5.13044213e-02 7.00127287e-01 3.26020796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05037174299997 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:52.81, Y:35.42, Z:32.62 [[-0.43205094 -0.81884103 0.37793036 52.81461879] [ 0.55165762 -0.57147522 -0.60752772 35.42131025] [ 0.71344646 -0.05399476 0.6986263 32.62282179] [ 0. 0. 0. 1. ]] SLAMing on 136.08037174299997 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:52.83, Y:35.40, Z:32.60 [[-4.31577426e-01 -8.17258555e-01 3.81876131e-01 5.28254639e+01] [ 5.51556526e-01 -5.74048949e-01 -6.05188568e-01 3.54016834e+01] [ 7.13811126e-01 -5.05594523e-02 6.98510857e-01 3.26020983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11037174299997 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:52.82, Y:35.41, Z:32.61 [[-4.32531660e-01 -8.16515043e-01 3.82386647e-01 5.28218489e+01] [ 5.52708493e-01 -5.75199358e-01 -6.03041475e-01 3.54075763e+01] [ 7.12340990e-01 -4.94861830e-02 7.00086732e-01 3.26075398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14037174299997 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:52.83, Y:35.40, Z:32.60 [[-0.43283617 -0.81793551 0.37899123 52.82936874] [ 0.54989405 -0.572699 -0.607974 35.40111366] [ 0.71433142 -0.05474811 0.69766271 32.59635582] [ 0. 0. 0. 1. ]] SLAMing on 136.17037174299998 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:52.83, Y:35.41, Z:32.61 [[-0.43688613 -0.81831888 0.37347653 52.82579734] [ 0.53699344 -0.57036336 -0.62154941 35.40646949] [ 0.72164295 -0.07099187 0.68861572 32.60667965] [ 0. 0. 0. 1. ]] SLAMing on 136.20037174299998 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:52.82, Y:35.38, Z:32.61 [[-4.33118363e-01 -8.01465098e-01 4.12385961e-01 5.28204107e+01] [ 5.49703946e-01 -5.97468370e-01 -5.83829700e-01 3.53845044e+01] [ 7.14306696e-01 -2.61771741e-02 6.99343049e-01 3.26069521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23037174299998 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:52.83, Y:35.40, Z:32.59 [[-4.33696749e-01 -8.17233184e-01 3.79522137e-01 5.28317275e+01] [ 5.52447022e-01 -5.73910210e-01 -6.04507534e-01 3.53997369e+01] [ 7.11835246e-01 -5.25070777e-02 7.00381032e-01 3.25916843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26037174299998 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:52.82, Y:35.41, Z:32.61 [[-4.32833236e-01 -8.14358291e-01 3.86621216e-01 5.28217535e+01] [ 5.54127686e-01 -5.78631807e-01 -5.98437749e-01 3.54072519e+01] [ 7.11054075e-01 -4.47862276e-02 7.01709553e-01 3.26073379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29037174299998 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:52.83, Y:35.40, Z:32.59 [[-0.43256272 -0.8202281 0.37431987 52.83162974] [ 0.5534689 -0.56930991 -0.60791316 35.40366972] [ 0.71173146 -0.05578616 0.70023298 32.59278257] [ 0. 0. 0. 1. ]] SLAMing on 136.32037174299998 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:52.83, Y:35.40, Z:32.59 [[-4.33021076e-01 -8.17445138e-01 3.79837064e-01 5.28306237e+01] [ 5.55117999e-01 -5.73843024e-01 -6.02119748e-01 3.53992593e+01] [ 7.10166710e-01 -4.98761503e-02 7.02264632e-01 3.25928486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35037174299998 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:52.84, Y:35.39, Z:32.58 [[-4.32578586e-01 -8.18727761e-01 3.77572007e-01 5.28383684e+01] [ 5.56961774e-01 -5.71983240e-01 -6.02186645e-01 3.53896379e+01] [ 7.08991784e-01 -5.01998727e-02 7.03427767e-01 3.25783965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38037174299998 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:52.84, Y:35.40, Z:32.59 [[-0.43853591 -0.82436357 0.35792591 52.83946341] [ 0.53903688 -0.55994333 -0.629208 35.40008917] [ 0.71911438 -0.08299504 0.68991763 32.58579734] [ 0. 0. 0. 1. ]] SLAMing on 136.41037174299998 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:52.83, Y:35.37, Z:32.59 [[-4.34190665e-01 -8.00879629e-01 4.12395789e-01 5.28299719e+01] [ 5.52073479e-01 -5.98325393e-01 -5.80707842e-01 3.53680151e+01] [ 7.11823953e-01 -2.44651461e-02 7.01931703e-01 3.25897021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440371743 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:52.84, Y:35.39, Z:32.58 [[-0.43581731 -0.81769447 0.37608381 52.83815708] [ 0.55186294 -0.57286597 -0.6060296 35.390722 ] [ 0.71099267 -0.05657148 0.70092018 32.58165564] [ 0. 0. 0. 1. ]] SLAMing on 136.470371743 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:52.84, Y:35.38, Z:32.58 [[-4.36573738e-01 -8.15245265e-01 3.80497739e-01 5.28393719e+01] [ 5.52339217e-01 -5.76720165e-01 -6.01926276e-01 3.53847318e+01] [ 7.10158265e-01 -5.26213806e-02 7.02072809e-01 3.25776145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500371743 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:52.84, Y:35.38, Z:32.57 [[-0.43693708 -0.81632742 0.37775062 52.84121416] [ 0.55229287 -0.57495223 -0.60365762 35.38474952] [ 0.70997083 -0.05513142 0.70206976 32.57486605] [ 0. 0. 0. 1. ]] SLAMing on 136.530371743 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:52.84, Y:35.39, Z:32.57 [[-0.43929636 -0.81703746 0.37345481 52.84263641] [ 0.54701095 -0.57304454 -0.61024502 35.38664174] [ 0.71259928 -0.06379454 0.69866482 32.57495458] [ 0. 0. 0. 1. ]] SLAMing on 136.560371743 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:52.84, Y:35.38, Z:32.58 [[-0.44087654 -0.81308023 0.38016893 52.84103288] [ 0.54380118 -0.57893452 -0.60754843 35.3826133 ] [ 0.71407854 -0.06111754 0.69739263 32.57661221] [ 0. 0. 0. 1. ]] SLAMing on 136.590371743 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:52.84, Y:35.38, Z:32.58 [[-0.44616746 -0.8098058 0.38098447 52.836629 ] [ 0.5323675 -0.58235082 -0.61437152 35.38321761] [ 0.71938824 -0.07128883 0.69094027 32.58462842] [ 0. 0. 0. 1. ]] SLAMing on 136.620371743 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:52.84, Y:35.37, Z:32.58 [[-4.42391913e-01 -7.99890397e-01 4.05542535e-01 5.28359810e+01] [ 5.38635233e-01 -5.98539130e-01 -5.92978074e-01 3.53669471e+01] [ 7.17050543e-01 -4.38892063e-02 6.95638021e-01 3.25807626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650371743 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:52.84, Y:35.38, Z:32.58 [[-0.44933918 -0.80697659 0.3832533 52.83565187] [ 0.52973203 -0.58612255 -0.61306144 35.38368218] [ 0.71935963 -0.07245097 0.69084917 32.58362819] [ 0. 0. 0. 1. ]] SLAMing on 136.680371743 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:52.84, Y:35.35, Z:32.57 [[-4.42920110e-01 -7.92674046e-01 4.18914828e-01 5.28385270e+01] [ 5.47120099e-01 -6.09128943e-01 -5.74126753e-01 3.53518246e+01] [ 7.10268523e-01 -2.50955626e-02 7.03483361e-01 3.25677209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710371743 meters Centerline goodness : 0.996040 Centerline is valid? [True, True] Translation: X:52.85, Y:35.39, Z:32.56 [[-0.44541743 -0.81619631 0.36800393 52.84887943] [ 0.54651886 -0.57342926 -0.61032453 35.38524264] [ 0.70916885 -0.0707281 0.70148206 32.55935006] [ 0. 0. 0. 1. ]] SLAMing on 136.740371743 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:52.85, Y:35.37, Z:32.56 [[-0.44421592 -0.81218791 0.37818383 52.84969267] [ 0.54258765 -0.57978524 -0.60782211 35.3724596 ] [ 0.71293117 -0.06480638 0.69823297 32.55689452] [ 0. 0. 0. 1. ]] SLAMing on 136.77037174299997 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:52.85, Y:35.38, Z:32.56 [[-0.4442957 -0.8131889 0.37593236 52.84856031] [ 0.5399821 -0.57791016 -0.61191436 35.37520947] [ 0.7148571 -0.06887417 0.69587045 32.5604168 ] [ 0. 0. 0. 1. ]] SLAMing on 136.80037174299997 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:52.85, Y:35.37, Z:32.56 [[-0.44195552 -0.81104947 0.38324154 52.84654223] [ 0.5417792 -0.58184626 -0.60657253 35.36734384] [ 0.71494798 -0.06044579 0.69655989 32.55878502] [ 0. 0. 0. 1. ]] SLAMing on 136.83037174299997 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:52.84, Y:35.36, Z:32.56 [[-4.40827896e-01 -8.08993427e-01 3.88844959e-01 5.28446649e+01] [ 5.46491208e-01 -5.85563384e-01 -5.98717699e-01 3.53621737e+01] [ 7.12052053e-01 -5.14311124e-02 7.00240469e-01 3.25558418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86037174299997 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:52.84, Y:35.38, Z:32.56 [[-0.44031339 -0.81490201 0.37690693 52.84122616] [ 0.54585402 -0.57626423 -0.60824577 35.37634547] [ 0.71285869 -0.0620826 0.6985544 32.56345026] [ 0. 0. 0. 1. ]] SLAMing on 136.89037174299997 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:52.84, Y:35.37, Z:32.57 [[-0.43770957 -0.81460582 0.38056234 52.83721099] [ 0.54366812 -0.57691123 -0.60958872 35.37372303] [ 0.7161252 -0.0599232 0.69539478 32.56885136] [ 0. 0. 0. 1. ]] SLAMing on 136.92037174299998 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:52.83, Y:35.38, Z:32.58 [[-0.4370422 -0.81109723 0.38873564 52.82899766] [ 0.54325648 -0.58249956 -0.6046211 35.37578002] [ 0.71684483 -0.05306178 0.69521071 32.58114307] [ 0. 0. 0. 1. ]] SLAMing on 136.95037174299998 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:52.83, Y:35.38, Z:32.58 [[-0.43729708 -0.81354351 0.38329913 52.83009719] [ 0.53901646 -0.578274 -0.61242178 35.37802782] [ 0.71988368 -0.06120572 0.69139087 32.58191907] [ 0. 0. 0. 1. ]] SLAMing on 136.98037174299998 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:52.84, Y:35.36, Z:32.57 [[-4.36079776e-01 -8.07682331e-01 3.96842136e-01 5.28361067e+01] [ 5.40720550e-01 -5.87669876e-01 -6.01884875e-01 3.53560270e+01] [ 7.19343948e-01 -4.78891229e-02 6.93001382e-01 3.25673903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01037174299998 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:52.84, Y:35.35, Z:32.56 [[-4.35606140e-01 -8.10246756e-01 3.92106471e-01 5.28405885e+01] [ 5.40277517e-01 -5.83763113e-01 -6.06069990e-01 3.53517602e+01] [ 7.19963537e-01 -5.21614977e-02 6.92048902e-01 3.25587383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04037174299998 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:52.84, Y:35.35, Z:32.56 [[-0.43545587 -0.8110185 0.39067529 52.83970888] [ 0.53622202 -0.58227504 -0.61108242 35.35251441] [ 0.72307962 -0.05661073 0.68844106 32.56076311] [ 0. 0. 0. 1. ]] SLAMing on 137.07037174299998 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:52.84, Y:35.34, Z:32.56 [[-4.35277393e-01 -8.06875030e-01 3.99357330e-01 5.28388295e+01] [ 5.35799429e-01 -5.88643860e-01 -6.05324193e-01 3.53445751e+01] [ 7.23500216e-01 -4.95085076e-02 6.88546545e-01 3.25607792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10037174299998 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:52.84, Y:35.34, Z:32.56 [[-4.34518291e-01 -8.03553505e-01 4.06811527e-01 5.28379753e+01] [ 5.41797545e-01 -5.94020108e-01 -5.94638992e-01 3.53378175e+01] [ 7.19478474e-01 -3.79720320e-02 6.93475919e-01 3.25556104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13037174299998 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:52.84, Y:35.34, Z:32.55 [[-4.34572074e-01 -8.10515965e-01 3.92697062e-01 5.28431819e+01] [ 5.41170894e-01 -5.83525231e-01 -6.05501749e-01 3.53438727e+01] [ 7.19917478e-01 -5.06179311e-02 6.92211420e-01 3.25483824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16037174299998 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:52.84, Y:35.34, Z:32.55 [[-4.33966323e-01 -8.08425549e-01 3.97644768e-01 5.28404440e+01] [ 5.43149793e-01 -5.86907019e-01 -6.00440216e-01 3.53439340e+01] [ 7.18791717e-01 -4.45901593e-02 6.93794051e-01 3.25516009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190371743 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:52.83, Y:35.36, Z:32.57 [[-0.43677181 -0.81049768 0.39028693 52.83090426] [ 0.53515755 -0.58284227 -0.61147468 35.35876314] [ 0.72307453 -0.05820991 0.68831303 32.56824978] [ 0. 0. 0. 1. ]] SLAMing on 137.220371743 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:52.84, Y:35.33, Z:32.55 [[-4.31169192e-01 -8.02821699e-01 4.11789323e-01 5.28379235e+01] [ 5.44955238e-01 -5.95458294e-01 -5.90299253e-01 3.53320972e+01] [ 7.19108417e-01 -3.01121035e-02 6.94245163e-01 3.25529627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250371743 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:52.84, Y:35.34, Z:32.54 [[-4.30482662e-01 -8.11817780e-01 3.94508009e-01 5.28437231e+01] [ 5.47672099e-01 -5.82358004e-01 -6.00761539e-01 3.53389707e+01] [ 7.17453796e-01 -4.25563971e-02 6.95304972e-01 3.25437676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280371743 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:52.85, Y:35.32, Z:32.52 [[-4.27081034e-01 -8.10840393e-01 4.00174522e-01 5.28530024e+01] [ 5.56397496e-01 -5.84520388e-01 -5.90557146e-01 3.53192828e+01] [ 7.12757755e-01 -2.95596551e-02 7.00787136e-01 3.25235126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310371743 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:52.85, Y:35.33, Z:32.52 [[-4.26737788e-01 -8.17551576e-01 3.86657834e-01 5.28545150e+01] [ 5.64005633e-01 -5.74795164e-01 -5.92881241e-01 3.53291055e+01] [ 7.06960046e-01 -3.49276329e-02 7.06390511e-01 3.25186292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340371743 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:52.86, Y:35.34, Z:32.52 [[-0.42739758 -0.82676798 0.3657677 52.85754175] [ 0.5559914 -0.55939939 -0.61477304 35.34398647] [ 0.71288489 -0.05938881 0.69876183 32.52232309] [ 0. 0. 0. 1. ]] SLAMing on 137.370371743 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:52.85, Y:35.34, Z:32.54 [[-0.4300832 -0.81961808 0.37848995 52.84707019] [ 0.54480005 -0.56993101 -0.61511914 35.34221715] [ 0.71987593 -0.05835107 0.69164572 32.54152284] [ 0. 0. 0. 1. ]] SLAMing on 137.400371743 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:52.84, Y:35.32, Z:32.54 [[-4.28908957e-01 -8.06764621e-01 4.06408603e-01 5.28442022e+01] [ 5.44242762e-01 -5.89854304e-01 -5.96549844e-01 3.53207982e+01] [ 7.20997173e-01 -3.46806313e-02 6.92069600e-01 3.25442366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430371743 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:52.85, Y:35.32, Z:32.54 [[-4.28968707e-01 -8.06527419e-01 4.06816140e-01 5.28464002e+01] [ 5.44018872e-01 -5.90187320e-01 -5.96424676e-01 3.53182149e+01] [ 7.21130582e-01 -3.45318644e-02 6.91938028e-01 3.25408363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:52.84, Y:35.32, Z:32.55 [[-4.29426746e-01 -8.06113002e-01 4.07154144e-01 5.28441802e+01] [ 5.43659659e-01 -5.90745083e-01 -5.96199985e-01 3.53225467e+01] [ 7.21128868e-01 -3.46709363e-02 6.91932859e-01 3.25454134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.490371743 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:52.85, Y:35.31, Z:32.53 [[-4.26091834e-01 -7.98833698e-01 4.24629805e-01 5.28510639e+01] [ 5.61752120e-01 -6.01541934e-01 -5.67962902e-01 3.53059337e+01] [ 7.09140540e-01 -3.46766147e-03 7.05058629e-01 3.25280235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52037174299997 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:52.86, Y:35.34, Z:32.52 [[-0.43150415 -0.82502724 0.36487563 52.86410654] [ 0.54332056 -0.56056048 -0.62495977 35.34121839] [ 0.72014369 -0.0714283 0.69013844 32.52049374] [ 0. 0. 0. 1. ]] SLAMing on 137.55037174299997 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:52.85, Y:35.31, Z:32.53 [[-4.27159221e-01 -7.99341179e-01 4.22597538e-01 5.28546961e+01] [ 5.57854560e-01 -6.00812609e-01 -5.72557856e-01 3.53090089e+01] [ 7.11571002e-01 -8.82540378e-03 7.02558768e-01 3.25272553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58037174299997 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:52.86, Y:35.34, Z:32.52 [[-4.29590293e-01 -8.18464258e-01 3.81534321e-01 5.28636611e+01] [ 5.56163456e-01 -5.72669869e-01 -6.02271891e-01 3.53407358e+01] [ 7.11431226e-01 -4.65347118e-02 7.01213328e-01 3.25220189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61037174299997 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:52.86, Y:35.33, Z:32.52 [[-4.30608294e-01 -8.11275406e-01 3.95485414e-01 5.28636945e+01] [ 5.56698723e-01 -5.83652501e-01 -5.91131364e-01 3.53287095e+01] [ 7.10396388e-01 -3.43798432e-02 7.02961591e-01 3.25197786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64037174299997 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:52.87, Y:35.34, Z:32.52 [[-0.43493544 -0.82136998 0.36902916 52.87074134] [ 0.53900467 -0.56577053 -0.62400134 35.34209534] [ 0.72132179 -0.07249186 0.68879591 32.51930927] [ 0. 0. 0. 1. ]] SLAMing on 137.67037174299998 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:52.85, Y:35.33, Z:32.55 [[-4.32507961e-01 -7.94810182e-01 4.25691952e-01 5.28488091e+01] [ 5.52656389e-01 -6.06742416e-01 -5.71344516e-01 3.53311509e+01] [ 7.12395802e-01 -1.18496753e-02 7.01677851e-01 3.25492718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70037174299998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:52.86, Y:35.35, Z:32.53 [[-4.33826259e-01 -8.13313126e-01 3.87706766e-01 5.28629318e+01] [ 5.52030764e-01 -5.80016769e-01 -5.99034709e-01 3.53492707e+01] [ 7.12079218e-01 -4.58509247e-02 7.00600371e-01 3.25321994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73037174299998 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:52.87, Y:35.34, Z:32.52 [[-4.34544231e-01 -8.12775823e-01 3.88029346e-01 5.28712668e+01] [ 5.50835653e-01 -5.80697105e-01 -5.99475567e-01 3.53398990e+01] [ 7.12566765e-01 -4.67582504e-02 7.00044478e-01 3.25204792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76037174299998 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:52.88, Y:35.34, Z:32.52 [[-0.43978404 -0.81567804 0.37584482 52.87639271] [ 0.53566759 -0.57413337 -0.61921814 35.34438282] [ 0.7208677 -0.07099436 0.68942698 32.52218602] [ 0. 0. 0. 1. ]] SLAMing on 137.79037174299998 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:52.87, Y:35.33, Z:32.53 [[-4.39548356e-01 -7.99134406e-01 4.10099310e-01 5.28678554e+01] [ 5.33989600e-01 -5.99611034e-01 -5.96088681e-01 3.53267196e+01] [ 7.22255045e-01 -4.30210336e-02 6.90287506e-01 3.25338828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82037174299998 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:52.87, Y:35.32, Z:32.53 [[-4.37252374e-01 -7.95371251e-01 4.19755804e-01 5.28695707e+01] [ 5.45566461e-01 -6.05635843e-01 -5.79277536e-01 3.53219276e+01] [ 7.14959858e-01 -2.42857888e-02 6.98743588e-01 3.25291874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85037174299998 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:52.88, Y:35.34, Z:32.52 [[-4.39342036e-01 -8.08271703e-01 3.92014578e-01 5.28790643e+01] [ 5.44669119e-01 -5.86703093e-01 -5.99262073e-01 3.53401607e+01] [ 7.14362741e-01 -4.97627842e-02 6.98003968e-01 3.25207719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88037174299998 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:52.88, Y:35.33, Z:32.52 [[-4.39790752e-01 -8.05453139e-01 3.97277403e-01 5.28827901e+01] [ 5.44637761e-01 -5.90920971e-01 -5.95132015e-01 3.53334202e+01] [ 7.14110498e-01 -4.53612814e-02 6.98561773e-01 3.25153458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91037174299998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:52.88, Y:35.33, Z:32.51 [[-4.40555980e-01 -8.04719553e-01 3.97915655e-01 5.28829064e+01] [ 5.46341645e-01 -5.92051531e-01 -5.92440539e-01 3.53341514e+01] [ 7.12335058e-01 -4.36053292e-02 7.00483647e-01 3.25142000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940371743 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:52.88, Y:35.34, Z:32.52 [[-4.41725365e-01 -8.05281667e-01 3.95474575e-01 5.28827227e+01] [ 5.44462797e-01 -5.90977811e-01 -5.95235659e-01 3.53407190e+01] [ 7.13049062e-01 -4.76094951e-02 6.99495798e-01 3.25183469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970371743 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:52.89, Y:35.34, Z:32.51 [[-4.42034314e-01 -8.07179082e-01 3.91238540e-01 5.28881667e+01] [ 5.43101276e-01 -5.87968020e-01 -5.99445254e-01 3.53390082e+01] [ 7.13895419e-01 -5.24932210e-02 6.98282029e-01 3.25112655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000371743 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:52.89, Y:35.34, Z:32.51 [[-4.42920527e-01 -8.04795227e-01 3.95127890e-01 5.28866839e+01] [ 5.42601846e-01 -5.91461027e-01 -5.96453762e-01 3.53397835e+01] [ 7.13725889e-01 -4.97844919e-02 6.98653605e-01 3.25143216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030371743 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:52.89, Y:35.34, Z:32.51 [[-0.44719369 -0.80919867 0.38107128 52.89283222] [ 0.5272612 -0.58264345 -0.61848382 35.34305323] [ 0.72250497 -0.07565796 0.68721353 32.51124875] [ 0. 0. 0. 1. ]] SLAMing on 138.060371743 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:52.88, Y:35.32, Z:32.52 [[-4.42548420e-01 -7.89020083e-01 4.26143408e-01 5.28840388e+01] [ 5.40761765e-01 -6.13896289e-01 -5.75072221e-01 3.53199771e+01] [ 7.15351388e-01 -2.40552415e-02 6.98350726e-01 3.25152014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090371743 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:52.89, Y:35.34, Z:32.51 [[-0.44799743 -0.80915505 0.38021889 52.89479715] [ 0.52600583 -0.58244259 -0.61974066 35.34432127] [ 0.72292197 -0.07764487 0.68655306 32.50982703] [ 0. 0. 0. 1. ]] SLAMing on 138.120371743 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:52.88, Y:35.33, Z:32.52 [[-4.43000278e-01 -7.88885128e-01 4.25923713e-01 5.28800652e+01] [ 5.38902944e-01 -6.13992463e-01 -5.76712123e-01 3.53283409e+01] [ 7.16473566e-01 -2.59520878e-02 6.97131349e-01 3.25243870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150371743 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:52.90, Y:35.34, Z:32.51 [[-0.44840272 -0.80839147 0.38136365 52.89741339] [ 0.52626934 -0.58364179 -0.61838729 35.34170187] [ 0.72247877 -0.07658655 0.68713821 32.50749527] [ 0. 0. 0. 1. ]] SLAMing on 138.180371743 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:52.89, Y:35.32, Z:32.51 [[-4.44026344e-01 -7.86865549e-01 4.28582797e-01 5.28878902e+01] [ 5.43333564e-01 -6.16799780e-01 -5.69514415e-01 3.53160261e+01] [ 7.12481048e-01 -2.00159851e-02 7.01405815e-01 3.25100529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210371743 meters Centerline goodness : 0.996158 Centerline is valid? [True, True] Translation: X:52.90, Y:35.35, Z:32.51 [[-0.44926634 -0.81036023 0.37613302 52.89696795] [ 0.52699911 -0.58034651 -0.62086219 35.34820998] [ 0.72140952 -0.08071072 0.68778927 32.51110023] [ 0. 0. 0. 1. ]] SLAMing on 138.240371743 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:52.89, Y:35.32, Z:32.52 [[-4.47707527e-01 -7.92710076e-01 4.13725399e-01 5.28897941e+01] [ 5.25848675e-01 -6.07632798e-01 -5.95202112e-01 3.53226581e+01] [ 7.23215833e-01 -4.89195123e-02 6.88887321e-01 3.25173561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27037174299997 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:52.89, Y:35.32, Z:32.51 [[-4.48226988e-01 -7.92373739e-01 4.13807233e-01 5.28931815e+01] [ 5.26018275e-01 -6.08077344e-01 -5.94597947e-01 3.53181807e+01] [ 7.22770601e-01 -4.88446799e-02 6.89359743e-01 3.25118034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30037174299997 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:52.89, Y:35.32, Z:32.51 [[-4.45049216e-01 -7.89318191e-01 4.22975163e-01 5.28928498e+01] [ 5.39225147e-01 -6.13309673e-01 -5.77137320e-01 3.53158664e+01] [ 7.14959744e-01 -2.87756679e-02 6.98573206e-01 3.25084886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33037174299997 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:52.90, Y:35.33, Z:32.50 [[-4.47165601e-01 -8.02034911e-01 3.95958240e-01 5.29006137e+01] [ 5.39578523e-01 -5.94944086e-01 -5.95731946e-01 3.53321972e+01] [ 7.13370832e-01 -5.27402714e-02 6.98799342e-01 3.25010754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36037174299997 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:52.90, Y:35.33, Z:32.50 [[-0.45218495 -0.80327866 0.38764953 52.90296932] [ 0.52570566 -0.59113531 -0.61171284 35.33133977] [ 0.7205292 -0.07281779 0.68959063 32.50080124] [ 0. 0. 0. 1. ]] SLAMing on 138.39037174299997 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:52.90, Y:35.31, Z:32.50 [[-4.48315602e-01 -7.86283049e-01 4.25173010e-01 5.28976695e+01] [ 5.39267131e-01 -6.17251990e-01 -5.72879518e-01 3.53099010e+01] [ 7.12884341e-01 -2.75489967e-02 7.00740301e-01 3.24989947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42037174299998 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:52.91, Y:35.33, Z:32.49 [[-0.44918621 -0.80124339 0.39527304 52.90652335] [ 0.54057353 -0.59598236 -0.59378892 35.32576386] [ 0.71134521 -0.05304766 0.70083803 32.48888044] [ 0. 0. 0. 1. ]] SLAMing on 138.45037174299998 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:52.90, Y:35.33, Z:32.50 [[-0.45468009 -0.80301047 0.38527938 52.90480676] [ 0.52241921 -0.59080159 -0.61484278 35.33332959] [ 0.72134886 -0.07827942 0.68813382 32.49811954] [ 0. 0. 0. 1. ]] SLAMing on 138.48037174299998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:52.90, Y:35.31, Z:32.50 [[-4.50839777e-01 -7.83848364e-01 4.26995595e-01 5.28968024e+01] [ 5.34481908e-01 -6.20195724e-01 -5.74183206e-01 3.53105843e+01] [ 7.14893409e-01 -3.06432084e-02 6.98561671e-01 3.25001558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51037174299998 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:52.91, Y:35.32, Z:32.48 [[-0.45220476 -0.7996724 0.39501254 52.90908476] [ 0.53523164 -0.59757491 -0.59701869 35.3245514 ] [ 0.71346895 -0.05855149 0.69823619 32.48487863] [ 0. 0. 0. 1. ]] SLAMing on 138.54037174299998 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:52.91, Y:35.33, Z:32.49 [[-0.45378988 -0.79917725 0.39419598 52.90868859] [ 0.5340749 -0.59802732 -0.59760131 35.32637596] [ 0.71332933 -0.06065524 0.69819926 32.48605011] [ 0. 0. 0. 1. ]] SLAMing on 138.57037174299998 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:52.91, Y:35.32, Z:32.48 [[-0.45397146 -0.79974972 0.39282351 52.9109042 ] [ 0.5314097 -0.59689842 -0.60109567 35.32396384] [ 0.71520182 -0.06413006 0.6959696 32.48412412] [ 0. 0. 0. 1. ]] SLAMing on 138.60037174299998 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:52.91, Y:35.32, Z:32.48 [[-0.45387169 -0.7965973 0.39929091 52.90876321] [ 0.53267866 -0.60177957 -0.59507545 35.31960455] [ 0.71432061 -0.05739415 0.6974611 32.48488533] [ 0. 0. 0. 1. ]] SLAMing on 138.63037174299998 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:52.91, Y:35.32, Z:32.48 [[-0.45381085 -0.79729916 0.39795698 52.909599 ] [ 0.53464154 -0.60089703 -0.59420635 35.31653149] [ 0.71289139 -0.05689295 0.69896284 32.48193836] [ 0. 0. 0. 1. ]] SLAMing on 138.66037174299998 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:52.90, Y:35.32, Z:32.49 [[-4.53303454e-01 -7.96455310e-01 4.00218589e-01 5.29021393e+01] [ 5.38494926e-01 -6.02498869e-01 -5.89082616e-01 3.53210567e+01] [ 7.10309224e-01 -5.15175046e-02 7.02001961e-01 3.24902225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690371743 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:52.91, Y:35.32, Z:32.48 [[-0.45319728 -0.80352611 0.3859508 52.90972709] [ 0.53374303 -0.59137882 -0.60447454 35.32227084] [ 0.7139542 -0.06794767 0.69688773 32.48312522] [ 0. 0. 0. 1. ]] SLAMing on 138.720371743 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:52.91, Y:35.30, Z:32.47 [[-4.51358247e-01 -7.96257878e-01 4.02801594e-01 5.29097008e+01] [ 5.39361929e-01 -6.03048573e-01 -5.87725385e-01 3.53033294e+01] [ 7.10889895e-01 -4.80188543e-02 7.01662132e-01 3.24743099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750371743 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:52.91, Y:35.31, Z:32.47 [[-0.45145229 -0.80193384 0.39127093 52.91137027] [ 0.53795209 -0.59445837 -0.59768453 35.31096235] [ 0.71189773 -0.05934103 0.69977158 32.47463612] [ 0. 0. 0. 1. ]] SLAMing on 138.780371743 meters Centerline goodness : 0.996151 Centerline is valid? [True, True] Translation: X:52.91, Y:35.31, Z:32.48 [[-0.45657519 -0.7994507 0.39040706 52.90724745] [ 0.52509307 -0.59637689 -0.60713415 35.30940694] [ 0.71820357 -0.07220235 0.69207691 32.48224581] [ 0. 0. 0. 1. ]] SLAMing on 138.810371743 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:52.92, Y:35.27, Z:32.46 [[-4.48305285e-01 -7.88947824e-01 4.20218637e-01 5.29163996e+01] [ 5.38544353e-01 -6.13596079e-01 -5.77468468e-01 3.52748930e+01] [ 7.13436999e-01 -3.25757923e-02 6.99961760e-01 3.24589884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840371743 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:52.91, Y:35.31, Z:32.48 [[-0.4568014 -0.79979642 0.38943315 52.90557883] [ 0.52544601 -0.59583856 -0.60735731 35.3087836 ] [ 0.71780149 -0.07281558 0.69242972 32.48264092] [ 0. 0. 0. 1. ]] SLAMing on 138.870371743 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:52.91, Y:35.28, Z:32.46 [[-4.49003046e-01 -7.87681912e-01 4.21845316e-01 5.29108210e+01] [ 5.38899033e-01 -6.15302348e-01 -5.75318044e-01 3.52771094e+01] [ 7.12730030e-01 -3.09875210e-02 7.00753649e-01 3.24648894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900371743 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:52.92, Y:35.30, Z:32.46 [[-0.45007293 -0.80106032 0.39463492 52.915679 ] [ 0.53866327 -0.59601068 -0.59549405 35.2957513 ] [ 0.71223328 -0.05544041 0.69975004 32.46053324] [ 0. 0. 0. 1. ]] SLAMing on 138.930371743 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:52.91, Y:35.30, Z:32.48 [[-0.45683231 -0.79833387 0.39238663 52.90558506] [ 0.52372424 -0.59793185 -0.60678697 35.30285969] [ 0.71903905 -0.07169751 0.69126139 32.47762185] [ 0. 0. 0. 1. ]] SLAMing on 138.960371743 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:52.91, Y:35.28, Z:32.47 [[-4.48225857e-01 -7.90075558e-01 4.18179618e-01 5.29101897e+01] [ 5.32436753e-01 -6.11729993e-01 -5.85061980e-01 3.52822161e+01] [ 7.18056185e-01 -3.95857096e-02 6.94858465e-01 3.24669678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99037174299997 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:52.90, Y:35.30, Z:32.48 [[-0.45645849 -0.79411215 0.40128735 52.90186298] [ 0.52233187 -0.60428172 -0.60167518 35.29886185] [ 0.72028818 -0.06503457 0.6906196 32.48011116] [ 0. 0. 0. 1. ]] SLAMing on 139.02037174299997 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:52.90, Y:35.29, Z:32.48 [[-4.54658114e-01 -7.86558495e-01 4.17865687e-01 5.28981193e+01] [ 5.21548051e-01 -6.15426892e-01 -5.90963087e-01 3.52856036e+01] [ 7.21992818e-01 -5.07491278e-02 6.90036881e-01 3.24815405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05037174299997 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:52.90, Y:35.28, Z:32.48 [[-4.54097843e-01 -7.86702715e-01 4.18203284e-01 5.28992468e+01] [ 5.21955370e-01 -6.15306691e-01 -5.90728590e-01 3.52821783e+01] [ 7.22051065e-01 -4.99651286e-02 6.90033148e-01 3.24786943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08037174299997 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:52.90, Y:35.28, Z:32.48 [[-4.53577886e-01 -7.86888533e-01 4.18417899e-01 5.28977044e+01] [ 5.22611875e-01 -6.15139760e-01 -5.90321864e-01 3.52830567e+01] [ 7.21902991e-01 -4.90867802e-02 6.90251084e-01 3.24803944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11037174299997 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:52.91, Y:35.28, Z:32.47 [[-4.45598617e-01 -7.90952117e-01 4.19328774e-01 5.29067804e+01] [ 5.32917278e-01 -6.10727420e-01 -5.85671575e-01 3.52784635e+01] [ 7.19333753e-01 -3.75068949e-02 6.93651342e-01 3.24677639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14037174299997 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:52.90, Y:35.28, Z:32.47 [[-0.45102366 -0.79405551 0.40749664 52.9037555 ] [ 0.52695706 -0.60541564 -0.59647981 35.2819017 ] [ 0.72034291 -0.05429327 0.69148993 32.46879051] [ 0. 0. 0. 1. ]] SLAMing on 139.17037174299998 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:52.90, Y:35.27, Z:32.46 [[-4.49382088e-01 -7.89329142e-01 4.18348234e-01 5.29049784e+01] [ 5.27624439e-01 -6.12404345e-01 -5.88704824e-01 3.52687220e+01] [ 7.20880150e-01 -4.38226512e-02 6.91672889e-01 3.24640536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20037174299998 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:52.90, Y:35.27, Z:32.46 [[-4.46542318e-01 -7.90719783e-01 4.18762681e-01 5.29034552e+01] [ 5.29613480e-01 -6.10800686e-01 -5.88584814e-01 3.52668155e+01] [ 7.21186189e-01 -4.10456670e-02 6.91524210e-01 3.24641049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23037174299998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:52.90, Y:35.27, Z:32.46 [[-4.45696220e-01 -7.91029185e-01 4.19079595e-01 5.29024552e+01] [ 5.30278038e-01 -6.10470173e-01 -5.88329304e-01 3.52656559e+01] [ 7.21221243e-01 -3.99874415e-02 6.91549653e-01 3.24644955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26037174299998 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:52.91, Y:35.26, Z:32.46 [[-4.45036503e-01 -7.91262198e-01 4.19340727e-01 5.29052529e+01] [ 5.30925764e-01 -6.10229454e-01 -5.87994768e-01 3.52598554e+01] [ 7.21152095e-01 -3.90403396e-02 6.91675869e-01 3.24583336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29037174299998 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:52.91, Y:35.26, Z:32.46 [[-4.43627899e-01 -7.91981497e-01 4.19475381e-01 5.29060066e+01] [ 5.32434789e-01 -6.09405797e-01 -5.87484271e-01 3.52573690e+01] [ 7.20907402e-01 -3.72811268e-02 6.92027915e-01 3.24562823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32037174299998 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:52.91, Y:35.26, Z:32.46 [[-4.43365357e-01 -7.92051405e-01 4.19620939e-01 5.29057411e+01] [ 5.33033255e-01 -6.09357441e-01 -5.86991532e-01 3.52573484e+01] [ 7.20626609e-01 -3.65797950e-02 6.92357718e-01 3.24564905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35037174299998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:52.91, Y:35.25, Z:32.45 [[-4.38872439e-01 -7.89811450e-01 4.28472701e-01 5.29059359e+01] [ 5.45409027e-01 -6.13110533e-01 -5.71510689e-01 3.52547736e+01] [ 7.14086812e-01 -1.71274110e-02 6.99847610e-01 3.24547567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38037174299998 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:52.92, Y:35.26, Z:32.44 [[-4.38979915e-01 -8.04562759e-01 3.99969250e-01 5.29171412e+01] [ 5.44292628e-01 -5.92302597e-01 -5.94073369e-01 3.52641669e+01] [ 7.14872135e-01 -4.30859631e-02 6.97926522e-01 3.24389132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41037174299998 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:52.91, Y:35.27, Z:32.45 [[-0.44415572 -0.80217733 0.39904541 52.90985961] [ 0.53353238 -0.59461664 -0.60147672 35.26798596] [ 0.71977003 -0.05424568 0.69208996 32.450387 ] [ 0. 0. 0. 1. ]] SLAMing on 139.440371743 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:52.91, Y:35.25, Z:32.45 [[-4.43656562e-01 -7.91405458e-01 4.20530921e-01 5.29102223e+01] [ 5.32941498e-01 -6.10234337e-01 -5.86163299e-01 3.52484411e+01] [ 7.20515242e-01 -3.59368154e-02 6.92507279e-01 3.24479547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470371743 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:52.92, Y:35.24, Z:32.43 [[-4.39461076e-01 -7.90631814e-01 4.26351143e-01 5.29188192e+01] [ 5.44225797e-01 -6.11959860e-01 -5.73867068e-01 3.52377914e+01] [ 7.14627347e-01 -2.01609489e-02 6.99214768e-01 3.24313153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500371743 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:52.92, Y:35.26, Z:32.44 [[-0.44589576 -0.80194264 0.39757386 52.91833414] [ 0.53345765 -0.59476378 -0.60139752 35.25959285] [ 0.71874885 -0.05607179 0.69300508 32.4364416 ] [ 0. 0. 0. 1. ]] SLAMing on 139.530371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:52.91, Y:35.24, Z:32.44 [[-4.45749312e-01 -7.90098004e-01 4.20776301e-01 5.29137222e+01] [ 5.32373581e-01 -6.11878689e-01 -5.84963965e-01 3.52445457e+01] [ 7.19642912e-01 -3.67370992e-02 6.93371808e-01 3.24417511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560371743 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:52.92, Y:35.22, Z:32.42 [[-4.42964682e-01 -7.75906021e-01 4.49168273e-01 5.29173263e+01] [ 5.61128781e-01 -6.30680038e-01 -5.36075723e-01 3.52157688e+01] [ 6.99225844e-01 1.45786334e-02 7.14752182e-01 3.24193905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590371743 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:52.93, Y:35.28, Z:32.42 [[-0.45052772 -0.82093035 0.35085343 52.93242184] [ 0.53294864 -0.56259865 -0.63201939 35.28174522] [ 0.71623357 -0.0977554 0.69098 32.4185951 ] [ 0. 0. 0. 1. ]] SLAMing on 139.620371743 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:52.91, Y:35.25, Z:32.45 [[-4.49600141e-01 -7.87590688e-01 4.21379427e-01 5.29091609e+01] [ 5.29260488e-01 -6.14910723e-01 -5.84609390e-01 3.52474526e+01] [ 7.19543640e-01 -3.98209831e-02 6.93304579e-01 3.24477189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650371743 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:52.91, Y:35.23, Z:32.43 [[-4.47465847e-01 -7.81240860e-01 4.35243648e-01 5.29138703e+01] [ 5.45350176e-01 -6.24093884e-01 -5.59553402e-01 3.52332073e+01] [ 7.08778880e-01 -1.30208367e-02 7.05310539e-01 3.24310281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680371743 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:52.92, Y:35.27, Z:32.43 [[-0.45323464 -0.80438126 0.38412126 52.9220445 ] [ 0.52747937 -0.58939846 -0.61186188 35.26566642] [ 0.71857072 -0.07470095 0.69143032 32.42907222] [ 0. 0. 0. 1. ]] SLAMing on 139.710371743 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:52.91, Y:35.23, Z:32.44 [[-4.49453863e-01 -7.73135878e-01 4.47495407e-01 5.29065973e+01] [ 5.54155496e-01 -6.34215177e-01 -5.39150068e-01 3.52295993e+01] [ 7.00644640e-01 5.65895800e-03 7.13487957e-01 3.24354463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74037174299997 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:52.93, Y:35.27, Z:32.42 [[-0.45544105 -0.81376787 0.36104751 52.92778855] [ 0.52660787 -0.57324437 -0.62775397 35.27448358] [ 0.71781446 -0.09577447 0.68961558 32.41935966] [ 0. 0. 0. 1. ]] SLAMing on 139.77037174299997 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:52.91, Y:35.24, Z:32.44 [[-4.53243818e-01 -7.84527839e-01 4.23185670e-01 5.29089684e+01] [ 5.23873138e-01 -6.18549430e-01 -5.85622351e-01 3.52396958e+01] [ 7.21198293e-01 -4.37341053e-02 6.91346766e-01 3.24412937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80037174299997 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:52.92, Y:35.23, Z:32.43 [[-4.49868795e-01 -7.81949135e-01 4.31478409e-01 5.29150808e+01] [ 5.37491488e-01 -6.22887587e-01 -5.68431134e-01 3.52262391e+01] [ 7.13246779e-01 -2.38034570e-02 7.00508693e-01 3.24253075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83037174299997 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:52.92, Y:35.24, Z:32.42 [[-4.49781060e-01 -7.94546736e-01 4.07912347e-01 5.29167726e+01] [ 5.40473864e-01 -6.05736644e-01 -5.83927325e-01 3.52429573e+01] [ 7.11045006e-01 -4.21734896e-02 7.01880614e-01 3.24217795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86037174299997 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:52.92, Y:35.25, Z:32.42 [[-4.49838876e-01 -7.99063479e-01 3.98926738e-01 5.29176050e+01] [ 5.37705105e-01 -5.98956318e-01 -5.93400833e-01 3.52480756e+01] [ 7.13104625e-01 -5.24298199e-02 6.99094349e-01 3.24224340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89037174299997 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:52.92, Y:35.24, Z:32.43 [[-0.45164997 -0.79686562 0.40126984 52.91603428] [ 0.52853614 -0.60131228 -0.59922708 35.24105185] [ 0.71879194 -0.05855528 0.69275495 32.42510564] [ 0. 0. 0. 1. ]] SLAMing on 139.92037174299998 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:52.91, Y:35.22, Z:32.43 [[-4.48524486e-01 -7.82269146e-01 4.32297084e-01 5.29079052e+01] [ 5.39628209e-01 -6.22589458e-01 -5.66730768e-01 3.52230926e+01] [ 7.12479601e-01 -2.09129256e-02 7.01381115e-01 3.24300117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95037174299998 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:52.92, Y:35.22, Z:32.40 [[-4.47569295e-01 -7.92737422e-01 4.13822553e-01 5.29217043e+01] [ 5.49780106e-01 -6.08900424e-01 -5.71823494e-01 3.52198692e+01] [ 7.05282611e-01 -2.84192307e-02 7.08356398e-01 3.24010091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98037174299998 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:52.92, Y:35.24, Z:32.41 [[-0.44902172 -0.80487551 0.38801405 52.92225004] [ 0.54044207 -0.59045893 -0.59940022 35.24249211] [ 0.71154892 -0.0594446 0.70011747 32.40682799] [ 0. 0. 0. 1. ]] SLAMing on 140.01037174299998 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:52.92, Y:35.22, Z:32.41 [[-4.47230692e-01 -7.91548045e-01 4.16456961e-01 5.29163108e+01] [ 5.46230357e-01 -6.10415929e-01 -5.73606826e-01 3.52234508e+01] [ 7.08249325e-01 -2.90531430e-02 7.05364310e-01 3.24080697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04037174299998 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:52.92, Y:35.24, Z:32.41 [[-0.44960149 -0.80195255 0.39335813 52.91879411] [ 0.54079467 -0.59488301 -0.59468927 35.24123657] [ 0.71091465 -0.0546472 0.70115195 32.40810395] [ 0. 0. 0. 1. ]] SLAMing on 140.07037174299998 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:52.92, Y:35.24, Z:32.41 [[-4.49866968e-01 -7.98195948e-01 4.00628180e-01 5.29175355e+01] [ 5.37152784e-01 -6.00199960e-01 -5.92643987e-01 3.52350442e+01] [ 7.13503047e-01 -5.14124114e-02 6.98763312e-01 3.24105996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10037174299998 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:52.91, Y:35.23, Z:32.42 [[-4.50292474e-01 -7.91453690e-01 4.13325228e-01 5.29111143e+01] [ 5.37907838e-01 -6.09938289e-01 -5.81919618e-01 3.52290868e+01] [ 7.12665311e-01 -3.97031448e-02 7.00379765e-01 3.24169623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13037174299998 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:52.92, Y:35.23, Z:32.40 [[-4.50428201e-01 -7.94528600e-01 4.07233030e-01 5.29173832e+01] [ 5.40595931e-01 -6.05714490e-01 -5.83837302e-01 3.52253134e+01] [ 7.10542381e-01 -4.28282667e-02 7.02349816e-01 3.24042402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16037174299998 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:52.91, Y:35.24, Z:32.42 [[-0.45428572 -0.79962745 0.39270909 52.91305335] [ 0.52384486 -0.59633137 -0.60825608 35.2398556 ] [ 0.72056301 -0.07060341 0.68978555 32.41854844] [ 0. 0. 0. 1. ]] SLAMing on 140.190371743 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:52.91, Y:35.21, Z:32.42 [[-4.53135174e-01 -7.83229204e-01 4.25700044e-01 5.29106677e+01] [ 5.23567886e-01 -6.20329530e-01 -5.84010226e-01 3.52100048e+01] [ 7.21488173e-01 -4.17527037e-02 6.91166788e-01 3.24194904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220371743 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:52.92, Y:35.19, Z:32.40 [[-4.47868843e-01 -7.79640838e-01 4.37691287e-01 5.29204686e+01] [ 5.41535428e-01 -6.26064692e-01 -5.61054705e-01 3.51886235e+01] [ 7.11444221e-01 -1.42535827e-02 7.02598004e-01 3.23956822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250371743 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:52.93, Y:35.21, Z:32.38 [[-4.47856898e-01 -7.98136795e-01 4.02991135e-01 5.29280938e+01] [ 5.45654408e-01 -6.01035594e-01 -5.83967021e-01 3.52096411e+01] [ 7.08297583e-01 -4.16397695e-02 7.04684798e-01 3.23836880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280371743 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:52.93, Y:35.22, Z:32.39 [[-0.44755883 -0.80787689 0.38343972 52.93038762] [ 0.53357096 -0.58534162 -0.61047295 35.22190047] [ 0.71763022 -0.06863026 0.69303446 32.38849171] [ 0. 0. 0. 1. ]] SLAMing on 140.310371743 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:52.92, Y:35.20, Z:32.40 [[-4.46932113e-01 -7.92971073e-01 4.14063478e-01 5.29240102e+01] [ 5.32469034e-01 -6.07751226e-01 -5.89164812e-01 3.52021692e+01] [ 7.18838239e-01 -4.28406941e-02 6.93856081e-01 3.23966741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340371743 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:52.91, Y:35.21, Z:32.41 [[-4.52143584e-01 -7.90383562e-01 4.13352156e-01 5.29147652e+01] [ 5.25897842e-01 -6.10538163e-01 -5.92177854e-01 3.52082957e+01] [ 7.20414907e-01 -5.03684102e-02 6.91711923e-01 3.24102465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:52.91, Y:35.19, Z:32.41 [[-4.47759626e-01 -7.81592042e-01 4.34310024e-01 5.29140196e+01] [ 5.36374400e-01 -6.23409448e-01 -5.68914022e-01 3.51937768e+01] [ 7.15411644e-01 -2.17839514e-02 6.98363544e-01 3.24080213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400371743 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:52.91, Y:35.22, Z:32.41 [[-0.45175171 -0.79561264 0.40363464 52.91305653] [ 0.5250247 -0.60288006 -0.60073679 35.21960184] [ 0.72129706 -0.05946572 0.69006839 32.41254301] [ 0. 0. 0. 1. ]] SLAMing on 140.430371743 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:52.92, Y:35.19, Z:32.40 [[-4.46900422e-01 -7.84459519e-01 4.30003809e-01 5.29213484e+01] [ 5.31409811e-01 -6.19467747e-01 -5.77809072e-01 3.51885982e+01] [ 7.19641317e-01 -2.97148756e-02 6.93709882e-01 3.23965838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:52.92, Y:35.20, Z:32.40 [[-4.51508000e-01 -7.90487597e-01 4.13847659e-01 5.29176300e+01] [ 5.24379551e-01 -6.10346324e-01 -5.93720010e-01 3.52031964e+01] [ 7.21918701e-01 -5.10560849e-02 6.90091780e-01 3.24031770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49037174299997 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:52.92, Y:35.19, Z:32.41 [[-4.50935106e-01 -7.83151337e-01 4.28172294e-01 5.29165071e+01] [ 5.23970942e-01 -6.20625998e-01 -5.83333372e-01 3.51909071e+01] [ 7.22573168e-01 -3.86956555e-02 6.90210594e-01 3.24050585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52037174299997 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:52.91, Y:35.19, Z:32.41 [[-4.48537232e-01 -7.79652694e-01 4.36985158e-01 5.29121539e+01] [ 5.36774422e-01 -6.25917499e-01 -5.65774251e-01 3.51914151e+01] [ 7.14624077e-01 -1.92083606e-02 6.99244927e-01 3.24082034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55037174299997 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:52.92, Y:35.20, Z:32.39 [[-4.48680068e-01 -7.94266140e-01 4.09667541e-01 5.29216113e+01] [ 5.38329685e-01 -6.06104288e-01 -5.85524332e-01 3.52015796e+01] [ 7.13363405e-01 -4.21768989e-02 6.99523954e-01 3.23935595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58037174299997 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:52.92, Y:35.21, Z:32.40 [[-0.45092795 -0.79563939 0.40450209 52.91894981] [ 0.52788409 -0.60316766 -0.59793575 35.20533973] [ 0.71972382 -0.05609573 0.69199053 32.40150458] [ 0. 0. 0. 1. ]] SLAMing on 140.61037174299997 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:52.92, Y:35.18, Z:32.40 [[-4.47443872e-01 -7.80363675e-01 4.36836944e-01 5.29166514e+01] [ 5.40418520e-01 -6.25123375e-01 -5.63177228e-01 3.51815534e+01] [ 7.12560036e-01 -1.59154248e-02 7.01430605e-01 3.23992286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64037174299997 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:52.92, Y:35.20, Z:32.39 [[-0.44970027 -0.79769482 0.40181171 52.92475002] [ 0.52934687 -0.60037327 -0.59945294 35.19718346] [ 0.71941751 -0.05687637 0.69224528 32.38974743] [ 0. 0. 0. 1. ]] SLAMing on 140.67037174299998 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:52.92, Y:35.18, Z:32.40 [[-4.47273667e-01 -7.85514374e-01 4.27683803e-01 5.29197453e+01] [ 5.30048394e-01 -6.17961682e-01 -5.80665187e-01 3.51794757e+01] [ 7.20413053e-01 -3.30231349e-02 6.92758620e-01 3.23959261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70037174299998 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:52.92, Y:35.18, Z:32.39 [[-4.47437806e-01 -7.85306171e-01 4.27894411e-01 5.29209286e+01] [ 5.30155058e-01 -6.18238892e-01 -5.80272597e-01 3.51768796e+01] [ 7.20232619e-01 -3.27855114e-02 6.92957492e-01 3.23928784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73037174299998 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:52.92, Y:35.18, Z:32.39 [[-4.44663649e-01 -7.83670025e-01 4.33745930e-01 5.29184427e+01] [ 5.39718685e-01 -6.20896097e-01 -5.68499584e-01 3.51794582e+01] [ 7.14827239e-01 -1.86903167e-02 6.99051279e-01 3.23948174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76037174299998 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:52.92, Y:35.19, Z:32.38 [[-4.46124309e-01 -7.95286894e-01 4.10477596e-01 5.29248616e+01] [ 5.31824188e-01 -6.04462461e-01 -5.93117329e-01 3.51867998e+01] [ 7.19816737e-01 -4.63021441e-02 6.92618204e-01 3.23841852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79037174299998 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:52.91, Y:35.19, Z:32.40 [[-4.41877225e-01 -7.86700287e-01 4.31099962e-01 5.29131792e+01] [ 5.37833687e-01 -6.16942132e-01 -5.74558379e-01 3.51885131e+01] [ 7.17968971e-01 -2.20241807e-02 6.95726593e-01 3.24027697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82037174299998 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:52.92, Y:35.19, Z:32.39 [[-4.42119050e-01 -7.93653424e-01 4.17905478e-01 5.29185290e+01] [ 5.36484412e-01 -6.07371743e-01 -5.85904464e-01 3.51934805e+01] [ 7.18829062e-01 -3.48397500e-02 6.94313309e-01 3.23930940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85037174299998 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:52.92, Y:35.19, Z:32.39 [[-4.41784652e-01 -7.91380064e-01 4.22544572e-01 5.29192159e+01] [ 5.36653037e-01 -6.10560805e-01 -5.82425122e-01 3.51887034e+01] [ 7.18908784e-01 -3.05466515e-02 6.94432907e-01 3.23910603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88037174299998 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:52.91, Y:35.20, Z:32.40 [[-4.42342463e-01 -7.91944951e-01 4.20899442e-01 5.29140255e+01] [ 5.35919013e-01 -6.09713345e-01 -5.83986684e-01 3.51969774e+01] [ 7.19113313e-01 -3.27540945e-02 6.94120460e-01 3.24001506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91037174299998 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:52.92, Y:35.18, Z:32.38 [[-4.44012655e-01 -7.88079937e-01 4.26359913e-01 5.29230372e+01] [ 5.39079721e-01 -6.15037999e-01 -5.75431416e-01 3.51798929e+01] [ 7.15713502e-01 -2.56568478e-02 6.97922567e-01 3.23821590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:52.93, Y:35.18, Z:32.37 [[-4.44793678e-01 -7.92355708e-01 4.17529659e-01 5.29296269e+01] [ 5.39428121e-01 -6.09147147e-01 -5.81340739e-01 3.51798716e+01] [ 7.14965654e-01 -3.33494457e-02 6.98363751e-01 3.23713841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970371743 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:52.93, Y:35.19, Z:32.37 [[-4.45142016e-01 -7.95086819e-01 4.11929042e-01 5.29302566e+01] [ 5.34417593e-01 -6.04997996e-01 -5.90233226e-01 3.51850219e+01] [ 7.18502903e-01 -4.25954810e-02 6.94218412e-01 3.23735987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000371743 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:52.93, Y:35.18, Z:32.37 [[-4.45272890e-01 -7.90855772e-01 4.19856168e-01 5.29305401e+01] [ 5.33385898e-01 -6.10909356e-01 -5.85054905e-01 3.51785542e+01] [ 7.19188110e-01 -3.65637289e-02 6.93852691e-01 3.23738041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030371743 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:52.93, Y:35.18, Z:32.38 [[-4.51613966e-01 -7.87533645e-01 4.19327538e-01 5.29281085e+01] [ 5.25235699e-01 -6.14585279e-01 -5.88568089e-01 3.51790331e+01] [ 7.21229704e-01 -4.55597766e-02 6.91196080e-01 3.23780089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:52.92, Y:35.18, Z:32.39 [[-4.54087680e-01 -7.79749852e-01 4.31038916e-01 5.29220340e+01] [ 5.23162829e-01 -6.24960961e-01 -5.79417338e-01 3.51750100e+01] [ 7.21183079e-01 -3.76027361e-02 6.91723212e-01 3.23868364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090371743 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:52.93, Y:35.17, Z:32.38 [[-4.52665565e-01 -7.80003999e-01 4.32073661e-01 5.29301104e+01] [ 5.27823256e-01 -6.24939655e-01 -5.75198259e-01 3.51712948e+01] [ 7.18676907e-01 -3.23139181e-02 6.94592912e-01 3.23763313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:52.94, Y:35.17, Z:32.36 [[-4.55406133e-01 -7.85446154e-01 4.19141495e-01 5.29420426e+01] [ 5.26224971e-01 -6.17232689e-01 -5.84902630e-01 3.51683009e+01] [ 7.18117354e-01 -4.58055239e-02 6.94412932e-01 3.23571364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150371743 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:52.94, Y:35.18, Z:32.37 [[-4.58146752e-01 -7.83336014e-01 4.20102657e-01 5.29355322e+01] [ 5.23336887e-01 -6.19735403e-01 -5.84847444e-01 3.51763870e+01] [ 7.18484555e-01 -4.80907408e-02 6.93878393e-01 3.23686415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180371743 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:52.93, Y:35.17, Z:32.37 [[-0.46521918 -0.77866339 0.42101597 52.93352262] [ 0.51548826 -0.62496404 -0.58625234 35.1737188 ] [ 0.71961307 -0.05570704 0.69213709 32.36987219] [ 0. 0. 0. 1. ]] SLAMing on 141.210371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:52.94, Y:35.16, Z:32.36 [[-4.60545539e-01 -7.76058051e-01 4.30849983e-01 5.29395655e+01] [ 5.19909348e-01 -6.29258003e-01 -5.77692510e-01 3.51611669e+01] [ 7.19438724e-01 -4.20507746e-02 6.93281801e-01 3.23605815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24037174299997 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:52.93, Y:35.17, Z:32.37 [[-0.46707291 -0.77696113 0.42210697 52.93074807] [ 0.51426354 -0.62703343 -0.58511717 35.17413966] [ 0.71928848 -0.05621815 0.69243311 32.3729633 ] [ 0. 0. 0. 1. ]] SLAMing on 141.27037174299997 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:52.95, Y:35.16, Z:32.35 [[-0.45873709 -0.78260754 0.42081553 52.94613895] [ 0.51119706 -0.6198058 -0.59541443 35.15925649] [ 0.72679973 -0.05801902 0.68439459 32.35353751] [ 0. 0. 0. 1. ]] SLAMing on 141.30037174299997 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:52.93, Y:35.16, Z:32.37 [[-4.64982125e-01 -7.67577876e-01 4.41152839e-01 5.29290354e+01] [ 5.14760483e-01 -6.39812638e-01 -5.70667533e-01 3.51559646e+01] [ 7.20286934e-01 -3.82621538e-02 6.92620199e-01 3.23721539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33037174299997 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:52.95, Y:35.15, Z:32.34 [[-4.56638254e-01 -7.80609384e-01 4.26767495e-01 5.29512182e+01] [ 5.17190436e-01 -6.23239035e-01 -5.86589429e-01 3.51455079e+01] [ 7.23875375e-01 -4.71391053e-02 6.88318492e-01 3.23420506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36037174299997 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:52.94, Y:35.16, Z:32.36 [[-0.45851738 -0.78222668 0.42176205 52.94251296] [ 0.51514154 -0.62066984 -0.5910991 35.1600188 ] [ 0.72414847 -0.05376206 0.68754537 32.35633882] [ 0. 0. 0. 1. ]] SLAMing on 141.39037174299997 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:52.96, Y:35.13, Z:32.33 [[-4.52630032e-01 -7.83565838e-01 4.25617940e-01 5.29579526e+01] [ 5.15785886e-01 -6.19423954e-01 -5.91843632e-01 3.51340116e+01] [ 7.27386399e-01 -4.83584755e-02 6.84522085e-01 3.23318553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42037174299998 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:52.95, Y:35.14, Z:32.34 [[-4.52643309e-01 -7.80602412e-01 4.31014975e-01 5.29515590e+01] [ 5.20914233e-01 -6.23795620e-01 -5.82689785e-01 3.51355876e+01] [ 7.23714306e-01 -3.92287972e-02 6.88983821e-01 3.23390669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45037174299998 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:52.94, Y:35.15, Z:32.36 [[-4.60871991e-01 -7.76330460e-01 4.30009330e-01 5.29350135e+01] [ 5.20790614e-01 -6.28918469e-01 -5.77268305e-01 3.51494469e+01] [ 7.18591779e-01 -4.21019701e-02 6.94156524e-01 3.23579842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48037174299998 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:52.96, Y:35.13, Z:32.33 [[-4.48764591e-01 -7.86803170e-01 4.23734721e-01 5.29583427e+01] [ 5.24730828e-01 -6.15813433e-01 -5.87734102e-01 3.51293436e+01] [ 7.23372587e-01 -4.14075833e-02 6.89215142e-01 3.23259909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51037174299998 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:52.95, Y:35.14, Z:32.34 [[-4.49802284e-01 -7.88081099e-01 4.20245270e-01 5.29475882e+01] [ 5.22792362e-01 -6.13822341e-01 -5.91532146e-01 3.51447889e+01] [ 7.24131239e-01 -4.63714932e-02 6.88101470e-01 3.23442422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54037174299998 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:52.95, Y:35.13, Z:32.34 [[-4.47987609e-01 -7.82602241e-01 4.32250893e-01 5.29463809e+01] [ 5.27101185e-01 -6.21714572e-01 -5.79340428e-01 3.51333283e+01] [ 7.22129796e-01 -3.16973758e-02 6.91030993e-01 3.23423401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57037174299998 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:52.95, Y:35.14, Z:32.33 [[-4.47523977e-01 -7.87426821e-01 4.23888301e-01 5.29503888e+01] [ 5.26565354e-01 -6.15147816e-01 -5.86789650e-01 3.51355236e+01] [ 7.22807871e-01 -3.93975443e-02 6.89925079e-01 3.23349454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60037174299998 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:52.95, Y:35.13, Z:32.33 [[-4.46536268e-01 -7.87828802e-01 4.24182909e-01 5.29526937e+01] [ 5.25936488e-01 -6.14631298e-01 -5.87893849e-01 3.51327931e+01] [ 7.23875799e-01 -3.94226560e-02 6.88803079e-01 3.23294877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63037174299998 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:52.94, Y:35.14, Z:32.35 [[-4.56355231e-01 -7.78756353e-01 4.30439828e-01 5.29360634e+01] [ 5.21793977e-01 -6.26060089e-01 -5.79465107e-01 3.51401972e+01] [ 7.20743331e-01 -3.98410229e-02 6.92056171e-01 3.23472731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66037174299998 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:52.95, Y:35.14, Z:32.33 [[-4.47314797e-01 -7.88879466e-01 4.21400831e-01 5.29524258e+01] [ 5.14170371e-01 -6.12347162e-01 -6.00549567e-01 3.51372462e+01] [ 7.31804825e-01 -5.19628860e-02 6.79530395e-01 3.23326724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690371743 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:52.95, Y:35.13, Z:32.34 [[-4.48020216e-01 -7.81987529e-01 4.33328271e-01 5.29501032e+01] [ 5.13015359e-01 -6.21822453e-01 -5.91736494e-01 3.51289753e+01] [ 7.32183807e-01 -4.28058536e-02 6.79760643e-01 3.23357846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720371743 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:52.95, Y:35.13, Z:32.34 [[-4.49842059e-01 -7.81364527e-01 4.32563981e-01 5.29464337e+01] [ 5.09658425e-01 -6.22317891e-01 -5.94111717e-01 3.51315165e+01] [ 7.33410125e-01 -4.67965610e-02 6.78173776e-01 3.23406273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:52.94, Y:35.14, Z:32.35 [[-4.50597065e-01 -7.79142598e-01 4.35774135e-01 5.29399084e+01] [ 5.09295934e-01 -6.25264476e-01 -5.91322235e-01 3.51356612e+01] [ 7.33198429e-01 -4.45100687e-02 6.78556495e-01 3.23500662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780371743 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:52.94, Y:35.13, Z:32.34 [[-4.51500955e-01 -7.78204528e-01 4.36514146e-01 5.29423666e+01] [ 5.09040709e-01 -6.26445549e-01 -5.90291056e-01 3.51304023e+01] [ 7.32819517e-01 -4.43135053e-02 6.78978548e-01 3.23448987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810371743 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:52.93, Y:35.12, Z:32.34 [[-4.59767258e-01 -7.64761395e-01 4.51391268e-01 5.29325037e+01] [ 5.16503557e-01 -6.43770726e-01 -5.64609005e-01 3.51168086e+01] [ 7.22383654e-01 -2.64435380e-02 6.90986682e-01 3.23448736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840371743 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:52.95, Y:35.13, Z:32.33 [[-4.51443638e-01 -7.85886936e-01 4.22587702e-01 5.29461530e+01] [ 5.14020338e-01 -6.16164248e-01 -5.96761856e-01 3.51326696e+01] [ 7.29370779e-01 -5.21856701e-02 6.82125298e-01 3.23342677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870371743 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:52.93, Y:35.12, Z:32.34 [[-4.59144270e-01 -7.67468189e-01 4.47413811e-01 5.29312000e+01] [ 5.18822674e-01 -6.40481877e-01 -5.66220804e-01 3.51171014e+01] [ 7.21116892e-01 -2.78486079e-02 6.92253482e-01 3.23447809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900371743 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:52.93, Y:35.12, Z:32.34 [[-4.58125898e-01 -7.74462093e-01 4.36267267e-01 5.29330444e+01] [ 5.21159166e-01 -6.31618428e-01 -5.73978471e-01 3.51208812e+01] [ 7.20079014e-01 -3.55897178e-02 6.92978778e-01 3.23393962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930371743 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:52.94, Y:35.12, Z:32.33 [[-4.49411982e-01 -7.82699178e-01 4.30593623e-01 5.29415296e+01] [ 5.24022924e-01 -6.21349556e-01 -5.82515840e-01 3.51229949e+01] [ 7.23483825e-01 -3.61486685e-02 6.89394247e-01 3.23343732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960371743 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:52.95, Y:35.12, Z:32.32 [[-4.49250915e-01 -7.84915312e-01 4.26710169e-01 5.29488232e+01] [ 5.25706160e-01 -6.18431514e-01 -5.84102300e-01 3.51166014e+01] [ 7.22361855e-01 -3.80843283e-02 6.90465738e-01 3.23221581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99037174299997 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:52.95, Y:35.12, Z:32.32 [[-4.49116540e-01 -7.85591008e-01 4.25606746e-01 5.29479834e+01] [ 5.26748736e-01 -6.17570157e-01 -5.84074371e-01 3.51184258e+01] [ 7.21685599e-01 -3.81296455e-02 6.91170042e-01 3.23223913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02037174299997 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:52.95, Y:35.12, Z:32.32 [[-4.49213125e-01 -7.85640289e-01 4.25413804e-01 5.29496886e+01] [ 5.26704338e-01 -6.17493125e-01 -5.84195841e-01 3.51163152e+01] [ 7.21657888e-01 -3.83611436e-02 6.91186165e-01 3.23194023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05037174299997 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:52.95, Y:35.12, Z:32.32 [[-4.49039258e-01 -7.85711209e-01 4.25466381e-01 5.29504906e+01] [ 5.26668610e-01 -6.17406514e-01 -5.84319580e-01 3.51159283e+01] [ 7.21792158e-01 -3.83026429e-02 6.91049193e-01 3.23183475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08037174299997 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:52.95, Y:35.12, Z:32.32 [[-4.48598057e-01 -7.85205326e-01 4.26863421e-01 5.29496336e+01] [ 5.25835134e-01 -6.18088133e-01 -5.84349614e-01 3.51167551e+01] [ 7.22673644e-01 -3.76783175e-02 6.90161683e-01 3.23188706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11037174299997 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:52.95, Y:35.11, Z:32.31 [[-4.48358460e-01 -7.84820252e-01 4.27822233e-01 5.29541944e+01] [ 5.25186167e-01 -6.18598035e-01 -5.84393669e-01 3.51107497e+01] [ 7.23293980e-01 -3.73315265e-02 6.89530403e-01 3.23103036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14037174299997 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:52.95, Y:35.12, Z:32.32 [[-4.47691254e-01 -7.84689184e-01 4.28760336e-01 5.29482949e+01] [ 5.23124107e-01 -6.18717231e-01 -5.86114457e-01 3.51193199e+01] [ 7.25199083e-01 -3.81034484e-02 6.87484122e-01 3.23179034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17037174299998 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:52.95, Y:35.12, Z:32.32 [[-4.47282440e-01 -7.84660377e-01 4.29239457e-01 5.29486818e+01] [ 5.20281957e-01 -6.18633962e-01 -5.88726342e-01 3.51180650e+01] [ 7.27492340e-01 -4.00014101e-02 6.84948745e-01 3.23166741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20037174299998 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:52.96, Y:35.11, Z:32.30 [[-4.46057911e-01 -7.84669982e-01 4.30494320e-01 5.29573274e+01] [ 5.18988169e-01 -6.18641852e-01 -5.89858915e-01 3.51061068e+01] [ 7.29166387e-01 -3.96897768e-02 6.83184529e-01 3.23023215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23037174299998 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:52.96, Y:35.10, Z:32.30 [[-4.46263486e-01 -7.83711553e-01 4.32024424e-01 5.29581980e+01] [ 5.18728274e-01 -6.19922468e-01 -5.88741974e-01 3.51037140e+01] [ 7.29225534e-01 -3.86307620e-02 6.83182102e-01 3.23009803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26037174299998 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:52.94, Y:35.10, Z:32.31 [[-4.54518902e-01 -7.73935506e-01 4.40949431e-01 5.29448735e+01] [ 5.17301247e-01 -6.32351194e-01 -5.76655345e-01 3.51031249e+01] [ 7.25128945e-01 -3.39970633e-02 6.87773373e-01 3.23118441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29037174299998 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:52.95, Y:35.10, Z:32.31 [[-4.46257661e-01 -7.81384245e-01 4.36225586e-01 5.29538481e+01] [ 5.20139650e-01 -6.23136673e-01 -5.84085123e-01 3.51041308e+01] [ 7.28223073e-01 -3.37542375e-02 6.84508442e-01 3.23052307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32037174299998 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:52.95, Y:35.10, Z:32.31 [[-4.54093880e-01 -7.75268551e-01 4.39041480e-01 5.29476124e+01] [ 5.18224234e-01 -6.30672827e-01 -5.77663768e-01 3.51007204e+01] [ 7.24736084e-01 -3.47916471e-02 6.88147622e-01 3.23064295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35037174299998 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:52.95, Y:35.10, Z:32.31 [[-4.54262306e-01 -7.73129236e-01 4.42625059e-01 5.29456987e+01] [ 5.18064266e-01 -6.33451660e-01 -5.74759438e-01 3.50991458e+01] [ 7.24744903e-01 -3.17833213e-02 6.88283841e-01 3.23094102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38037174299998 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:52.96, Y:35.10, Z:32.30 [[-4.47386456e-01 -7.79597781e-01 4.38260948e-01 5.29577682e+01] [ 5.22044491e-01 -6.25532173e-01 -5.79809495e-01 3.50950168e+01] [ 7.26164519e-01 -3.06072013e-02 6.86839349e-01 3.22977619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41037174299998 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:52.95, Y:35.10, Z:32.30 [[-4.48930204e-01 -7.82520973e-01 4.31419285e-01 5.29548809e+01] [ 5.21276842e-01 -6.21484257e-01 -5.84831405e-01 3.51037607e+01] [ 7.25763133e-01 -3.76595992e-02 6.86913116e-01 3.23028206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440371743 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:52.95, Y:35.10, Z:32.30 [[-4.50337903e-01 -7.81048459e-01 4.32618860e-01 5.29543660e+01] [ 5.21862914e-01 -6.23406022e-01 -5.82257701e-01 3.51023573e+01] [ 7.24468683e-01 -3.64449738e-02 6.88343585e-01 3.23035121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470371743 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:52.95, Y:35.11, Z:32.31 [[-4.51977710e-01 -7.77215191e-01 4.37781562e-01 5.29460897e+01] [ 5.27408149e-01 -6.28636590e-01 -5.71538872e-01 3.51073442e+01] [ 7.19414202e-01 -2.74332670e-02 6.94039352e-01 3.23134759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:52.95, Y:35.11, Z:32.30 [[-4.52253739e-01 -7.85678378e-01 4.22109040e-01 5.29549444e+01] [ 5.24858548e-01 -6.17097130e-01 -5.86271811e-01 3.51115343e+01] [ 7.21103363e-01 -4.35960811e-02 6.91454497e-01 3.23017022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:52.95, Y:35.11, Z:32.30 [[-4.52571777e-01 -7.80496948e-01 4.31281000e-01 5.29532392e+01] [ 5.25501675e-01 -6.24178381e-01 -5.78143008e-01 3.51055341e+01] [ 7.20435130e-01 -3.50123205e-02 6.92637972e-01 3.23044190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560371743 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:52.96, Y:35.10, Z:32.29 [[-4.53268517e-01 -7.79794403e-01 4.31819802e-01 5.29587290e+01] [ 5.27043151e-01 -6.25146552e-01 -5.75688549e-01 3.50994074e+01] [ 7.18869368e-01 -3.33538252e-02 6.94344550e-01 3.22948488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590371743 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:52.96, Y:35.10, Z:32.29 [[-4.59321502e-01 -7.80875580e-01 4.23387631e-01 5.29612870e+01] [ 5.15576530e-01 -6.22505758e-01 -5.88784700e-01 3.50982728e+01] [ 7.23328832e-01 -5.21527470e-02 6.88531402e-01 3.22886645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620371743 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:52.96, Y:35.09, Z:32.30 [[-4.54562831e-01 -7.67308292e-01 4.52339052e-01 5.29559992e+01] [ 5.26002026e-01 -6.41075925e-01 -5.58877023e-01 3.50900571e+01] [ 7.18814650e-01 -1.61134633e-02 6.95015003e-01 3.23001611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:52.96, Y:35.10, Z:32.29 [[-4.55802889e-01 -7.79912658e-01 4.28928866e-01 5.29633475e+01] [ 5.27558645e-01 -6.24849460e-01 -5.75538903e-01 3.51046345e+01] [ 7.16886046e-01 -3.60471634e-02 6.96257854e-01 3.22873765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680371743 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:52.97, Y:35.11, Z:32.28 [[-4.56311184e-01 -7.81453811e-01 4.25570259e-01 5.29660930e+01] [ 5.27346309e-01 -6.22721655e-01 -5.78034264e-01 3.51064253e+01] [ 7.16718894e-01 -3.93405943e-02 6.96251639e-01 3.22830970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710371743 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:52.97, Y:35.11, Z:32.28 [[-4.56134591e-01 -7.82234041e-01 4.24324334e-01 5.29699362e+01] [ 5.26344781e-01 -6.21615652e-01 -5.80133738e-01 3.51053471e+01] [ 7.17567005e-01 -4.12781669e-02 6.95265206e-01 3.22774159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74037174299997 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:52.97, Y:35.10, Z:32.28 [[-4.57175107e-01 -7.78611505e-01 4.29831416e-01 5.29706083e+01] [ 5.28660805e-01 -6.26553043e-01 -5.72668349e-01 3.51021908e+01] [ 7.15198346e-01 -3.45746911e-02 6.98065839e-01 3.22774814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77037174299997 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:52.97, Y:35.11, Z:32.28 [[-4.58517607e-01 -7.80975439e-01 4.24074248e-01 5.29705334e+01] [ 5.28333467e-01 -6.23259801e-01 -5.76550924e-01 3.51073204e+01] [ 7.14580542e-01 -4.03061326e-02 6.98391054e-01 3.22786049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80037174299997 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:52.97, Y:35.10, Z:32.27 [[-4.58585436e-01 -7.81506863e-01 4.23020591e-01 5.29738707e+01] [ 5.30867228e-01 -6.22673223e-01 -5.74854803e-01 3.51043107e+01] [ 7.12656568e-01 -3.90522718e-02 7.00425253e-01 3.22734391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83037174299997 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:52.97, Y:35.11, Z:32.28 [[-4.60348427e-01 -7.80829528e-01 4.22355980e-01 5.29709491e+01] [ 5.30522131e-01 -6.23441197e-01 -5.74340790e-01 3.51080031e+01] [ 7.11776366e-01 -4.03276845e-02 7.01247519e-01 3.22785080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86037174299997 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:52.98, Y:35.11, Z:32.27 [[-0.46491535 -0.78683775 0.40588184 52.98043256] [ 0.50997035 -0.61274481 -0.60371685 35.10727428] [ 0.7237292 -0.07368952 0.68613839 32.27181432] [ 0. 0. 0. 1. ]] SLAMing on 142.89037174299997 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:52.96, Y:35.09, Z:32.29 [[-4.61258948e-01 -7.60159688e-01 4.57599642e-01 5.29649525e+01] [ 5.26654739e-01 -6.49627206e-01 -5.48287588e-01 3.50861019e+01] [ 7.14055298e-01 -1.19055361e-02 6.99988063e-01 3.22937224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92037174299998 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:52.97, Y:35.10, Z:32.28 [[-4.62793277e-01 -7.75490009e-01 4.29462023e-01 5.29725619e+01] [ 5.30479546e-01 -6.30419266e-01 -5.66712449e-01 3.51034268e+01] [ 7.10220976e-01 -3.44498923e-02 7.03135386e-01 3.22800376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95037174299998 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:52.99, Y:35.10, Z:32.26 [[-4.63681048e-01 -7.80352693e-01 4.19582602e-01 5.29857567e+01] [ 5.30105692e-01 -6.23797757e-01 -5.74338153e-01 3.50982378e+01] [ 7.09921010e-01 -4.38865915e-02 7.02912602e-01 3.22617960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98037174299998 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:52.99, Y:35.10, Z:32.26 [[-4.64243405e-01 -7.79039219e-01 4.21397623e-01 5.29871877e+01] [ 5.29080745e-01 -6.25480423e-01 -5.73452531e-01 3.50951782e+01] [ 7.10317975e-01 -4.32681877e-02 7.02549812e-01 3.22606840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01037174299998 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:52.99, Y:35.09, Z:32.26 [[-4.64861739e-01 -7.76732379e-01 4.24959262e-01 5.29887037e+01] [ 5.28889353e-01 -6.28537331e-01 -5.70277893e-01 3.50929202e+01] [ 7.10056066e-01 -4.03439443e-02 7.02988442e-01 3.22596030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04037174299998 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:52.99, Y:35.09, Z:32.25 [[-4.65724976e-01 -7.77815660e-01 4.22022566e-01 5.29935630e+01] [ 5.29135074e-01 -6.27022849e-01 -5.71715331e-01 3.50911824e+01] [ 7.09306929e-01 -4.29551673e-02 7.03589748e-01 3.22525623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07037174299998 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:52.99, Y:35.09, Z:32.26 [[-4.66488664e-01 -7.76945950e-01 4.22780461e-01 5.29920790e+01] [ 5.26307540e-01 -6.27962617e-01 -5.73291657e-01 3.50939582e+01] [ 7.10906956e-01 -4.49215150e-02 7.01849954e-01 3.22574498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10037174299998 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:52.99, Y:35.11, Z:32.27 [[-0.47058423 -0.7806991 0.41116834 52.98872292] [ 0.5060708 -0.62053264 -0.59902554 35.10725506] [ 0.72280207 -0.07381168 0.68710189 32.27234561] [ 0. 0. 0. 1. ]] SLAMing on 143.13037174299998 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:52.99, Y:35.07, Z:32.27 [[-4.66918042e-01 -7.55100690e-01 4.60228736e-01 5.29862590e+01] [ 5.21315875e-01 -6.55431770e-01 -5.46478684e-01 3.50714917e+01] [ 7.14294967e-01 -1.52362109e-02 6.99678896e-01 3.22724997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16037174299998 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:53.01, Y:35.07, Z:32.24 [[-4.64836731e-01 -7.73020694e-01 4.31701076e-01 5.30065363e+01] [ 5.29675400e-01 -6.33494612e-01 -5.64028854e-01 3.50733930e+01] [ 7.09486282e-01 -3.35198886e-02 7.03921610e-01 3.22391938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190371743 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:53.01, Y:35.10, Z:32.24 [[-0.46900214 -0.7838305 0.40699723 53.00726999] [ 0.52261171 -0.61778483 -0.58755333 35.09669023] [ 0.71197893 -0.06286225 0.6993814 32.24402743] [ 0. 0. 0. 1. ]] SLAMing on 143.220371743 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:53.00, Y:35.09, Z:32.26 [[-4.68601645e-01 -7.75534051e-01 4.23035973e-01 5.30023507e+01] [ 5.17813046e-01 -6.29109755e-01 -5.79733184e-01 3.50889962e+01] [ 7.15738882e-01 -5.26103783e-02 6.96383516e-01 3.22558285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250371743 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:53.00, Y:35.08, Z:32.26 [[-4.69428533e-01 -7.69387525e-01 4.33220139e-01 5.30002333e+01] [ 5.18334898e-01 -6.37325118e-01 -5.70215422e-01 3.50828614e+01] [ 7.14818708e-01 -4.31222728e-02 6.97979000e-01 3.22597589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280371743 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:53.01, Y:35.08, Z:32.25 [[-4.69879808e-01 -7.72119296e-01 4.27837304e-01 5.30067283e+01] [ 5.15822569e-01 -6.33483049e-01 -5.76737638e-01 3.50804919e+01] [ 7.16337939e-01 -5.03092328e-02 6.95937452e-01 3.22523683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310371743 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:53.00, Y:35.08, Z:32.26 [[-4.71226442e-01 -7.66772182e-01 4.35896847e-01 5.30022556e+01] [ 5.14259932e-01 -6.40363115e-01 -5.70501361e-01 3.50803884e+01] [ 7.16576836e-01 -4.46710437e-02 6.96076243e-01 3.22621339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340371743 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:53.00, Y:35.09, Z:32.27 [[-4.72427279e-01 -7.66223880e-01 4.35561054e-01 5.29967496e+01] [ 5.13934030e-01 -6.40961339e-01 -5.70123122e-01 3.50876450e+01] [ 7.16019747e-01 -4.54920676e-02 6.96596148e-01 3.22713753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370371743 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:53.00, Y:35.08, Z:32.26 [[-4.75166006e-01 -7.65123737e-01 4.34514595e-01 5.30027779e+01] [ 5.11794874e-01 -6.42026344e-01 -5.70848649e-01 3.50834299e+01] [ 7.15739669e-01 -4.88655304e-02 6.96655500e-01 3.22641038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400371743 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:53.00, Y:35.08, Z:32.27 [[-4.76814082e-01 -7.63667163e-01 4.35270945e-01 5.30019604e+01] [ 5.09853099e-01 -6.43654038e-01 -5.70753271e-01 3.50844195e+01] [ 7.16029433e-01 -5.02189561e-02 6.96261379e-01 3.22667184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430371743 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:53.00, Y:35.08, Z:32.27 [[-0.4811593 -0.76185746 0.43365762 53.0014332 ] [ 0.50100572 -0.64492034 -0.57712306 35.08281243] [ 0.71936013 -0.06042318 0.69200436 32.26829822] [ 0. 0. 0. 1. ]] SLAMing on 143.460371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:53.00, Y:35.07, Z:32.27 [[-4.80495386e-01 -7.50316600e-01 4.54036545e-01 5.30007372e+01] [ 5.07045136e-01 -6.60092633e-01 -5.54240874e-01 3.50708688e+01] [ 7.15562306e-01 -3.60931612e-02 6.97615847e-01 3.22700734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49037174299997 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:53.00, Y:35.09, Z:32.27 [[-0.48180137 -0.76179175 0.43305978 53.00361638] [ 0.50448596 -0.64522424 -0.57374175 35.08751752] [ 0.7164924 -0.05795698 0.69518317 32.26726043] [ 0. 0. 0. 1. ]] SLAMing on 143.52037174299997 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:53.01, Y:35.08, Z:32.26 [[-4.83402554e-01 -7.56931516e-01 4.39746121e-01 5.30066709e+01] [ 5.04574860e-01 -6.51420481e-01 -5.66617656e-01 3.50788637e+01] [ 7.15350390e-01 -5.20195844e-02 6.96826938e-01 3.22631263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55037174299997 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:53.01, Y:35.08, Z:32.26 [[-0.48786883 -0.75713386 0.43443334 53.00864585] [ 0.4959497 -0.64997089 -0.57582267 35.07907272] [ 0.71834386 -0.06546885 0.69260084 32.2621971 ] [ 0. 0. 0. 1. ]] SLAMing on 143.58037174299997 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:53.01, Y:35.07, Z:32.26 [[-4.84455901e-01 -7.46741427e-01 4.55718907e-01 5.30084463e+01] [ 5.05915480e-01 -6.64133775e-01 -5.50432426e-01 3.50658308e+01] [ 7.13689013e-01 -3.61049872e-02 6.99531574e-01 3.22608475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61037174299997 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:53.01, Y:35.08, Z:32.25 [[-0.48823524 -0.76077322 0.42761017 53.01371514] [ 0.49603511 -0.64504712 -0.58126016 35.08114541] [ 0.71803587 -0.07168204 0.69230497 32.2548531 ] [ 0. 0. 0. 1. ]] SLAMing on 143.64037174299997 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:53.02, Y:35.06, Z:32.25 [[-4.81149930e-01 -7.51686798e-01 4.51067294e-01 5.30150894e+01] [ 5.03048605e-01 -6.58141866e-01 -5.60170853e-01 3.50647970e+01] [ 7.17939305e-01 -4.26173933e-02 6.94799908e-01 3.22535265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67037174299998 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:53.02, Y:35.07, Z:32.24 [[-4.80111719e-01 -7.60005310e-01 4.38046420e-01 5.30224845e+01] [ 5.05506932e-01 -6.47818501e-01 -5.69906950e-01 3.50674847e+01] [ 7.16906883e-01 -5.21835032e-02 6.95213206e-01 3.22405576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70037174299998 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:53.03, Y:35.06, Z:32.23 [[-4.76930555e-01 -7.59721182e-01 4.41996575e-01 5.30254055e+01] [ 5.11750846e-01 -6.48867241e-01 -5.63100680e-01 3.50602494e+01] [ 7.14596612e-01 -4.23677992e-02 6.98252570e-01 3.22336034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73037174299998 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.23 [[-4.75900974e-01 -7.66363557e-01 4.31514961e-01 5.30250340e+01] [ 5.12340907e-01 -6.40360226e-01 -5.72228604e-01 3.50698153e+01] [ 7.14860167e-01 -5.12413831e-02 6.97387455e-01 3.22348577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76037174299998 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.23 [[-4.74139992e-01 -7.65653808e-01 4.34701639e-01 5.30253623e+01] [ 5.14398412e-01 -6.41593634e-01 -5.68991988e-01 3.50663471e+01] [ 7.14552686e-01 -4.61720245e-02 6.98056303e-01 3.22335578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79037174299998 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.23 [[-4.71418404e-01 -7.68264370e-01 4.33052590e-01 5.30272670e+01] [ 5.15790672e-01 -6.38483389e-01 -5.71225826e-01 3.50651465e+01] [ 7.15349335e-01 -4.59218805e-02 6.97256416e-01 3.22309367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82037174299998 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:53.03, Y:35.06, Z:32.23 [[-4.70374287e-01 -7.66924464e-01 4.36548848e-01 5.30258022e+01] [ 5.18453320e-01 -6.40479162e-01 -5.66562087e-01 3.50644105e+01] [ 7.14110765e-01 -4.01660383e-02 6.98879463e-01 3.22314752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85037174299998 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.23 [[-4.70166747e-01 -7.71164248e-01 4.29242277e-01 5.30286420e+01] [ 5.16173069e-01 -6.34764022e-01 -5.75013042e-01 3.50685107e+01] [ 7.15897055e-01 -4.87887086e-02 6.96499152e-01 3.22283460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88037174299998 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:53.03, Y:35.06, Z:32.23 [[-4.69364421e-01 -7.65413386e-01 4.40271950e-01 5.30262647e+01] [ 5.18535810e-01 -6.42502175e-01 -5.64191075e-01 3.50619543e+01] [ 7.14715086e-01 -3.65144447e-02 6.98461911e-01 3.22305077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91037174299998 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:53.03, Y:35.06, Z:32.22 [[-4.68955060e-01 -7.66870224e-01 4.38168017e-01 5.30296223e+01] [ 5.22414017e-01 -6.40853943e-01 -5.62485395e-01 3.50606216e+01] [ 7.12155002e-01 -3.48752586e-02 7.01155453e-01 3.22226516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:53.03, Y:35.06, Z:32.22 [[-4.69109155e-01 -7.70269584e-01 4.31996954e-01 5.30315296e+01] [ 5.24128191e-01 -6.36524846e-01 -5.65796572e-01 3.50639245e+01] [ 7.10792684e-01 -3.89985700e-02 7.02319636e-01 3.22185060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970371743 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.22 [[-0.47396022 -0.77601245 0.41613265 53.0318698 ] [ 0.50467461 -0.62666009 -0.59380188 35.07201921] [ 0.72157138 -0.07142689 0.68864574 32.2244283 ] [ 0. 0. 0. 1. ]] SLAMing on 144.000371743 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:53.02, Y:35.04, Z:32.24 [[-4.69553003e-01 -7.49992993e-01 4.65865310e-01 5.30221845e+01] [ 5.21747107e-01 -6.61370798e-01 -5.38858632e-01 3.50434824e+01] [ 7.12249910e-01 -9.95881081e-03 7.01855318e-01 3.22353966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.23 [[-0.47521034 -0.77522025 0.4161835 53.02977726] [ 0.50560011 -0.62770424 -0.59190871 35.0730695 ] [ 0.72009976 -0.07085871 0.69024298 32.22877224] [ 0. 0. 0. 1. ]] SLAMing on 144.060371743 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:53.03, Y:35.04, Z:32.23 [[-4.72555330e-01 -7.48516529e-01 4.65203682e-01 5.30261369e+01] [ 5.23788786e-01 -6.63054359e-01 -5.34793628e-01 3.50376592e+01] [ 7.08757200e-01 -9.05110740e-03 7.05394435e-01 3.22324216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.23 [[-4.74567144e-01 -7.69733762e-01 4.26961312e-01 5.30293635e+01] [ 5.23669497e-01 -6.36777816e-01 -5.65936632e-01 3.50676927e+01] [ 7.07500024e-01 -4.49883155e-02 7.05279921e-01 3.22281614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:53.03, Y:35.06, Z:32.23 [[-4.74807396e-01 -7.67690979e-01 4.30358570e-01 5.30298204e+01] [ 5.23354680e-01 -6.39429455e-01 -5.63231614e-01 3.50641153e+01] [ 7.07571775e-01 -4.21963642e-02 7.05380501e-01 3.22274162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150371743 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:53.03, Y:35.07, Z:32.23 [[-4.75859404e-01 -7.66568639e-01 4.31196417e-01 5.30273963e+01] [ 5.23709082e-01 -6.40834242e-01 -5.61302301e-01 3.50666365e+01] [ 7.06602169e-01 -4.12794985e-02 7.06405958e-01 3.22318671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180371743 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:53.04, Y:35.05, Z:32.21 [[-4.75679982e-01 -7.68226440e-01 4.28435166e-01 5.30406722e+01] [ 5.25252830e-01 -6.38772910e-01 -5.62208710e-01 3.50535450e+01] [ 7.05576374e-01 -4.23946453e-02 7.07364598e-01 3.22099385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210371743 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:53.04, Y:35.06, Z:32.22 [[-0.48091787 -0.77156382 0.41642198 53.03949833] [ 0.50559917 -0.63207915 -0.58723541 35.0640205 ] [ 0.71630125 -0.07186939 0.69408019 32.21835467] [ 0. 0. 0. 1. ]] SLAMing on 144.24037174299997 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:53.03, Y:35.04, Z:32.23 [[-4.78078359e-01 -7.45581476e-01 4.64272921e-01 5.30279831e+01] [ 5.20279621e-01 -6.66270587e-01 -5.34221509e-01 3.50415627e+01] [ 7.07637053e-01 -1.38480029e-02 7.06440397e-01 3.22331050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27037174299997 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:53.04, Y:35.06, Z:32.21 [[-4.80179510e-01 -7.65204088e-01 4.28824371e-01 5.30425517e+01] [ 5.19741384e-01 -6.42013045e-01 -5.63638310e-01 3.50595354e+01] [ 7.06609179e-01 -4.77697957e-02 7.05989742e-01 3.22122784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30037174299997 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:53.04, Y:35.06, Z:32.22 [[-0.48385466 -0.76753636 0.42044335 53.04319287] [ 0.50232377 -0.63697898 -0.58474662 35.06281772] [ 0.71662787 -0.07173369 0.693757 32.21739412] [ 0. 0. 0. 1. ]] SLAMing on 144.33037174299997 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:53.03, Y:35.04, Z:32.23 [[-4.80702578e-01 -7.40280724e-01 4.70010087e-01 5.30323883e+01] [ 5.22835600e-01 -6.72269247e-01 -5.24115440e-01 3.50363933e+01] [ 7.03965884e-01 -6.20563745e-03 7.10206677e-01 3.22266257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36037174299997 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:53.05, Y:35.07, Z:32.21 [[-0.48433427 -0.77505771 0.4058397 53.05030299] [ 0.50279911 -0.6262094 -0.59586479 35.07348012] [ 0.71597023 -0.0845419 0.692993 32.20976841] [ 0. 0. 0. 1. ]] SLAMing on 144.39037174299997 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:53.04, Y:35.04, Z:32.22 [[-4.82834054e-01 -7.49391961e-01 4.53081632e-01 5.30401731e+01] [ 5.00283803e-01 -6.60693184e-01 -5.59643309e-01 3.50439712e+01] [ 7.18740143e-01 -4.35454458e-02 6.93913828e-01 3.22244229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42037174299998 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:53.04, Y:35.04, Z:32.22 [[-4.79585504e-01 -7.43846568e-01 4.65499762e-01 5.30391131e+01] [ 5.16684179e-01 -6.68153236e-01 -5.35358489e-01 3.50408373e+01] [ 7.09249747e-01 -1.62338084e-02 7.04770360e-01 3.22216187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45037174299998 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:53.05, Y:35.06, Z:32.21 [[-0.48255997 -0.76784481 0.42136708 53.05159749] [ 0.50028214 -0.63652557 -0.58698635 35.06347023] [ 0.71892535 -0.07245369 0.6913008 32.20852201] [ 0. 0. 0. 1. ]] SLAMing on 144.48037174299998 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:53.05, Y:35.02, Z:32.20 [[-4.78560672e-01 -7.39241286e-01 4.73816424e-01 5.30470884e+01] [ 5.22519154e-01 -6.73435339e-01 -5.22932671e-01 3.50241038e+01] [ 7.05658144e-01 -2.67685347e-03 7.08547400e-01 3.22048997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51037174299998 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:53.06, Y:35.07, Z:32.20 [[-0.48361904 -0.77655839 0.40381888 53.05575953] [ 0.50054469 -0.62384823 -0.60022363 35.07356192] [ 0.71803039 -0.08815018 0.69040706 32.20302361] [ 0. 0. 0. 1. ]] SLAMing on 144.54037174299998 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:53.04, Y:35.03, Z:32.21 [[-4.77935623e-01 -7.42654379e-01 4.69086361e-01 5.30441362e+01] [ 5.22147618e-01 -6.69632965e-01 -5.28160542e-01 3.50327862e+01] [ 7.06356430e-01 -7.49441125e-03 7.07816663e-01 3.22123303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57037174299998 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:53.06, Y:35.07, Z:32.20 [[-0.48312747 -0.77242692 0.41224325 53.05573847] [ 0.50189773 -0.63012826 -0.5924838 35.06560585] [ 0.71741656 -0.07934125 0.69211159 32.20364921] [ 0. 0. 0. 1. ]] SLAMing on 144.60037174299998 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:53.04, Y:35.04, Z:32.22 [[-4.82113940e-01 -7.49315737e-01 4.53973651e-01 5.30436229e+01] [ 5.01228317e-01 -6.60895877e-01 -5.58557798e-01 3.50424098e+01] [ 7.18565462e-01 -4.17440521e-02 6.94205381e-01 3.22229937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63037174299998 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:53.05, Y:35.04, Z:32.21 [[-4.82205371e-01 -7.49121775e-01 4.54196594e-01 5.30495806e+01] [ 5.01323497e-01 -6.61133387e-01 -5.58191182e-01 3.50356515e+01] [ 7.18437701e-01 -4.14633612e-02 6.94354419e-01 3.22147355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66037174299998 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:53.04, Y:35.04, Z:32.22 [[-4.80670241e-01 -7.40074215e-01 4.70368233e-01 5.30392614e+01] [ 5.23167405e-01 -6.72502371e-01 -5.23484888e-01 3.50362373e+01] [ 7.03741420e-01 -5.54227934e-03 7.10434583e-01 3.22229069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690371743 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:53.06, Y:35.06, Z:32.20 [[-0.48662542 -0.77241344 0.40813378 53.0603691 ] [ 0.50256021 -0.62964952 -0.59243119 35.06283623] [ 0.71458305 -0.08318028 0.69458772 32.19946515] [ 0. 0. 0. 1. ]] SLAMing on 144.720371743 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:53.06, Y:35.02, Z:32.20 [[-4.82500858e-01 -7.39807260e-01 4.68911655e-01 5.30564281e+01] [ 5.20056861e-01 -6.72743594e-01 -5.26266965e-01 3.50183619e+01] [ 7.04793433e-01 -1.00635394e-02 7.09341203e-01 3.21977336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750371743 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:53.06, Y:35.06, Z:32.19 [[-0.48485726 -0.76629637 0.4215487 53.06174247] [ 0.51552638 -0.63976676 -0.57002723 35.05748076] [ 0.70650265 -0.05906237 0.70524155 32.19438835] [ 0. 0. 0. 1. ]] SLAMing on 144.780371743 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:53.06, Y:35.05, Z:32.20 [[-4.87602064e-01 -7.56689262e-01 4.35506128e-01 5.30573659e+01] [ 5.12967375e-01 -6.51944388e-01 -5.58420081e-01 3.50531521e+01] [ 7.06476255e-01 -4.88863494e-02 7.06046334e-01 3.22009152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810371743 meters Centerline goodness : 0.995506 Centerline is valid? [True, True] Translation: X:53.06, Y:35.05, Z:32.20 [[-0.48884936 -0.7573981 0.43286767 53.06184535] [ 0.50953624 -0.65065981 -0.56304052 35.0519438 ] [ 0.70809542 -0.05468023 0.70399641 32.19518468] [ 0. 0. 0. 1. ]] SLAMing on 144.840371743 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:53.06, Y:35.05, Z:32.19 [[-4.90486413e-01 -7.53766358e-01 4.37332089e-01 5.30628105e+01] [ 5.09177302e-01 -6.55154542e-01 -5.58131706e-01 3.50477612e+01] [ 7.07221008e-01 -5.10764456e-02 7.05145122e-01 3.21925708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870371743 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:53.06, Y:35.06, Z:32.20 [[-0.49307881 -0.75389546 0.43418305 53.06094283] [ 0.50617034 -0.65450384 -0.56161936 35.05636339] [ 0.70757676 -0.05715202 0.7043215 32.19791494] [ 0. 0. 0. 1. ]] SLAMing on 144.900371743 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:53.06, Y:35.06, Z:32.20 [[-0.49799085 -0.75688337 0.42324069 53.062006 ] [ 0.48797917 -0.64804333 -0.58473598 35.06105261] [ 0.71685524 -0.08466053 0.69206297 32.20177375] [ 0. 0. 0. 1. ]] SLAMing on 144.930371743 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:53.06, Y:35.03, Z:32.20 [[-4.94010348e-01 -7.32322377e-01 4.68676553e-01 5.30569951e+01] [ 5.01929239e-01 -6.80358508e-01 -5.34021853e-01 3.50317337e+01] [ 7.09944234e-01 -2.85698556e-02 7.03678157e-01 3.22040184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960371743 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:53.07, Y:35.05, Z:32.19 [[-0.4955178 -0.75188163 0.43489782 53.06725978] [ 0.50132026 -0.65644197 -0.56370378 35.0512005 ] [ 0.7093237 -0.06130217 0.70221217 32.19033959] [ 0. 0. 0. 1. ]] SLAMing on 144.99037174299997 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:53.07, Y:35.05, Z:32.19 [[-0.49564387 -0.7514487 0.43550201 53.06848882] [ 0.5001411 -0.65688652 -0.5642331 35.04857828] [ 0.71006763 -0.06184622 0.70141215 32.18927044] [ 0. 0. 0. 1. ]] SLAMing on 145.02037174299997 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:53.07, Y:35.05, Z:32.20 [[-0.4991317 -0.75200379 0.43053205 53.0662562 ] [ 0.48570379 -0.65425798 -0.57968812 35.05006956] [ 0.71760669 -0.08022967 0.69181199 32.19620021] [ 0. 0. 0. 1. ]] SLAMing on 145.05037174299997 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:53.06, Y:35.04, Z:32.21 [[-0.49768373 -0.73666429 0.45786092 53.0573645 ] [ 0.4854995 -0.67403524 -0.55674655 35.03678846] [ 0.7187497 -0.05479245 0.69310652 32.20990247] [ 0. 0. 0. 1. ]] SLAMing on 145.08037174299997 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:53.06, Y:35.03, Z:32.21 [[-0.49752147 -0.73670774 0.45796735 53.0599282 ] [ 0.48607815 -0.67404124 -0.55623416 35.03464846] [ 0.71847089 -0.05413052 0.69344752 32.20671493] [ 0. 0. 0. 1. ]] SLAMing on 145.11037174299997 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:53.06, Y:35.03, Z:32.20 [[-4.94510438e-01 -7.33571014e-01 4.66189869e-01 5.30640725e+01] [ 5.02188230e-01 -6.78916784e-01 -5.35610850e-01 3.50272258e+01] [ 7.09412721e-01 -3.07500911e-02 7.04122165e-01 3.21963640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14037174299997 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:53.07, Y:35.05, Z:32.19 [[-0.49864035 -0.75280199 0.42970567 53.06944856] [ 0.48964514 -0.65369069 -0.57700617 35.04886342] [ 0.71526599 -0.07731526 0.69456239 32.1936919 ] [ 0. 0. 0. 1. ]] SLAMing on 145.17037174299998 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:53.06, Y:35.03, Z:32.20 [[-4.97236908e-01 -7.37291233e-01 4.57336960e-01 5.30648520e+01] [ 4.88932938e-01 -6.73569951e-01 -5.54299651e-01 3.50291583e+01] [ 7.16728707e-01 -5.20111409e-02 6.95409809e-01 3.22007345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20037174299998 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:53.07, Y:35.02, Z:32.20 [[-4.96434905e-01 -7.37659830e-01 4.57613768e-01 5.30686885e+01] [ 4.89717532e-01 -6.73249560e-01 -5.53996181e-01 3.50238816e+01] [ 7.16748997e-01 -5.09215563e-02 6.95469533e-01 3.21954965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23037174299998 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:53.07, Y:35.02, Z:32.19 [[-4.93813935e-01 -7.34213845e-01 4.65916116e-01 5.30670527e+01] [ 5.02786726e-01 -6.78238089e-01 -5.35909137e-01 3.50225904e+01] [ 7.09473964e-01 -3.03829614e-02 7.04076395e-01 3.21942204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26037174299998 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:53.07, Y:35.04, Z:32.19 [[-0.49658417 -0.75206376 0.4333639 53.0746986 ] [ 0.49159958 -0.65516447 -0.57366312 35.03923794] [ 0.71535587 -0.07183051 0.69505853 32.18642483] [ 0. 0. 0. 1. ]] SLAMing on 145.29037174299998 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:53.07, Y:35.02, Z:32.19 [[-4.94725030e-01 -7.38297341e-01 4.58436671e-01 5.30738581e+01] [ 4.90948964e-01 -6.72708181e-01 -5.53563743e-01 3.50179596e+01] [ 7.17088739e-01 -4.87928306e-02 6.95271890e-01 3.21869866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32037174299998 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:53.07, Y:35.02, Z:32.19 [[-4.92299332e-01 -7.39466295e-01 4.59163333e-01 5.30733909e+01] [ 4.92223057e-01 -6.71576857e-01 -5.53805911e-01 3.50164308e+01] [ 7.17884273e-01 -4.66275002e-02 6.94599198e-01 3.21868027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35037174299998 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:53.08, Y:35.01, Z:32.18 [[-4.91069591e-01 -7.40090684e-01 4.59474087e-01 5.30763044e+01] [ 4.93314211e-01 -6.70988722e-01 -5.53547852e-01 3.50110481e+01] [ 7.17977539e-01 -4.51654206e-02 6.94599409e-01 3.21810611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38037174299998 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:53.07, Y:35.01, Z:32.19 [[-4.90027641e-01 -7.40698365e-01 4.59607270e-01 5.30724761e+01] [ 4.94619640e-01 -6.70415474e-01 -5.53077304e-01 3.50136289e+01] [ 7.17791281e-01 -4.36923835e-02 6.94886072e-01 3.21859703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41037174299998 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:53.08, Y:35.00, Z:32.17 [[-4.85161096e-01 -7.34824460e-01 4.73974392e-01 5.30762759e+01] [ 5.19240158e-01 -6.78229227e-01 -5.19994975e-01 3.49954081e+01] [ 7.03568312e-01 -6.17479348e-03 7.10600804e-01 3.21688789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440371743 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:53.09, Y:35.03, Z:32.16 [[-0.48694376 -0.76715472 0.41756365 53.08627706] [ 0.50183486 -0.63701833 -0.58512342 35.02866965] [ 0.71487589 -0.0753742 0.69517709 32.16102774] [ 0. 0. 0. 1. ]] SLAMing on 145.470371743 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:53.08, Y:35.00, Z:32.18 [[-4.83992976e-01 -7.44933205e-01 4.59157183e-01 5.30761197e+01] [ 5.02138321e-01 -6.66148565e-01 -5.51455525e-01 3.50018243e+01] [ 7.16664431e-01 -3.63401841e-02 6.96470735e-01 3.21752751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500371743 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:53.08, Y:35.00, Z:32.17 [[-4.81141709e-01 -7.46929700e-01 4.58910317e-01 5.30772132e+01] [ 5.05853999e-01 -6.64096302e-01 -5.50534135e-01 3.49960738e+01] [ 7.15970941e-01 -3.27433159e-02 6.97361805e-01 3.21705850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530371743 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:53.09, Y:34.96, Z:32.14 [[-4.75886553e-01 -7.38670720e-01 4.77386172e-01 5.30909565e+01] [ 5.34559972e-01 -6.73950180e-01 -5.09938026e-01 3.49639108e+01] [ 6.98410785e-01 1.25188892e-02 7.15587627e-01 3.21374858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560371743 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:53.09, Y:35.02, Z:32.15 [[-0.47828531 -0.78084478 0.40190121 53.09144752] [ 0.51406165 -0.61997275 -0.59276843 35.0219639 ] [ 0.71202794 -0.07691044 0.69792621 32.145548 ] [ 0. 0. 0. 1. ]] SLAMing on 145.590371743 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:53.09, Y:34.96, Z:32.14 [[-4.72727944e-01 -7.42556587e-01 4.74487098e-01 5.30893006e+01] [ 5.38437525e-01 -6.69643871e-01 -5.11529196e-01 3.49613876e+01] [ 6.97576751e-01 1.36675140e-02 7.16379701e-01 3.21382967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620371743 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:53.10, Y:35.00, Z:32.12 [[-4.71572193e-01 -7.72398933e-01 4.25463929e-01 5.30971315e+01] [ 5.41400753e-01 -6.34437245e-01 -5.51701555e-01 3.49958563e+01] [ 6.96063856e-01 -2.98206203e-02 7.17360327e-01 3.21246400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650371743 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:53.09, Y:35.01, Z:32.14 [[-0.47446864 -0.78205517 0.40406586 53.0920885 ] [ 0.51819983 -0.6192052 -0.5899609 35.0146255 ] [ 0.71158165 -0.07053108 0.6990543 32.14056385] [ 0. 0. 0. 1. ]] SLAMing on 145.680371743 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:53.08, Y:34.97, Z:32.15 [[-4.69938499e-01 -7.48169556e-01 4.68401669e-01 5.30821560e+01] [ 5.33176664e-01 -6.63500420e-01 -5.24871258e-01 3.49737690e+01] [ 7.03477400e-01 3.08362807e-03 7.10710939e-01 3.21516166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710371743 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:53.09, Y:35.00, Z:32.15 [[-4.73177995e-01 -7.71064107e-01 4.26101782e-01 5.30851281e+01] [ 5.17918072e-01 -6.34738479e-01 -5.73470081e-01 3.50016482e+01] [ 7.12645393e-01 -5.06676101e-02 6.99692316e-01 3.21494890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74037174299997 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:53.08, Y:34.98, Z:32.16 [[-4.72739340e-01 -7.52802983e-01 4.58044960e-01 5.30794618e+01] [ 5.17116285e-01 -6.57878988e-01 -5.47527155e-01 3.49794576e+01] [ 7.13518230e-01 -2.19751179e-02 7.00291960e-01 3.21581827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77037174299997 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:53.08, Y:34.98, Z:32.15 [[-4.73490623e-01 -7.52067933e-01 4.58476231e-01 5.30830531e+01] [ 5.16177837e-01 -6.58699868e-01 -5.47425725e-01 3.49759062e+01] [ 7.13699566e-01 -2.25456784e-02 7.00089010e-01 3.21524283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80037174299997 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:53.08, Y:34.98, Z:32.15 [[-4.74194299e-01 -7.51332963e-01 4.58953751e-01 5.30842215e+01] [ 5.15180059e-01 -6.59518161e-01 -5.47380400e-01 3.49755458e+01] [ 7.13953272e-01 -2.31208450e-02 6.99811512e-01 3.21505190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83037174299997 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:53.08, Y:34.98, Z:32.15 [[-4.72005657e-01 -7.49882942e-01 4.63558231e-01 5.30840800e+01] [ 5.22061159e-01 -6.61459071e-01 -5.38445953e-01 3.49781187e+01] [ 7.10396232e-01 -1.21437885e-02 7.03697180e-01 3.21492124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86037174299997 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:53.08, Y:35.00, Z:32.16 [[-4.76162447e-01 -7.58787407e-01 4.44422090e-01 5.30783688e+01] [ 5.11364404e-01 -6.50086543e-01 -5.62044422e-01 3.49975427e+01] [ 7.15385050e-01 -4.03628104e-02 6.97563670e-01 3.21586987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89037174299997 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:53.09, Y:34.97, Z:32.15 [[-4.76329841e-01 -7.48434380e-01 4.61471409e-01 5.30874864e+01] [ 5.09608173e-01 -6.62690235e-01 -5.48763304e-01 3.49724407e+01] [ 7.16525919e-01 -2.62227360e-02 6.97067411e-01 3.21450282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92037174299998 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:53.09, Y:34.97, Z:32.15 [[-4.78563560e-01 -7.46634875e-01 4.62074974e-01 5.30867571e+01] [ 5.06975169e-01 -6.64627416e-01 -5.48859341e-01 3.49729452e+01] [ 7.16905221e-01 -2.84035419e-02 6.96591805e-01 3.21460410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95037174299998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:53.09, Y:34.97, Z:32.14 [[-4.79710146e-01 -7.45710154e-01 4.62379219e-01 5.30880190e+01] [ 5.05936172e-01 -6.65628706e-01 -5.48604608e-01 3.49725231e+01] [ 7.16872908e-01 -2.92368247e-02 6.96590584e-01 3.21449177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98037174299998 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:53.08, Y:34.97, Z:32.15 [[-4.81984599e-01 -7.30325177e-01 4.84061961e-01 5.30754376e+01] [ 5.31912282e-01 -6.82908794e-01 -5.00704407e-01 3.49696490e+01] [ 6.96247205e-01 1.61466897e-02 7.17620453e-01 3.21528539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01037174299998 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:53.10, Y:35.01, Z:32.13 [[-0.4855713 -0.77359844 0.40714366 53.10141341] [ 0.50454475 -0.62833459 -0.59214039 35.01019581] [ 0.71390133 -0.08210419 0.69541627 32.12689945] [ 0. 0. 0. 1. ]] SLAMing on 146.04037174299998 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:53.09, Y:34.97, Z:32.14 [[-4.84069058e-01 -7.42810326e-01 4.62504018e-01 5.30904296e+01] [ 5.02800431e-01 -6.68707859e-01 -5.47742207e-01 3.49734710e+01] [ 7.16148639e-01 -3.25978342e-02 6.97186135e-01 3.21438502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07037174299998 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:53.08, Y:34.98, Z:32.16 [[-4.86136812e-01 -7.41320387e-01 4.62725711e-01 5.30825823e+01] [ 5.01094006e-01 -6.70277539e-01 -5.47387266e-01 3.49826381e+01] [ 7.15943990e-01 -3.42360201e-02 6.97317788e-01 3.21567786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10037174299998 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:53.09, Y:34.97, Z:32.14 [[-4.88610187e-01 -7.39623572e-01 4.62835886e-01 5.30926675e+01] [ 4.99253468e-01 -6.72049395e-01 -5.46896321e-01 3.49720078e+01] [ 7.15545988e-01 -3.61466923e-02 6.97629813e-01 3.21413660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13037174299998 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:53.09, Y:34.97, Z:32.14 [[-4.89512855e-01 -7.38683816e-01 4.63382547e-01 5.30926624e+01] [ 4.97897324e-01 -6.73035412e-01 -5.46920093e-01 3.49721023e+01] [ 7.15873885e-01 -3.70074863e-02 6.97248182e-01 3.21420362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16037174299998 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:53.09, Y:34.95, Z:32.13 [[-4.90124243e-01 -7.24488953e-01 4.84658625e-01 5.30945029e+01] [ 5.21061670e-01 -6.89261942e-01 -5.03401143e-01 3.49527442e+01] [ 6.98765312e-01 5.80792875e-03 7.15327412e-01 3.21280103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190371743 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:53.11, Y:35.00, Z:32.12 [[-0.49168001 -0.76687268 0.412501 53.10775916] [ 0.49714597 -0.6361392 -0.5900617 35.00344577] [ 0.71491024 -0.08504833 0.69402458 32.1205336 ] [ 0. 0. 0. 1. ]] SLAMing on 146.220371743 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:53.10, Y:34.95, Z:32.12 [[-4.89031885e-01 -7.27807507e-01 4.80774425e-01 5.31000521e+01] [ 5.15148280e-01 -6.85771164e-01 -5.14140214e-01 3.49531637e+01] [ 7.03896345e-01 -3.76083995e-03 7.10292751e-01 3.21225355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250371743 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:53.12, Y:34.98, Z:32.10 [[-0.48730904 -0.76129349 0.42774072 53.11807138] [ 0.506501 -0.64544099 -0.57171904 34.98251883] [ 0.71132738 -0.06195275 0.70012515 32.1015231 ] [ 0. 0. 0. 1. ]] SLAMing on 146.280371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:53.10, Y:34.98, Z:32.13 [[-4.89696594e-01 -7.44005412e-01 4.54591237e-01 5.30990982e+01] [ 5.06088470e-01 -6.67112957e-01 -5.46657811e-01 3.49788909e+01] [ 7.09980075e-01 -3.76330844e-02 7.03215504e-01 3.21289222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310371743 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:53.10, Y:34.98, Z:32.13 [[-4.90498474e-01 -7.45330793e-01 4.51545409e-01 5.30994964e+01] [ 5.04628918e-01 -6.65372548e-01 -5.50117285e-01 3.49809501e+01] [ 7.10465272e-01 -4.19688179e-02 7.02479691e-01 3.21290856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340371743 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:53.10, Y:34.98, Z:32.13 [[-0.49210939 -0.74757486 0.44604952 53.10121778] [ 0.49341284 -0.6616624 -0.56457651 34.98444609] [ 0.71719741 -0.05774684 0.69447331 32.1316013 ] [ 0. 0. 0. 1. ]] SLAMing on 146.370371743 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:53.09, Y:34.96, Z:32.13 [[-4.92927659e-01 -7.21764971e-01 4.85878224e-01 5.30948960e+01] [ 5.15452598e-01 -6.92136799e-01 -5.05227940e-01 3.49557177e+01] [ 7.00950028e-01 1.40636661e-03 7.13209002e-01 3.21294829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400371743 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:53.11, Y:34.98, Z:32.10 [[-4.94059857e-01 -7.51889094e-01 4.36540545e-01 5.31143759e+01] [ 5.15425740e-01 -6.57652880e-01 -5.49389658e-01 3.49780016e+01] [ 7.00172239e-01 -4.64271417e-02 7.12462881e-01 3.20994222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430371743 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:53.11, Y:35.00, Z:32.12 [[-0.49692487 -0.75989378 0.41907889 53.1095885 ] [ 0.49174653 -0.6444823 -0.58551509 34.99831753] [ 0.7150182 -0.08487642 0.69393441 32.11793442] [ 0. 0. 0. 1. ]] SLAMing on 146.460371743 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:53.10, Y:34.97, Z:32.13 [[-4.97320017e-01 -7.31602441e-01 4.66294616e-01 5.31001332e+01] [ 4.87882440e-01 -6.80275567e-01 -5.46988004e-01 3.49665328e+01] [ 7.17386594e-01 -4.45311286e-02 6.95250641e-01 3.21318912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49037174299997 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:53.10, Y:34.97, Z:32.14 [[-4.98572546e-01 -7.30434985e-01 4.66787050e-01 5.30974952e+01] [ 4.86286688e-01 -6.81451605e-01 -5.46945124e-01 3.49694987e+01] [ 7.17600637e-01 -4.56994945e-02 6.94953870e-01 3.21360321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52037174299997 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:53.10, Y:34.96, Z:32.13 [[-4.99705209e-01 -7.24494284e-01 4.74765981e-01 5.30992618e+01] [ 4.93954858e-01 -6.88593344e-01 -5.30893402e-01 3.49617423e+01] [ 7.11549930e-01 -3.07772361e-02 7.01961152e-01 3.21283122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55037174299997 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:52.84, Y:35.28, Z:32.53 [[-0.50297592 -0.73465506 0.45529898 52.84363338] [ 0.47854366 -0.67538222 -0.56111926 35.2767717 ] [ 0.71972994 -0.06434903 0.69126551 32.52822001] [ 0. 0. 0. 1. ]] SLAMing on 146.58037174299997 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:53.09, Y:34.97, Z:32.14 [[-5.00264108e-01 -7.21822884e-01 4.78233778e-01 5.30893550e+01] [ 4.91219804e-01 -6.91423048e-01 -5.29752086e-01 3.49682143e+01] [ 7.13049035e-01 -3.00980520e-02 7.00467830e-01 3.21421216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61037174299997 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:53.11, Y:34.97, Z:32.11 [[-5.01337657e-01 -7.33659933e-01 4.58697783e-01 5.31050914e+01] [ 4.97954531e-01 -6.78183457e-01 -5.40470613e-01 3.49655806e+01] [ 7.07602882e-01 -4.25476313e-02 7.05328193e-01 3.21124056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64037174299997 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:53.10, Y:34.98, Z:32.12 [[-0.50221544 -0.74199022 0.44410603 53.10207735] [ 0.48184615 -0.66657001 -0.56877826 34.97801329] [ 0.71805567 -0.07165844 0.69228688 32.12284244] [ 0. 0. 0. 1. ]] SLAMing on 146.67037174299998 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:53.09, Y:34.95, Z:32.13 [[-4.99574561e-01 -7.20981773e-01 4.80219263e-01 5.30939447e+01] [ 4.95526143e-01 -6.92540278e-01 -5.24253569e-01 3.49542136e+01] [ 7.10548449e-01 -2.39425475e-02 7.03240823e-01 3.21284895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70037174299998 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:53.10, Y:34.96, Z:32.11 [[-4.97667409e-01 -7.41202307e-01 4.50495604e-01 5.31036195e+01] [ 4.98819621e-01 -6.69474878e-01 -5.50438347e-01 3.49637246e+01] [ 7.09581663e-01 -4.92191791e-02 7.02902082e-01 3.21062325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73037174299998 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:53.10, Y:34.96, Z:32.11 [[-4.96637683e-01 -7.40124916e-01 4.53394001e-01 5.30999558e+01] [ 5.01901175e-01 -6.71064444e-01 -5.45680971e-01 3.49620679e+01] [ 7.08128676e-01 -4.34467509e-02 7.04745456e-01 3.21079378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76037174299998 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:53.10, Y:34.97, Z:32.11 [[-0.49724969 -0.75131397 0.43390098 53.10475473] [ 0.48624047 -0.65551491 -0.5778152 34.96784207] [ 0.71854919 -0.07633821 0.69127385 32.10517429] [ 0. 0. 0. 1. ]] SLAMing on 146.79037174299998 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:53.09, Y:34.93, Z:32.11 [[-4.93158023e-01 -7.25783828e-01 4.79617555e-01 5.30934264e+01] [ 5.04321167e-01 -6.87745177e-01 -5.22175001e-01 3.49331595e+01] [ 7.08840831e-01 -1.56335064e-02 7.05195199e-01 3.21129797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82037174299998 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:53.10, Y:34.95, Z:32.10 [[-4.94032414e-01 -7.44746264e-01 4.48647942e-01 5.31009846e+01] [ 5.07177216e-01 -6.65979836e-01 -5.47030283e-01 3.49484791e+01] [ 7.06189242e-01 -4.27066771e-02 7.06733963e-01 3.20966171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85037174299998 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:53.10, Y:34.95, Z:32.10 [[-4.94190625e-01 -7.47350890e-01 4.44119661e-01 5.30974210e+01] [ 5.05748399e-01 -6.62667807e-01 -5.52349467e-01 3.49505711e+01] [ 7.07102668e-01 -4.83531207e-02 7.05455734e-01 3.21000655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88037174299998 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:53.10, Y:34.95, Z:32.10 [[-4.94587829e-01 -7.45024056e-01 4.47573498e-01 5.30958643e+01] [ 5.02040365e-01 -6.65263654e-01 -5.52611746e-01 3.49471059e+01] [ 7.09463425e-01 -4.86150816e-02 7.03063455e-01 3.21038042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91037174299998 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:53.10, Y:34.94, Z:32.10 [[-4.94882925e-01 -7.41654374e-01 4.52813074e-01 5.30974792e+01] [ 5.00799888e-01 -6.69280498e-01 -5.48874382e-01 3.49391647e+01] [ 7.10134046e-01 -4.48598230e-02 7.02635918e-01 3.21017170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:53.09, Y:34.95, Z:32.12 [[-0.49743976 -0.74196873 0.44948425 53.08735685] [ 0.48884848 -0.66778944 -0.56132381 34.94954487] [ 0.71664555 -0.05949509 0.69489531 32.11983025] [ 0. 0. 0. 1. ]] SLAMing on 146.970371743 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:53.09, Y:34.93, Z:32.11 [[-4.95917675e-01 -7.27390262e-01 4.74309040e-01 5.30902809e+01] [ 4.95647533e-01 -6.85597038e-01 -5.33188733e-01 3.49254145e+01] [ 7.13021165e-01 -2.93276113e-02 7.00528878e-01 3.21138274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000371743 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:53.10, Y:34.93, Z:32.10 [[-0.4985988 -0.73850665 0.45388012 53.0979358 ] [ 0.48612157 -0.6717416 -0.55897141 34.93192928] [ 0.71769427 -0.05806156 0.69393357 32.10238366] [ 0. 0. 0. 1. ]] SLAMing on 147.030371743 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:53.10, Y:34.91, Z:32.10 [[-4.96335465e-01 -7.21304475e-01 4.83084837e-01 5.30975841e+01] [ 5.05004588e-01 -6.92518758e-01 -5.15158361e-01 3.49079323e+01] [ 7.06131342e-01 -1.17313059e-02 7.07983689e-01 3.20978885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:53.10, Y:34.95, Z:32.09 [[-0.49820635 -0.75100435 0.43333924 53.10262913] [ 0.48711165 -0.65588433 -0.57666107 34.94575233] [ 0.71729539 -0.07621162 0.6925887 32.09454378] [ 0. 0. 0. 1. ]] SLAMing on 147.090371743 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:53.10, Y:34.92, Z:32.11 [[-4.94603798e-01 -7.30383828e-01 4.71069578e-01 5.30957939e+01] [ 4.87569807e-01 -6.81863421e-01 -5.45287043e-01 3.49190653e+01] [ 7.19473951e-01 -4.00217398e-02 6.93365340e-01 3.21074707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120371743 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:53.09, Y:34.91, Z:32.11 [[-4.93342522e-01 -7.23844100e-01 4.82351401e-01 5.30904345e+01] [ 5.05381694e-01 -6.89860062e-01 -5.18345868e-01 3.49144849e+01] [ 7.07956566e-01 -1.19504899e-02 7.06154860e-01 3.21090213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:53.10, Y:34.93, Z:32.09 [[-4.92464426e-01 -7.45949872e-01 4.48372142e-01 5.31012672e+01] [ 5.07987923e-01 -6.64674139e-01 -5.47865457e-01 3.49315918e+01] [ 7.06701535e-01 -4.20366148e-02 7.06261894e-01 3.20884000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180371743 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:53.10, Y:34.94, Z:32.09 [[-0.49318886 -0.75137105 0.43841338 53.10024637] [ 0.49281128 -0.65661774 -0.5709555 34.93544201] [ 0.71686944 -0.06553384 0.69412068 32.09398243] [ 0. 0. 0. 1. ]] SLAMing on 147.210371743 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:53.10, Y:34.91, Z:32.10 [[-4.91360473e-01 -7.32680820e-01 4.70896700e-01 5.30985271e+01] [ 4.92712495e-01 -6.79672523e-01 -5.43396411e-01 3.49077535e+01] [ 7.18191676e-01 -3.49868291e-02 6.94965207e-01 3.20992216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24037174299997 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:53.09, Y:34.91, Z:32.11 [[-4.91242946e-01 -7.32751128e-01 4.70909920e-01 5.30933909e+01] [ 4.93423845e-01 -6.79632292e-01 -5.42800937e-01 3.49127288e+01] [ 7.17783587e-01 -3.42889478e-02 6.95421448e-01 3.21068657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27037174299997 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:53.10, Y:34.90, Z:32.09 [[-4.89948811e-01 -7.28219509e-01 4.79214472e-01 5.30990356e+01] [ 5.07306414e-01 -6.85221812e-01 -5.22600488e-01 3.48995064e+01] [ 7.08936080e-01 -1.29389119e-02 7.05154040e-01 3.20935117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30037174299997 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:53.10, Y:34.92, Z:32.09 [[-4.91701657e-01 -7.42707607e-01 4.54549107e-01 5.30999098e+01] [ 5.08245067e-01 -6.68655347e-01 -5.42758675e-01 3.49200076e+01] [ 7.07047688e-01 -3.58529986e-02 7.06256419e-01 3.20880696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33037174299997 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:53.10, Y:34.92, Z:32.09 [[-4.93804281e-01 -7.40788288e-01 4.55400971e-01 5.31004785e+01] [ 5.08353761e-01 -6.70818838e-01 -5.39980130e-01 3.49193754e+01] [ 7.05502506e-01 -3.51397036e-02 7.07835726e-01 3.20861827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36037174299997 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:53.10, Y:34.93, Z:32.09 [[-0.49617742 -0.74857728 0.43981817 53.10381007] [ 0.49034759 -0.65965949 -0.56956879 34.92807239] [ 0.71649648 -0.06694339 0.69437121 32.08673806] [ 0. 0. 0. 1. ]] SLAMing on 147.39037174299997 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:53.10, Y:34.89, Z:32.08 [[-4.95118155e-01 -7.20582737e-01 4.85405533e-01 5.31045688e+01] [ 5.06204351e-01 -6.93320109e-01 -5.12898022e-01 3.48895342e+01] [ 7.06126878e-01 -8.23073029e-03 7.08037490e-01 3.20839418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42037174299998 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:53.11, Y:34.92, Z:32.08 [[-4.96867457e-01 -7.42527254e-01 4.49194843e-01 5.31070121e+01] [ 5.04721641e-01 -6.68316259e-01 -5.46451685e-01 3.49205852e+01] [ 7.05959486e-01 -4.47957012e-02 7.06834174e-01 3.20767804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45037174299998 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:53.11, Y:34.92, Z:32.08 [[-4.99490086e-01 -7.40346376e-01 4.49885427e-01 5.31074556e+01] [ 4.99049432e-01 -6.70380788e-01 -5.49125908e-01 3.49219892e+01] [ 7.08137924e-01 -4.97678803e-02 7.04317996e-01 3.20792581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48037174299998 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:53.11, Y:34.92, Z:32.08 [[-5.02107347e-01 -7.35055780e-01 4.55610813e-01 5.31096622e+01] [ 4.98690010e-01 -6.76520214e-01 -5.41875146e-01 3.49161508e+01] [ 7.06538383e-01 -4.48709306e-02 7.06250744e-01 3.20768743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51037174299998 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:53.11, Y:34.92, Z:32.07 [[-5.03836777e-01 -7.37113492e-01 4.50346757e-01 5.31127111e+01] [ 4.96421865e-01 -6.73747494e-01 -5.47384369e-01 3.49181169e+01] [ 7.06904402e-01 -5.22303989e-02 7.05378020e-01 3.20730494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54037174299998 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:53.11, Y:34.92, Z:32.08 [[-5.04486380e-01 -7.33982881e-01 4.54711581e-01 5.31124367e+01] [ 4.95904001e-01 -6.77427412e-01 -5.43296717e-01 3.49155138e+01] [ 7.06804580e-01 -4.85925016e-02 7.05737951e-01 3.20756176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57037174299998 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:53.12, Y:34.91, Z:32.07 [[-5.05494659e-01 -7.35249294e-01 4.51534744e-01 5.31162203e+01] [ 4.96578146e-01 -6.75869286e-01 -5.44619917e-01 3.49144586e+01] [ 7.05609875e-01 -5.10801732e-02 7.06757045e-01 3.20706904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60037174299998 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:53.11, Y:34.92, Z:32.08 [[-5.06148244e-01 -7.33587177e-01 4.53501719e-01 5.31149684e+01] [ 4.96085354e-01 -6.77774881e-01 -5.42697459e-01 3.49151683e+01] [ 7.05487971e-01 -4.97098048e-02 7.06976420e-01 3.20757972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63037174299998 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:53.12, Y:34.92, Z:32.07 [[-0.5085891 -0.73769005 0.44401635 53.118982 ] [ 0.48128941 -0.67117613 -0.56381124 34.91633596] [ 0.71393112 -0.07304789 0.69639527 32.07482849] [ 0. 0. 0. 1. ]] SLAMing on 147.66037174299998 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:53.11, Y:34.90, Z:32.08 [[-5.07848534e-01 -7.20264198e-01 4.72556189e-01 5.31149758e+01] [ 4.79447596e-01 -6.92073961e-01 -5.39595807e-01 3.48978618e+01] [ 7.15695374e-01 -4.74670106e-02 6.96797685e-01 3.20846874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690371743 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:53.12, Y:34.89, Z:32.07 [[-5.04205283e-01 -7.20036974e-01 4.76784846e-01 5.31229191e+01] [ 4.88569412e-01 -6.93087467e-01 -5.30028012e-01 3.48911979e+01] [ 7.12093367e-01 -3.43004318e-02 7.01246403e-01 3.20719085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720371743 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:53.12, Y:34.91, Z:32.08 [[-0.50897822 -0.73002637 0.45607309 53.1180072 ] [ 0.47802535 -0.68034548 -0.55553738 34.91286513] [ 0.71584421 -0.06474193 0.69525215 32.07930071] [ 0. 0. 0. 1. ]] SLAMing on 147.750371743 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:53.12, Y:34.89, Z:32.07 [[-5.05885556e-01 -7.15682588e-01 4.81537368e-01 5.31221336e+01] [ 4.86649591e-01 -6.97709995e-01 -5.25711840e-01 3.48933686e+01] [ 7.12216245e-01 -3.16100635e-02 7.01248048e-01 3.20729737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780371743 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:53.12, Y:34.92, Z:32.08 [[-0.50963441 -0.73037495 0.45478038 53.11602729] [ 0.47387164 -0.67945277 -0.56016926 34.92089152] [ 0.71813539 -0.069974 0.69237649 32.08303081] [ 0. 0. 0. 1. ]] SLAMing on 147.810371743 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:53.12, Y:34.90, Z:32.08 [[-5.06014572e-01 -7.13603919e-01 4.84477759e-01 5.31186761e+01] [ 4.84872320e-01 -6.99886244e-01 -5.24459797e-01 3.48995742e+01] [ 7.13335886e-01 -3.04744444e-02 7.00159426e-01 3.20791318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840371743 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:53.13, Y:34.91, Z:32.06 [[-5.06768800e-01 -7.28330930e-01 4.61215177e-01 5.31273369e+01] [ 4.86369285e-01 -6.83275345e-01 -5.44591334e-01 3.49116084e+01] [ 7.11779672e-01 -5.16610015e-02 7.00500420e-01 3.20637210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870371743 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:53.13, Y:34.91, Z:32.05 [[-0.50727928 -0.73193657 0.45490283 53.13335519] [ 0.48627018 -0.67891228 -0.55010855 34.91182745] [ 0.71148369 -0.05785299 0.70031707 32.054267 ] [ 0. 0. 0. 1. ]] SLAMing on 147.900371743 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:53.13, Y:34.91, Z:32.07 [[-5.05436125e-01 -7.26000209e-01 4.66323942e-01 5.31260785e+01] [ 4.86107024e-01 -6.86093686e-01 -5.41272034e-01 3.49099565e+01] [ 7.12905523e-01 -4.68950959e-02 6.99690336e-01 3.20669278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930371743 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:53.13, Y:34.91, Z:32.06 [[-0.50607691 -0.73072931 0.45817118 53.12900527] [ 0.48616869 -0.68047088 -0.54826945 34.91409622] [ 0.7124087 -0.05471802 0.69962832 32.06197748] [ 0. 0. 0. 1. ]] SLAMing on 147.960371743 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:53.13, Y:34.92, Z:32.07 [[-5.05680560e-01 -7.30735763e-01 4.58598316e-01 5.31256877e+01] [ 4.87540670e-01 -6.80602704e-01 -5.46885779e-01 3.49173928e+01] [ 7.11752251e-01 -5.29641763e-02 7.00430960e-01 3.20666083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99037174299997 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:53.14, Y:34.90, Z:32.05 [[-5.05170921e-01 -7.29205710e-01 4.61585716e-01 5.31361459e+01] [ 4.91225575e-01 -6.82711583e-01 -5.40927286e-01 3.49022623e+01] [ 7.09577180e-01 -4.65180263e-02 7.03090533e-01 3.20492844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02037174299997 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:53.14, Y:34.91, Z:32.04 [[-5.04972145e-01 -7.34691869e-01 4.53024271e-01 5.31393017e+01] [ 4.94987738e-01 -6.76471435e-01 -5.45319664e-01 3.49069001e+01] [ 7.07099902e-01 -5.11297812e-02 7.05262698e-01 3.20436140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05037174299997 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:53.14, Y:34.91, Z:32.05 [[-5.04427091e-01 -7.36202499e-01 4.51175343e-01 5.31379537e+01] [ 4.95239603e-01 -6.74712855e-01 -5.47266205e-01 3.49101544e+01] [ 7.07312551e-01 -5.26160021e-02 7.04940077e-01 3.20489430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08037174299997 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:53.14, Y:34.91, Z:32.05 [[-0.50690935 -0.73965481 0.44266655 53.14009343] [ 0.47800811 -0.66854541 -0.56969754 34.9112761 ] [ 0.71732221 -0.0771868 0.69245292 32.05175773] [ 0. 0. 0. 1. ]] SLAMing on 148.11037174299997 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:53.14, Y:34.88, Z:32.05 [[-5.01084733e-01 -7.19496181e-01 4.80873514e-01 5.31440072e+01] [ 4.88681762e-01 -6.93846199e-01 -5.28930608e-01 3.48772345e+01] [ 7.14215812e-01 -3.00449362e-02 6.99280399e-01 3.20485836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14037174299997 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:53.14, Y:34.89, Z:32.05 [[-5.04346548e-01 -7.25560319e-01 4.68184561e-01 5.31401864e+01] [ 4.95330177e-01 -6.87210754e-01 -5.31403232e-01 3.48924067e+01] [ 7.07306564e-01 -3.61054444e-02 7.05984293e-01 3.20498531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17037174299998 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:53.15, Y:34.91, Z:32.05 [[-0.50813546 -0.73801623 0.4439937 53.14510057] [ 0.47860083 -0.67054148 -0.56684687 34.90728742] [ 0.71605838 -0.07553924 0.69394108 32.04805958] [ 0. 0. 0. 1. ]] SLAMing on 148.20037174299998 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:53.14, Y:34.88, Z:32.06 [[-5.05305979e-01 -7.14532155e-01 4.83848805e-01 5.31409749e+01] [ 4.90194261e-01 -6.99125299e-01 -5.20512634e-01 3.48823460e+01] [ 7.10193955e-01 -2.58382389e-02 7.03531756e-01 3.20558946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23037174299998 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:53.14, Y:34.91, Z:32.06 [[-0.5102473 -0.73023285 0.45432111 53.14356751] [ 0.47537681 -0.6797004 -0.55859132 34.90530468] [ 0.71670397 -0.06904599 0.69395106 32.05536417] [ 0. 0. 0. 1. ]] SLAMing on 148.26037174299998 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:53.14, Y:34.89, Z:32.07 [[-5.07650930e-01 -7.12757035e-01 4.84012337e-01 5.31353312e+01] [ 4.84222081e-01 -7.00697568e-01 -5.23976998e-01 3.48949705e+01] [ 7.12614559e-01 -3.16279493e-02 7.00842467e-01 3.20706109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29037174299998 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:53.13, Y:34.92, Z:32.07 [[-0.51076781 -0.72365103 0.464161 53.13455484] [ 0.48146211 -0.68806357 -0.54292058 34.91729492] [ 0.71225732 -0.05383042 0.69985127 32.07246764] [ 0. 0. 0. 1. ]] SLAMing on 148.32037174299998 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:53.14, Y:34.91, Z:32.07 [[-0.5135825 -0.72398091 0.46052649 53.13969443] [ 0.47001999 -0.6864069 -0.5549115 34.91376529] [ 0.7178539 -0.06853618 0.69281208 32.06838121] [ 0. 0. 0. 1. ]] SLAMing on 148.35037174299998 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:53.15, Y:34.89, Z:32.06 [[-5.12949283e-01 -7.07674938e-01 4.85879836e-01 5.31479060e+01] [ 4.78889792e-01 -7.05661487e-01 -5.22213014e-01 3.48882756e+01] [ 7.12423750e-01 -3.51858974e-02 7.00866858e-01 3.20568319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38037174299998 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:53.15, Y:34.90, Z:32.05 [[-0.51513383 -0.71922718 0.46620747 53.15089014] [ 0.47944144 -0.69266906 -0.53883716 34.90362726] [ 0.71047382 -0.05405407 0.70164458 32.05117311] [ 0. 0. 0. 1. ]] SLAMing on 148.41037174299998 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:53.16, Y:34.90, Z:32.04 [[-0.51591964 -0.71960628 0.46475126 53.15584204] [ 0.48130877 -0.69230349 -0.53764091 34.90111525] [ 0.70863869 -0.05369064 0.70352578 32.04281083] [ 0. 0. 0. 1. ]] SLAMing on 148.440371743 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:53.15, Y:34.91, Z:32.05 [[-0.5174612 -0.72125437 0.46046286 53.15499277] [ 0.48011252 -0.69014287 -0.54147464 34.90807324] [ 0.70832611 -0.05911813 0.70340541 32.04641346] [ 0. 0. 0. 1. ]] SLAMing on 148.470371743 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:53.15, Y:34.91, Z:32.05 [[-5.18088291e-01 -7.18750246e-01 4.63662169e-01 5.31540030e+01] [ 4.83449959e-01 -6.93264686e-01 -5.34471900e-01 3.49065738e+01] [ 7.05592417e-01 -5.27461771e-02 7.06652094e-01 3.20473262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500371743 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:53.16, Y:34.91, Z:32.04 [[-0.51827696 -0.72233538 0.4578434 53.15819105] [ 0.48526936 -0.6892162 -0.5380471 34.90774918] [ 0.70420355 -0.05668005 0.7077321 32.04164288] [ 0. 0. 0. 1. ]] SLAMing on 148.530371743 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:53.17, Y:34.91, Z:32.04 [[-0.51982421 -0.72932275 0.44482706 53.16529192] [ 0.46857548 -0.67881112 -0.56537818 34.91130994] [ 0.71429672 -0.08546221 0.69460521 32.04067203] [ 0. 0. 0. 1. ]] SLAMing on 148.560371743 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:53.16, Y:34.89, Z:32.05 [[-5.17500531e-01 -7.08698163e-01 4.79520713e-01 5.31622899e+01] [ 4.67530347e-01 -7.03534532e-01 -5.35214477e-01 3.48861973e+01] [ 7.16664897e-01 -5.27832908e-02 6.95417392e-01 3.20486031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590371743 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:53.16, Y:34.89, Z:32.05 [[-5.17511797e-01 -7.08453659e-01 4.79869725e-01 5.31598638e+01] [ 4.67382784e-01 -7.03795509e-01 -5.35000201e-01 3.48898225e+01] [ 7.16753007e-01 -5.25860673e-02 6.95341522e-01 3.20529160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620371743 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:53.17, Y:34.87, Z:32.03 [[-5.15198062e-01 -7.01817724e-01 4.91958168e-01 5.31701398e+01] [ 4.86306127e-01 -7.12026072e-01 -5.06483192e-01 3.48730006e+01] [ 7.05745923e-01 -2.16968874e-02 7.08132712e-01 3.20322982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650371743 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:53.17, Y:34.91, Z:32.03 [[-0.51650698 -0.72600901 0.45401702 53.17257656] [ 0.48684865 -0.68516718 -0.54177886 34.90638978] [ 0.7044139 -0.05879499 0.70735013 32.02753608] [ 0. 0. 0. 1. ]] SLAMing on 148.680371743 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:53.18, Y:34.90, Z:32.02 [[-0.51696355 -0.72239654 0.45922971 53.17975012] [ 0.48698555 -0.68939942 -0.53625881 34.89797483] [ 0.70398421 -0.05358803 0.70819105 32.01878727] [ 0. 0. 0. 1. ]] SLAMing on 148.710371743 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:53.18, Y:34.91, Z:32.02 [[-0.5171567 -0.72516148 0.45463147 53.17837194] [ 0.4838885 -0.68586188 -0.5435489 34.90587178] [ 0.70597512 -0.06110902 0.70559537 32.02409486] [ 0. 0. 0. 1. ]] SLAMing on 148.74037174299997 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:53.18, Y:34.90, Z:32.02 [[-0.5185533 -0.72211621 0.45787625 53.18449758] [ 0.48306758 -0.68926718 -0.53995969 34.8995258 ] [ 0.70551271 -0.0588127 0.7062527 32.01756139] [ 0. 0. 0. 1. ]] SLAMing on 148.77037174299997 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:53.18, Y:34.90, Z:32.02 [[-5.19685466e-01 -7.18904866e-01 4.61630599e-01 5.31812961e+01] [ 4.85429407e-01 -6.93096598e-01 -5.32893420e-01 3.49008942e+01] [ 7.03054270e-01 -5.28478973e-02 7.09169791e-01 3.20216083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80037174299997 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:53.19, Y:34.90, Z:32.02 [[-0.52046367 -0.72215746 0.4556382 53.18550661] [ 0.4851271 -0.68920216 -0.53819335 34.90259337] [ 0.70268718 -0.05906765 0.70904284 32.016423 ] [ 0. 0. 0. 1. ]] SLAMing on 148.83037174299997 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:53.18, Y:34.91, Z:32.03 [[-0.52091436 -0.72128425 0.45650548 53.17900114] [ 0.48347627 -0.69004838 -0.5385944 34.9101164 ] [ 0.70349053 -0.05985199 0.70817993 32.02774535] [ 0. 0. 0. 1. ]] SLAMing on 148.86037174299997 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:53.18, Y:34.91, Z:32.03 [[-0.5226884 -0.72433432 0.44959608 53.18483833] [ 0.46341106 -0.68405292 -0.56331323 34.90901412] [ 0.71557461 -0.0860895 0.69321106 32.02755319] [ 0. 0. 0. 1. ]] SLAMing on 148.89037174299997 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:53.17, Y:34.89, Z:32.04 [[-5.20284641e-01 -6.98068780e-01 4.91938888e-01 5.31714576e+01] [ 4.80168008e-01 -7.15490508e-01 -5.07456419e-01 3.48912466e+01] [ 7.06217088e-01 -2.78084646e-02 7.07449018e-01 3.20426220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92037174299998 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:53.18, Y:34.91, Z:32.02 [[-0.52174645 -0.71763841 0.46127622 53.18488436] [ 0.48212273 -0.69411907 -0.53456188 34.905556 ] [ 0.70380276 -0.05651401 0.70814394 32.02170377] [ 0. 0. 0. 1. ]] SLAMing on 148.95037174299998 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:53.19, Y:34.90, Z:32.02 [[-0.52257609 -0.71734907 0.46078687 53.18899252] [ 0.48249848 -0.69440723 -0.53384813 34.90260756] [ 0.70292919 -0.0566473 0.70900045 32.01597703] [ 0. 0. 0. 1. ]] SLAMing on 148.98037174299998 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:53.19, Y:34.90, Z:32.01 [[-0.52318732 -0.71716071 0.46038631 53.19098345] [ 0.48435084 -0.69471637 -0.53176445 34.90173857] [ 0.70119847 -0.05522392 0.71082418 32.01295549] [ 0. 0. 0. 1. ]] SLAMing on 149.01037174299998 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:53.19, Y:34.90, Z:32.02 [[-0.52398446 -0.7154144 0.46219317 53.18917523] [ 0.48384838 -0.69661511 -0.52973403 34.90453095] [ 0.7009501 -0.05394098 0.71116758 32.0186024 ] [ 0. 0. 0. 1. ]] SLAMing on 149.04037174299998 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:53.19, Y:34.91, Z:32.02 [[-0.52544522 -0.72221664 0.44978933 53.19419922] [ 0.47968176 -0.68808155 -0.54447147 34.91407698] [ 0.7027181 -0.0703342 0.70798332 32.01671577] [ 0. 0. 0. 1. ]] SLAMing on 149.07037174299998 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:53.19, Y:34.91, Z:32.02 [[-0.52580941 -0.71641216 0.45856088 53.19248433] [ 0.47776899 -0.69477277 -0.53761286 34.90892979] [ 0.703748 -0.06359573 0.70759758 32.02023016] [ 0. 0. 0. 1. ]] SLAMing on 149.10037174299998 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:53.20, Y:34.90, Z:32.00 [[-0.52539708 -0.71495376 0.46130145 53.20196187] [ 0.4824598 -0.69690741 -0.5306153 34.8954671 ] [ 0.70084981 -0.05622433 0.71108957 32.00438811] [ 0. 0. 0. 1. ]] SLAMing on 149.13037174299998 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:53.20, Y:34.91, Z:32.01 [[-0.5283861 -0.72547483 0.44101518 53.20215987] [ 0.4604077 -0.68128493 -0.56910068 34.9107493 ] [ 0.71332522 -0.0976581 0.69399569 32.01391641] [ 0. 0. 0. 1. ]] SLAMing on 149.16037174299998 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:53.19, Y:34.89, Z:32.03 [[-0.52486138 -0.70069133 0.48327239 53.19053718] [ 0.45967519 -0.71118189 -0.53190134 34.88637096] [ 0.71639323 -0.05702615 0.69536232 32.03294122] [ 0. 0. 0. 1. ]] SLAMing on 149.190371743 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:53.20, Y:34.87, Z:32.02 [[-5.21505635e-01 -6.95205530e-01 4.94692980e-01 5.31964648e+01] [ 4.80511396e-01 -7.18389246e-01 -5.03016590e-01 3.48734860e+01] [ 7.05082032e-01 -2.46203713e-02 7.08698219e-01 3.20181357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220371743 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:53.20, Y:34.89, Z:32.00 [[-5.22380272e-01 -7.14640242e-01 4.65196922e-01 5.32049489e+01] [ 4.89917771e-01 -6.98050597e-01 -5.22212545e-01 3.48888912e+01] [ 6.97925089e-01 -4.48852916e-02 7.14762815e-01 3.20006929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250371743 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:53.21, Y:34.91, Z:32.01 [[-0.52383708 -0.73316534 0.43366264 53.20782307] [ 0.46635755 -0.67286899 -0.57424556 34.91048695] [ 0.71281509 -0.09856927 0.69439092 32.00666442] [ 0. 0. 0. 1. ]] SLAMing on 149.280371743 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:53.20, Y:34.86, Z:32.01 [[-5.17539583e-01 -6.92568218e-01 5.02495814e-01 5.31964885e+01] [ 4.94965500e-01 -7.21349642e-01 -4.84421147e-01 3.48624444e+01] [ 6.97969866e-01 -1.98902653e-03 7.16124368e-01 3.20122217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:53.21, Y:34.89, Z:31.99 [[-5.16741948e-01 -7.28958338e-01 4.48996103e-01 5.32123391e+01] [ 4.98213734e-01 -6.82532736e-01 -5.34726229e-01 3.48917061e+01] [ 6.96247682e-01 -5.26194484e-02 7.15870351e-01 3.19869583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340371743 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:53.21, Y:34.89, Z:31.99 [[-5.14603936e-01 -7.30400934e-01 4.49107186e-01 5.32117514e+01] [ 4.99951180e-01 -6.81132487e-01 -5.34890038e-01 3.48911261e+01] [ 6.96585678e-01 -5.07248515e-02 7.15678267e-01 3.19875528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370371743 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:53.21, Y:34.89, Z:31.98 [[-5.11721130e-01 -7.32440435e-01 4.49079609e-01 5.32134450e+01] [ 5.04705494e-01 -6.79276547e-01 -5.32781135e-01 3.48852226e+01] [ 6.95279692e-01 -4.59824183e-02 7.17266873e-01 3.19810011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400371743 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:53.21, Y:34.90, Z:31.99 [[-0.51221903 -0.74479567 0.42768104 53.21438012] [ 0.47823111 -0.66096437 -0.57829154 34.89733023] [ 0.71339097 -0.09168156 0.69474299 31.99037739] [ 0. 0. 0. 1. ]] SLAMing on 149.430371743 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:53.20, Y:34.86, Z:32.00 [[-5.07277523e-01 -7.13432400e-01 4.83408446e-01 5.32041929e+01] [ 4.79298160e-01 -6.99744880e-01 -5.29745577e-01 3.48552319e+01] [ 7.16200244e-01 -3.70312453e-02 6.96911686e-01 3.20037019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460371743 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:53.20, Y:34.85, Z:32.00 [[-5.06442883e-01 -7.13807168e-01 4.83730227e-01 5.32038584e+01] [ 4.80035854e-01 -6.99418582e-01 -5.29508476e-01 3.48530560e+01] [ 7.16296855e-01 -3.59579464e-02 6.96868597e-01 3.20022066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49037174299997 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:53.21, Y:34.85, Z:32.00 [[-5.05586128e-01 -7.13985358e-01 4.84363062e-01 5.32054949e+01] [ 4.80131123e-01 -6.99274912e-01 -5.29611841e-01 3.48492301e+01] [ 7.16838037e-01 -3.52066189e-02 6.96350287e-01 3.19988060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52037174299997 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:53.20, Y:34.85, Z:32.00 [[-5.05909276e-01 -7.13667729e-01 4.84493733e-01 5.32049616e+01] [ 4.80140482e-01 -6.99605162e-01 -5.29167020e-01 3.48452472e+01] [ 7.16603742e-01 -3.50854496e-02 6.96597508e-01 3.19966981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55037174299997 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.98 [[-5.06451548e-01 -6.95994610e-01 5.09017026e-01 5.32060212e+01] [ 5.15589489e-01 -7.17600444e-01 -4.68206238e-01 3.48221841e+01] [ 6.91139862e-01 2.53200539e-02 7.22277361e-01 3.19791978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58037174299997 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:53.21, Y:34.89, Z:31.98 [[-0.51102872 -0.75279901 0.41490155 53.21435131] [ 0.48076413 -0.65045099 -0.58803007 34.89008865] [ 0.71254158 -0.10103047 0.69431789 31.97546341] [ 0. 0. 0. 1. ]] SLAMing on 149.61037174299997 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:53.20, Y:34.84, Z:32.00 [[-5.09434741e-01 -7.11204231e-01 4.84422116e-01 5.32008322e+01] [ 4.77924003e-01 -7.01985903e-01 -5.28019355e-01 3.48423220e+01] [ 7.15587096e-01 -3.74744467e-02 6.97517580e-01 3.19973533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64037174299997 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:53.20, Y:34.84, Z:32.00 [[-5.10594785e-01 -7.10102699e-01 4.84816587e-01 5.32013734e+01] [ 4.76539334e-01 -7.03045341e-01 -5.27861262e-01 3.48408843e+01] [ 7.15683749e-01 -3.84890342e-02 6.97363152e-01 3.19961255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67037174299998 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:53.20, Y:34.84, Z:31.99 [[-5.14078774e-01 -7.07613270e-01 4.84774663e-01 5.32007424e+01] [ 4.73769377e-01 -7.05388073e-01 -5.27228835e-01 3.48378905e+01] [ 7.15028386e-01 -4.13657626e-02 6.97870534e-01 3.19944897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70037174299998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:53.20, Y:34.83, Z:31.99 [[-5.13795388e-01 -6.97497054e-01 4.99511921e-01 5.31985756e+01] [ 4.96952236e-01 -7.16580333e-01 -4.89439579e-01 3.48300165e+01] [ 6.99323083e-01 -3.23823224e-03 7.14798391e-01 3.19890045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73037174299998 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:53.21, Y:34.86, Z:31.97 [[-5.17026387e-01 -7.25164617e-01 4.54774663e-01 5.32060094e+01] [ 4.94516325e-01 -6.86715477e-01 -5.32799641e-01 3.48590683e+01] [ 6.98668247e-01 -5.05779783e-02 7.13655763e-01 3.19737726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76037174299998 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:53.20, Y:34.86, Z:31.98 [[-5.18273833e-01 -7.24215067e-01 4.54867862e-01 5.32002275e+01] [ 4.93094219e-01 -6.87616471e-01 -5.32955608e-01 3.48641195e+01] [ 6.98749115e-01 -5.19242321e-02 7.13479887e-01 3.19817866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79037174299998 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:53.20, Y:34.86, Z:31.98 [[-0.51981963 -0.72290715 0.45518436 53.20223149] [ 0.49089616 -0.68884573 -0.53339716 34.86084629] [ 0.69914842 -0.05382207 0.71294788 31.97876339] [ 0. 0. 0. 1. ]] SLAMing on 149.82037174299998 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:53.21, Y:34.85, Z:31.97 [[-0.52269062 -0.7201256 0.45630433 53.20879299] [ 0.48564383 -0.69141757 -0.53487552 34.85244751] [ 0.70067438 -0.05797303 0.71112203 31.96872069] [ 0. 0. 0. 1. ]] SLAMing on 149.85037174299998 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:53.21, Y:34.85, Z:31.97 [[-0.52291781 -0.71887932 0.45800599 53.20978511] [ 0.4853688 -0.69282939 -0.53329594 34.84993926] [ 0.70069543 -0.05656812 0.71121442 31.96744156] [ 0. 0. 0. 1. ]] SLAMing on 149.88037174299998 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:53.21, Y:34.86, Z:31.97 [[-0.52488907 -0.71782038 0.45741159 53.2060549 ] [ 0.48305696 -0.69368256 -0.53428502 34.85513933] [ 0.70081911 -0.05948452 0.71085453 31.97281899] [ 0. 0. 0. 1. ]] SLAMing on 149.91037174299998 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:53.21, Y:34.86, Z:31.97 [[-0.52611677 -0.71571144 0.45930195 53.20505339] [ 0.47911917 -0.69567997 -0.53523284 34.85507521] [ 0.70259943 -0.0615346 0.70891997 31.97486998] [ 0. 0. 0. 1. ]] SLAMing on 149.940371743 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:53.20, Y:34.85, Z:31.98 [[-0.52768072 -0.71039607 0.46571502 53.20144323] [ 0.47871156 -0.7016046 -0.52781268 34.85325495] [ 0.70170386 -0.05557341 0.71029803 31.97732222] [ 0. 0. 0. 1. ]] SLAMing on 149.970371743 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:53.20, Y:34.86, Z:31.97 [[-0.52798845 -0.71462617 0.4588438 53.20495428] [ 0.47719716 -0.69657937 -0.53577985 34.85545105] [ 0.70250343 -0.06392661 0.70880345 31.97183925] [ 0. 0. 0. 1. ]] SLAMing on 150.000371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:53.21, Y:34.85, Z:31.97 [[-0.52973904 -0.71535088 0.45568593 53.20707852] [ 0.45776023 -0.69343267 -0.55642314 34.84864162] [ 0.71402529 -0.08616416 0.69479754 31.97303771] [ 0. 0. 0. 1. ]] SLAMing on 150.030371743 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:53.20, Y:34.82, Z:31.98 [[-5.26095200e-01 -6.86938125e-01 5.01338062e-01 5.31994149e+01] [ 4.77877837e-01 -7.26433591e-01 -4.93889675e-01 3.48185856e+01] [ 7.03460456e-01 -2.02546381e-02 7.10445731e-01 3.19815774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060371743 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:53.21, Y:34.84, Z:31.97 [[-0.52698266 -0.71395989 0.46103205 53.20810889] [ 0.47837792 -0.69756205 -0.5334433 34.84410044] [ 0.70245558 -0.06056782 0.70914575 31.96538815] [ 0. 0. 0. 1. ]] SLAMing on 150.090371743 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:53.21, Y:34.84, Z:31.97 [[-0.52724426 -0.71913581 0.45261151 53.21076644] [ 0.46210873 -0.68967825 -0.5574939 34.84233148] [ 0.71307014 -0.08477973 0.69594783 31.96591303] [ 0. 0. 0. 1. ]] SLAMing on 150.120371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:53.21, Y:34.81, Z:31.97 [[-5.21754137e-01 -6.97795984e-01 4.90768159e-01 5.32089869e+01] [ 4.71762629e-01 -7.15316947e-01 -5.15520792e-01 3.48131299e+01] [ 7.10783119e-01 -3.74490289e-02 7.02413645e-01 3.19705026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150371743 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.96 [[-5.22692450e-01 -7.09649177e-01 4.72430575e-01 5.32129069e+01] [ 4.79649308e-01 -7.02923911e-01 -5.25199502e-01 3.48221703e+01] [ 7.04790141e-01 -4.79168163e-02 7.07795758e-01 3.19574034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180371743 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:53.20, Y:34.83, Z:31.98 [[-5.22765647e-01 -7.05883497e-01 4.77958750e-01 5.32000585e+01] [ 4.78455077e-01 -7.06985790e-01 -5.20818426e-01 3.48285949e+01] [ 7.05547176e-01 -4.35841913e-02 7.07321427e-01 3.19767765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210371743 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.96 [[-5.22297175e-01 -7.10305180e-01 4.71881565e-01 5.32079214e+01] [ 4.80106780e-01 -7.02254945e-01 -5.25676204e-01 3.48239159e+01] [ 7.04771694e-01 -4.80056578e-02 7.07808107e-01 3.19630868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24037174299997 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.95 [[-5.22037095e-01 -7.13465025e-01 4.67380926e-01 5.32122732e+01] [ 4.81998263e-01 -6.98861496e-01 -5.28460296e-01 3.48212307e+01] [ 7.03672471e-01 -5.05990830e-02 7.08720528e-01 3.19542531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27037174299997 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.96 [[-5.21660736e-01 -7.09311494e-01 4.74075184e-01 5.32089870e+01] [ 4.82773507e-01 -7.03573145e-01 -5.21454285e-01 3.48166412e+01] [ 7.03420086e-01 -4.31512873e-02 7.09463282e-01 3.19584477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30037174299997 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.96 [[-5.22046090e-01 -7.13937876e-01 4.66648251e-01 5.32068846e+01] [ 4.82353032e-01 -6.98351129e-01 -5.28811169e-01 3.48235175e+01] [ 7.03422656e-01 -5.09746045e-02 7.08941575e-01 3.19603269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33037174299997 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:53.21, Y:34.81, Z:31.95 [[-5.21468572e-01 -7.13184741e-01 4.68442156e-01 5.32126016e+01] [ 4.84296571e-01 -6.99381706e-01 -5.25663448e-01 3.48143713e+01] [ 7.02515024e-01 -4.72520377e-02 7.10098504e-01 3.19513178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36037174299997 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:53.21, Y:34.81, Z:31.95 [[-5.21135062e-01 -7.14529690e-01 4.66760720e-01 5.32144389e+01] [ 4.85526432e-01 -6.97977215e-01 -5.26395185e-01 3.48111320e+01] [ 7.01913336e-01 -4.76983201e-02 7.10663450e-01 3.19469489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39037174299997 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:53.21, Y:34.81, Z:31.95 [[-5.21769842e-01 -7.14629164e-01 4.65898476e-01 5.32109373e+01] [ 4.87087131e-01 -6.97922150e-01 -5.25024570e-01 3.48141853e+01] [ 7.00358736e-01 -4.70088345e-02 7.12241399e-01 3.19508361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42037174299998 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.95 [[-5.22300528e-01 -7.16349567e-01 4.62650469e-01 5.32089767e+01] [ 4.87105120e-01 -6.95931252e-01 -5.27644099e-01 3.48174516e+01] [ 6.99950542e-01 -5.02293791e-02 7.12422802e-01 3.19522429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45037174299998 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:53.21, Y:34.82, Z:31.96 [[-5.22693411e-01 -7.15372059e-01 4.63718035e-01 5.32059738e+01] [ 4.87817856e-01 -6.97061293e-01 -5.25489575e-01 3.48194020e+01] [ 6.99160452e-01 -4.84600006e-02 7.13320609e-01 3.19559257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48037174299998 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:53.22, Y:34.81, Z:31.94 [[-5.22729640e-01 -7.14692049e-01 4.64724648e-01 5.32161142e+01] [ 4.89009028e-01 -6.97907383e-01 -5.23254675e-01 3.48068381e+01] [ 6.98300719e-01 -4.62661798e-02 7.14307740e-01 3.19398090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51037174299998 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:53.22, Y:34.81, Z:31.94 [[-5.20954233e-01 -7.18236271e-01 4.61241094e-01 5.32176437e+01] [ 4.88796088e-01 -6.94005376e-01 -5.28616044e-01 3.48077263e+01] [ 6.99775015e-01 -4.99319236e-02 7.12616118e-01 3.19362601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54037174299998 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:53.21, Y:34.81, Z:31.94 [[-5.20182480e-01 -7.16620298e-01 4.64613320e-01 5.32144455e+01] [ 4.87961223e-01 -6.95850890e-01 -5.26958617e-01 3.48072920e+01] [ 7.00930833e-01 -4.74013564e-02 7.11652358e-01 3.19402554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57037174299998 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:53.22, Y:34.80, Z:31.93 [[-5.19429935e-01 -7.16529590e-01 4.65594125e-01 5.32182544e+01] [ 4.89145233e-01 -6.96088065e-01 -5.25545761e-01 3.48024214e+01] [ 7.00663603e-01 -4.52410536e-02 7.12056011e-01 3.19344333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60037174299998 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:53.22, Y:34.81, Z:31.94 [[-0.52108393 -0.7221974 0.45486531 53.21819662] [ 0.47055571 -0.68771348 -0.55283587 34.806512 ] [ 0.71207363 -0.07403442 0.69819055 31.93840065] [ 0. 0. 0. 1. ]] SLAMing on 150.63037174299998 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:53.21, Y:34.78, Z:31.95 [[-5.16716329e-01 -6.96292700e-01 4.98177390e-01 5.32119326e+01] [ 4.88665055e-01 -7.17641227e-01 -4.96182964e-01 3.47784974e+01] [ 7.03001208e-01 -1.29439579e-02 7.11070851e-01 3.19493869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66037174299998 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:53.22, Y:34.80, Z:31.94 [[-5.17002167e-01 -7.17263469e-01 4.67163650e-01 5.32164817e+01] [ 4.89675736e-01 -6.95466625e-01 -5.25874365e-01 3.48005417e+01] [ 7.02087198e-01 -4.31194823e-02 7.10784269e-01 3.19386089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690371743 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:53.22, Y:34.79, Z:31.93 [[-5.13774067e-01 -7.19762202e-01 4.66881763e-01 5.32234460e+01] [ 4.89693787e-01 -6.92869094e-01 -5.29275366e-01 3.47930696e+01] [ 7.04440347e-01 -4.32988586e-02 7.08441251e-01 3.19299318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720371743 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:53.22, Y:34.79, Z:31.94 [[-5.12706355e-01 -7.16891229e-01 4.72439582e-01 5.32180848e+01] [ 4.91633612e-01 -6.96261564e-01 -5.22987787e-01 3.47937379e+01] [ 7.03866880e-01 -3.58719836e-02 7.09425554e-01 3.19377958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750371743 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:53.21, Y:34.80, Z:31.95 [[-5.12448188e-01 -7.17148066e-01 4.72329870e-01 5.32089601e+01] [ 4.94431636e-01 -6.96129365e-01 -5.20520187e-01 3.48023386e+01] [ 7.02092738e-01 -3.32047962e-02 7.11310923e-01 3.19490256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:53.23, Y:34.78, Z:31.91 [[-5.09518545e-01 -7.20943565e-01 4.69713986e-01 5.32319775e+01] [ 4.99901995e-01 -6.92330029e-01 -5.20362495e-01 3.47808877e+01] [ 7.00349089e-01 -3.03233828e-02 7.13156116e-01 3.19143269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810371743 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:53.23, Y:34.78, Z:31.91 [[-5.09449749e-01 -7.23853076e-01 4.65293110e-01 5.32325838e+01] [ 4.99170869e-01 -6.89045189e-01 -5.25400011e-01 3.47848682e+01] [ 7.00920393e-01 -3.54041383e-02 7.12360267e-01 3.19136939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840371743 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:53.22, Y:34.80, Z:31.93 [[-0.51143785 -0.72916983 0.45468966 53.22472504] [ 0.4803589 -0.68132801 -0.55231103 34.80017568] [ 0.71252134 -0.06405854 0.69872015 31.93038295] [ 0. 0. 0. 1. ]] SLAMing on 150.870371743 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:53.23, Y:34.76, Z:31.92 [[-5.08452679e-01 -6.98943687e-01 5.02944923e-01 5.32318347e+01] [ 5.01038744e-01 -7.15164342e-01 -4.87339862e-01 3.47553680e+01] [ 7.00311395e-01 4.20563448e-03 7.13825093e-01 3.19215436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900371743 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:53.23, Y:34.79, Z:31.92 [[-0.51084579 -0.73167786 0.45131373 53.23463712] [ 0.48116462 -0.67840225 -0.55520356 34.79383038] [ 0.7124024 -0.0664672 0.69861644 31.91712869] [ 0. 0. 0. 1. ]] SLAMing on 150.930371743 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:53.22, Y:34.76, Z:31.93 [[-5.09122083e-01 -6.95446474e-01 5.07098518e-01 5.32233921e+01] [ 5.06053545e-01 -7.18448166e-01 -4.77223262e-01 3.47603143e+01] [ 6.96207235e-01 1.36541019e-02 7.17710980e-01 3.19347667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960371743 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:53.24, Y:34.80, Z:31.92 [[-0.51181361 -0.73732818 0.44090133 53.23645191] [ 0.48236037 -0.67132085 -0.56272266 34.80109917] [ 0.71089753 -0.07533579 0.69924904 31.91615502] [ 0. 0. 0. 1. ]] SLAMing on 150.99037174299997 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:53.23, Y:34.77, Z:31.93 [[-5.11975364e-01 -7.05662277e-01 4.89818312e-01 5.32324959e+01] [ 4.80143503e-01 -7.07912129e-01 -5.17998682e-01 3.47654979e+01] [ 7.12280453e-01 -3.00194835e-02 7.01252727e-01 3.19306306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02037174299997 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:53.23, Y:34.76, Z:31.93 [[-5.13622068e-01 -7.04302130e-01 4.90051917e-01 5.32341961e+01] [ 4.78579171e-01 -7.09207327e-01 -5.17674554e-01 3.47647997e+01] [ 7.12147701e-01 -3.13604349e-02 7.01328863e-01 3.19285813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05037174299997 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:53.24, Y:34.75, Z:31.91 [[-5.12480509e-01 -6.96882519e-01 5.01715538e-01 5.32440286e+01] [ 4.97807693e-01 -7.17185280e-01 -4.87681018e-01 3.47495493e+01] [ 6.99679375e-01 -1.69161499e-04 7.14456957e-01 3.19106361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08037174299997 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:53.24, Y:34.80, Z:31.92 [[-0.5184712 -0.72585131 0.45202598 53.23520628] [ 0.47577642 -0.68411899 -0.55282728 34.79872786] [ 0.71050997 -0.07156172 0.70003893 31.92247503] [ 0. 0. 0. 1. ]] SLAMing on 151.11037174299997 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:53.24, Y:34.76, Z:31.93 [[-5.18589641e-01 -6.93915762e-01 4.99545493e-01 5.32365421e+01] [ 4.88408535e-01 -7.19960862e-01 -4.93065370e-01 3.47622336e+01] [ 7.01799036e-01 -1.17163108e-02 7.12278626e-01 3.19255922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14037174299997 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:53.23, Y:34.80, Z:31.93 [[-0.52473161 -0.71672527 0.45930559 53.23441322] [ 0.46999634 -0.6937867 -0.54567706 34.79655786] [ 0.70976065 -0.07046206 0.70091007 31.92778304] [ 0. 0. 0. 1. ]] SLAMing on 151.17037174299998 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:53.25, Y:34.75, Z:31.91 [[-5.24203702e-01 -6.87533847e-01 5.02501431e-01 5.32458798e+01] [ 4.86281730e-01 -7.26076632e-01 -4.86151008e-01 3.47543747e+01] [ 6.99099820e-01 -1.04848929e-02 7.14947207e-01 3.19136184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20037174299998 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:53.25, Y:34.79, Z:31.91 [[-5.28002866e-01 -7.11989603e-01 4.62907959e-01 5.32484408e+01] [ 4.84494822e-01 -7.00217875e-01 -5.24365993e-01 3.47880014e+01] [ 6.97479563e-01 -5.25902375e-02 7.14672321e-01 3.19053939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23037174299998 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:53.25, Y:34.79, Z:31.90 [[-5.29367127e-01 -7.09191831e-01 4.65636545e-01 5.32504067e+01] [ 4.83859699e-01 -7.03207005e-01 -5.20941168e-01 3.47853966e+01] [ 6.96886100e-01 -5.04663711e-02 7.15404018e-01 3.19029872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26037174299998 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:53.25, Y:34.79, Z:31.91 [[-0.53235834 -0.70926014 0.46210891 53.24966849] [ 0.47661014 -0.7022788 -0.52881685 34.7920225 ] [ 0.699598 -0.06127427 0.71190456 31.90713173] [ 0. 0. 0. 1. ]] SLAMing on 151.29037174299998 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:53.24, Y:34.79, Z:31.91 [[-0.53340194 -0.7043487 0.46837515 53.2448473 ] [ 0.47422846 -0.70753376 -0.52393067 34.79243962] [ 0.70042112 -0.0573488 0.71142208 31.91474715] [ 0. 0. 0. 1. ]] SLAMing on 151.32037174299998 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:53.25, Y:34.78, Z:31.91 [[-0.53384192 -0.70167375 0.47187578 53.25157057] [ 0.47320678 -0.71038554 -0.52098726 34.78381187] [ 0.70077681 -0.05483002 0.71127036 31.90654958] [ 0. 0. 0. 1. ]] SLAMing on 151.35037174299998 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:53.25, Y:34.79, Z:31.91 [[-0.53447247 -0.70223957 0.47031773 53.25000694] [ 0.47203029 -0.70960815 -0.52310962 34.78887406] [ 0.70108957 -0.05758348 0.71074437 31.90979595] [ 0. 0. 0. 1. ]] SLAMing on 151.38037174299998 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:53.25, Y:34.79, Z:31.91 [[-0.53473187 -0.70225417 0.47000097 53.24982817] [ 0.47119656 -0.70949879 -0.52400884 34.78986366] [ 0.70145251 -0.05874139 0.71029137 31.91083323] [ 0. 0. 0. 1. ]] SLAMing on 151.41037174299998 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:53.25, Y:34.79, Z:31.91 [[-0.53346459 -0.70326125 0.46993525 53.25471066] [ 0.47122523 -0.70849534 -0.52533907 34.78556714] [ 0.70239754 -0.05880444 0.70935163 31.90641919] [ 0. 0. 0. 1. ]] SLAMing on 151.440371743 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:53.25, Y:34.78, Z:31.91 [[-0.53329261 -0.70065997 0.47399853 53.2538227 ] [ 0.47114373 -0.71138901 -0.52148755 34.78277676] [ 0.70258279 -0.05478402 0.70949005 31.90873782] [ 0. 0. 0. 1. ]] SLAMing on 151.470371743 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:53.26, Y:34.78, Z:31.90 [[-0.53179948 -0.70419139 0.47042938 53.26059973] [ 0.4693227 -0.70744992 -0.52844187 34.77860227] [ 0.70492944 -0.06024192 0.70671451 31.90050663] [ 0. 0. 0. 1. ]] SLAMing on 151.500371743 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:53.25, Y:34.78, Z:31.91 [[-5.30834525e-01 -6.97671214e-01 4.81112860e-01 5.32522616e+01] [ 4.76005496e-01 -7.15144851e-01 -5.11846275e-01 3.47761961e+01] [ 7.01165797e-01 -4.26933087e-02 7.11718910e-01 3.19105423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530371743 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:53.26, Y:34.78, Z:31.90 [[-5.29943796e-01 -7.05744686e-01 4.70195716e-01 5.32581051e+01] [ 4.78085766e-01 -7.06578609e-01 -5.21709374e-01 3.47790913e+01] [ 7.00423853e-01 -5.16827668e-02 7.11853439e-01 3.18999712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560371743 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:53.25, Y:34.78, Z:31.91 [[-5.29301958e-01 -7.04535164e-01 4.72725755e-01 5.32513706e+01] [ 4.79878762e-01 -7.08089132e-01 -5.18002081e-01 3.47838850e+01] [ 6.99682651e-01 -4.73284652e-02 7.12884426e-01 3.19101750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590371743 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:53.25, Y:34.79, Z:31.91 [[-5.27897216e-01 -7.06904286e-01 4.70755626e-01 5.32513435e+01] [ 4.83151191e-01 -7.05809047e-01 -5.18071922e-01 3.47853237e+01] [ 6.98490842e-01 -4.60425840e-02 7.14136279e-01 3.19090663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620371743 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:53.26, Y:34.77, Z:31.89 [[-5.27494480e-01 -7.08915155e-01 4.68176118e-01 5.32633911e+01] [ 4.84756494e-01 -7.03723805e-01 -5.19407304e-01 3.47733539e+01] [ 6.97682388e-01 -4.70330722e-02 7.14861648e-01 3.18907065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650371743 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:53.26, Y:34.78, Z:31.90 [[-0.52891676 -0.7147753 0.45754053 53.26237761] [ 0.46786565 -0.69538056 -0.54547925 34.77899651] [ 0.70805988 -0.07444562 0.70221724 31.89675897] [ 0. 0. 0. 1. ]] SLAMing on 151.680371743 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:53.26, Y:34.75, Z:31.91 [[-5.27726718e-01 -6.92437218e-01 4.91970741e-01 5.32592319e+01] [ 4.67250800e-01 -7.20331506e-01 -5.12639456e-01 3.47519196e+01] [ 7.09352663e-01 -4.06598159e-02 7.03680026e-01 3.19066530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:53.26, Y:34.75, Z:31.91 [[-5.27906030e-01 -6.92251025e-01 4.92040386e-01 5.32592355e+01] [ 4.67489862e-01 -7.20528402e-01 -5.12144561e-01 3.47519799e+01] [ 7.09061670e-01 -4.03403098e-02 7.03991625e-01 3.19070119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74037174299997 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:53.26, Y:34.75, Z:31.91 [[-5.28165017e-01 -6.91851899e-01 4.92323741e-01 5.32605620e+01] [ 4.67197349e-01 -7.20911636e-01 -5.11872103e-01 3.47504673e+01] [ 7.09061600e-01 -4.03405914e-02 7.03991679e-01 3.19052381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77037174299997 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:53.27, Y:34.75, Z:31.90 [[-5.28459042e-01 -6.91455335e-01 4.92565285e-01 5.32654459e+01] [ 4.66955837e-01 -7.21292597e-01 -5.11555702e-01 3.47458693e+01] [ 7.09001613e-01 -4.03300014e-02 7.04052700e-01 3.18988642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80037174299997 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:53.27, Y:34.74, Z:31.89 [[-5.26494617e-01 -6.86084141e-01 5.02087611e-01 5.32674880e+01] [ 4.81509310e-01 -7.27353032e-01 -4.88985021e-01 3.47407428e+01] [ 7.00679814e-01 -1.56881220e-02 7.13303358e-01 3.18928570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83037174299997 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:53.28, Y:34.76, Z:31.87 [[-5.26485294e-01 -7.04349037e-01 4.76136188e-01 5.32756460e+01] [ 4.85685676e-01 -7.08832650e-01 -5.11532696e-01 3.47551737e+01] [ 6.97798437e-01 -3.80619152e-02 7.15282204e-01 3.18743678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86037174299997 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:53.28, Y:34.77, Z:31.87 [[-0.52701734 -0.71095897 0.4656072 53.27693797] [ 0.48090943 -0.70119676 -0.52635465 34.76563904] [ 0.70069882 -0.05348313 0.71144973 31.87241164] [ 0. 0. 0. 1. ]] SLAMing on 151.89037174299997 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:53.27, Y:34.77, Z:31.88 [[-0.52919371 -0.70937294 0.46555778 53.27350579] [ 0.46346317 -0.70125883 -0.54169912 34.76605471] [ 0.7107432 -0.07089488 0.69987 31.88130573] [ 0. 0. 0. 1. ]] SLAMing on 151.92037174299998 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:53.27, Y:34.73, Z:31.88 [[-5.25955904e-01 -6.83583546e-01 5.06047352e-01 5.32732542e+01] [ 4.79546719e-01 -7.29744621e-01 -4.87347650e-01 3.47340776e+01] [ 7.02428168e-01 -1.36500262e-02 7.11623739e-01 3.18825063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95037174299998 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:53.26, Y:34.78, Z:31.90 [[-5.26745949e-01 -7.07078215e-01 4.71782898e-01 5.32615571e+01] [ 4.75659041e-01 -7.05179479e-01 -5.25804507e-01 3.47754306e+01] [ 7.04476531e-01 -5.25575932e-02 7.07778579e-01 3.18960432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98037174299998 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:53.28, Y:34.75, Z:31.88 [[-5.27111403e-01 -7.01211124e-01 4.80058881e-01 5.32760553e+01] [ 4.78451342e-01 -7.11750423e-01 -5.14291404e-01 3.47522148e+01] [ 7.02308965e-01 -4.14040469e-02 7.10667167e-01 3.18755412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01037174299998 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:53.27, Y:34.76, Z:31.88 [[-0.52992691 -0.70825452 0.46642578 53.27476092] [ 0.46429759 -0.7025545 -0.53930041 34.7609611 ] [ 0.70965148 -0.06922943 0.7011434 31.88120717] [ 0. 0. 0. 1. ]] SLAMing on 152.04037174299998 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:53.27, Y:34.74, Z:31.89 [[-5.28894726e-01 -6.89117197e-01 4.95366386e-01 5.32701606e+01] [ 4.63941704e-01 -7.23515703e-01 -5.11158608e-01 3.47403032e+01] [ 7.10653547e-01 -4.05279666e-02 7.02373847e-01 3.18934966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07037174299998 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:53.28, Y:34.73, Z:31.88 [[-5.28532137e-01 -6.81566773e-01 5.06083506e-01 5.32767300e+01] [ 4.83933754e-01 -7.31703072e-01 -4.80019517e-01 3.47254133e+01] [ 6.97468209e-01 -8.79484984e-03 7.16561755e-01 3.18800055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10037174299998 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:53.28, Y:34.76, Z:31.88 [[-0.53056743 -0.71315266 0.45816098 53.27744608] [ 0.46871756 -0.69719268 -0.54242623 34.76374503] [ 0.70625919 -0.0730456 0.7041749 31.87948083] [ 0. 0. 0. 1. ]] SLAMing on 152.13037174299998 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:53.28, Y:34.74, Z:31.89 [[-5.28787445e-01 -6.90317305e-01 4.93807509e-01 5.32763776e+01] [ 4.68247599e-01 -7.22522097e-01 -5.08631503e-01 3.47353183e+01] [ 7.07903965e-01 -3.77337720e-02 7.05300034e-01 3.18873047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16037174299998 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:53.28, Y:34.72, Z:31.87 [[-5.28361607e-01 -6.79520114e-01 5.09005330e-01 5.32821772e+01] [ 4.92505452e-01 -7.33649379e-01 -4.68184759e-01 3.47194714e+01] [ 6.91572405e-01 3.31704876e-03 7.22299526e-01 3.18735194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190371743 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:53.29, Y:34.75, Z:31.86 [[-5.28909413e-01 -7.09592606e-01 4.65546095e-01 5.32873946e+01] [ 4.95006778e-01 -7.03517598e-01 -5.09932623e-01 3.47529115e+01] [ 6.89364289e-01 -3.92596920e-02 7.23350229e-01 3.18592012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220371743 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:53.29, Y:34.75, Z:31.86 [[-5.27279400e-01 -7.13055707e-01 4.62090892e-01 5.32906854e+01] [ 4.93259335e-01 -6.99687815e-01 -5.16848324e-01 3.47549220e+01] [ 6.91861014e-01 -4.45928280e-02 7.20652355e-01 3.18567590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250371743 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:53.29, Y:34.75, Z:31.86 [[-5.26150127e-01 -7.09892250e-01 4.68208327e-01 5.32883941e+01] [ 4.93556650e-01 -7.03277615e-01 -5.11666326e-01 3.47528687e+01] [ 6.92508395e-01 -3.81259689e-02 7.20401647e-01 3.18613821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280371743 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:53.29, Y:34.74, Z:31.85 [[-5.24218298e-01 -7.07066013e-01 4.74608079e-01 5.32934921e+01] [ 4.99932450e-01 -7.06699303e-01 -5.00643227e-01 3.47429107e+01] [ 6.89393009e-01 -2.51743608e-02 7.23949950e-01 3.18527691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310371743 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:53.30, Y:34.75, Z:31.84 [[-5.22437228e-01 -7.14088474e-01 4.65979607e-01 5.32981060e+01] [ 5.06182273e-01 -6.99508348e-01 -5.04447794e-01 3.47460094e+01] [ 6.86176980e-01 -2.76716905e-02 7.26908130e-01 3.18432299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340371743 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:53.30, Y:34.77, Z:31.85 [[-0.51728012 -0.73647832 0.43591395 53.30157583] [ 0.48048199 -0.67142339 -0.56420536 34.77005039] [ 0.70820783 -0.08240341 0.70117854 31.85045089] [ 0. 0. 0. 1. ]] SLAMing on 152.370371743 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:53.29, Y:34.71, Z:31.86 [[-5.15378582e-01 -6.83778934e-01 5.16557147e-01 5.32945529e+01] [ 5.13055005e-01 -7.29009317e-01 -4.53122475e-01 3.47082082e+01] [ 6.86410576e-01 3.14926116e-02 7.26531993e-01 3.18556701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400371743 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:53.31, Y:34.74, Z:31.82 [[-5.10505945e-01 -7.26460191e-01 4.60042684e-01 5.33117741e+01] [ 5.18214234e-01 -6.86864505e-01 -5.09579395e-01 3.47425620e+01] [ 6.86176135e-01 -2.17426433e-02 7.27110424e-01 3.18236032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430371743 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:53.31, Y:34.76, Z:31.84 [[-0.50294656 -0.74704006 0.43471359 53.31182055] [ 0.49231215 -0.66099693 -0.56631422 34.76365426] [ 0.71040376 -0.07081101 0.70022303 31.83764803] [ 0. 0. 0. 1. ]] SLAMing on 152.460371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:53.30, Y:34.72, Z:31.86 [[-4.97513302e-01 -7.10889157e-01 4.97108761e-01 5.33043687e+01] [ 4.96175968e-01 -7.03272649e-01 -5.09133567e-01 3.47177325e+01] [ 7.11540528e-01 -6.64730181e-03 7.02613614e-01 3.18565621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49037174299997 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:53.30, Y:34.71, Z:31.85 [[-4.96807811e-01 -6.97108931e-01 5.16934365e-01 5.33006187e+01] [ 5.29645243e-01 -7.15397600e-01 -4.55721614e-01 3.47051347e+01] [ 6.87501211e-01 4.73857700e-02 7.24635545e-01 3.18514382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52037174299997 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:53.33, Y:34.73, Z:31.81 [[-4.86592363e-01 -7.41998726e-01 4.61156984e-01 5.33289722e+01] [ 5.39248255e-01 -6.70400955e-01 -5.09680174e-01 3.47282426e+01] [ 6.87342122e-01 6.71618887e-04 7.26333502e-01 3.18062851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55037174299997 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:53.33, Y:34.75, Z:31.82 [[-4.84153173e-01 -7.58407987e-01 4.36363416e-01 5.33298423e+01] [ 5.11441886e-01 -6.49936307e-01 -5.62147662e-01 3.47483193e+01] [ 7.09945704e-01 -4.89910462e-02 7.02550336e-01 3.18189366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58037174299997 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:53.33, Y:34.70, Z:31.83 [[-4.80888285e-01 -7.13598559e-01 5.09434543e-01 5.33268457e+01] [ 5.38413535e-01 -6.98915577e-01 -4.70773705e-01 3.46973146e+01] [ 6.91995176e-01 4.78968937e-02 7.20311436e-01 3.18274136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61037174299997 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:53.33, Y:34.73, Z:31.82 [[-4.79280185e-01 -7.42258421e-01 4.68340625e-01 5.33338760e+01] [ 5.38345103e-01 -6.70075204e-01 -5.11061416e-01 3.47311028e+01] [ 6.93163079e-01 7.18727221e-03 7.20744954e-01 3.18159382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64037174299997 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:53.34, Y:34.73, Z:31.81 [[-4.80359917e-01 -7.39911914e-01 4.70940239e-01 5.33404682e+01] [ 5.41771804e-01 -6.72578329e-01 -5.04104854e-01 3.47264117e+01] [ 6.89737387e-01 1.29903774e-02 7.23943083e-01 3.18075214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67037174299998 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:53.34, Y:34.74, Z:31.81 [[-4.84122060e-01 -7.41939545e-01 4.63844309e-01 5.33434041e+01] [ 5.35362906e-01 -6.70466692e-01 -5.13673995e-01 3.47419097e+01] [ 6.92107210e-01 -3.55875937e-04 7.21794627e-01 3.18117343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70037174299998 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:53.35, Y:34.75, Z:31.82 [[-4.87738086e-01 -7.46722829e-01 4.52235090e-01 5.33467878e+01] [ 5.08102481e-01 -6.64063662e-01 -5.48499154e-01 3.47531493e+01] [ 7.09889730e-01 -3.77421569e-02 7.03300861e-01 3.18214833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73037174299998 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:53.34, Y:34.73, Z:31.84 [[-4.95419200e-01 -7.12439495e-01 4.96980666e-01 5.33435678e+01] [ 5.00673351e-01 -7.01729838e-01 -5.06854447e-01 3.47334925e+01] [ 7.09849288e-01 -2.28044864e-03 7.04349904e-01 3.18407496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76037174299998 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:53.35, Y:34.74, Z:31.84 [[-5.00438694e-01 -7.09133593e-01 4.96679635e-01 5.33475757e+01] [ 4.96860907e-01 -7.05044696e-01 -5.06005154e-01 3.47365796e+01] [ 7.09006595e-01 -6.44386400e-03 7.05172408e-01 3.18406724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79037174299998 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:53.35, Y:34.74, Z:31.85 [[-5.05251796e-01 -7.06011536e-01 4.96254303e-01 5.33463193e+01] [ 4.93461253e-01 -7.08125654e-01 -5.05028762e-01 3.47445799e+01] [ 7.07966535e-01 -1.02844193e-02 7.06171096e-01 3.18483793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82037174299998 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:53.35, Y:34.74, Z:31.84 [[-5.14850230e-01 -6.87812644e-01 5.11705978e-01 5.33535913e+01] [ 5.09130687e-01 -7.25550146e-01 -4.62993443e-01 3.47367589e+01] [ 6.89721091e-01 2.21529352e-02 7.23736184e-01 3.18402812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85037174299998 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:53.37, Y:34.77, Z:31.82 [[-5.17273096e-01 -7.19281020e-01 4.63749241e-01 5.33711171e+01] [ 5.05716514e-01 -6.94048430e-01 -5.12393974e-01 3.47679251e+01] [ 6.90419693e-01 -3.05219680e-02 7.22764870e-01 3.18195721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88037174299998 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:53.37, Y:34.77, Z:31.82 [[-5.23346268e-01 -7.07308747e-01 4.75208397e-01 5.33742776e+01] [ 5.01155801e-01 -7.06519050e-01 -4.99673589e-01 3.47658363e+01] [ 6.89167285e-01 -2.33488627e-02 7.24225990e-01 3.18216188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91037174299998 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:53.38, Y:34.78, Z:31.82 [[-5.26212254e-01 -7.12675846e-01 4.63889860e-01 5.33782044e+01] [ 4.98132811e-01 -7.00471188e-01 -5.11081029e-01 3.47781782e+01] [ 6.89176586e-01 -3.78583399e-02 7.23603745e-01 3.18207694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940371743 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:53.38, Y:34.79, Z:31.83 [[-0.5273683 -0.71696071 0.45590571 53.37785059] [ 0.48281535 -0.69441682 -0.53354908 34.79368503] [ 0.69912232 -0.06125859 0.71237305 31.83396562] [ 0. 0. 0. 1. ]] SLAMing on 152.970371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:53.37, Y:34.79, Z:31.85 [[-5.34592391e-01 -6.95636451e-01 4.79896764e-01 5.33711197e+01] [ 4.69457722e-01 -7.16619657e-01 -5.15815582e-01 3.47850432e+01] [ 7.02723575e-01 -5.04598437e-02 7.09671319e-01 3.18503479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000371743 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:53.37, Y:34.77, Z:31.85 [[-5.37266402e-01 -6.72852947e-01 5.08540780e-01 5.33722251e+01] [ 4.85528397e-01 -7.39768592e-01 -4.65837532e-01 3.47680345e+01] [ 6.89642653e-01 -3.36786503e-03 7.24142022e-01 3.18453919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:53.38, Y:34.81, Z:31.84 [[-0.54005935 -0.70798762 0.45507079 53.38301869] [ 0.46560977 -0.70175638 -0.53920823 34.80638949] [ 0.70110158 -0.07931904 0.70863605 31.84154337] [ 0. 0. 0. 1. ]] SLAMing on 153.060371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:53.38, Y:34.77, Z:31.84 [[-5.39569962e-01 -6.69663531e-01 5.10308740e-01 5.33765693e+01] [ 4.81829607e-01 -7.42647322e-01 -4.65096963e-01 3.47692443e+01] [ 6.90437894e-01 -5.07049137e-03 7.23373903e-01 3.18419988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090371743 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:53.39, Y:34.81, Z:31.83 [[-0.53866363 -0.7058011 0.4600938 53.38915844] [ 0.47172729 -0.70512603 -0.52940594 34.80619913] [ 0.69807941 -0.06813292 0.71277138 31.83483963] [ 0. 0. 0. 1. ]] SLAMing on 153.120371743 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:53.38, Y:34.80, Z:31.84 [[-0.54087559 -0.69064606 0.48006417 53.3837243 ] [ 0.45921213 -0.7206597 -0.51939754 34.7971308 ] [ 0.70468277 -0.06047816 0.70694029 31.84458823] [ 0. 0. 0. 1. ]] SLAMing on 153.150371743 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:53.38, Y:34.78, Z:31.84 [[-5.39210626e-01 -6.79080529e-01 4.98097918e-01 5.33845037e+01] [ 4.58375824e-01 -7.32812871e-01 -5.02868671e-01 3.47846638e+01] [ 7.06500888e-01 -4.28360876e-02 7.06414584e-01 3.18449662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180371743 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:53.38, Y:34.78, Z:31.84 [[-5.40727687e-01 -6.69545787e-01 5.09236691e-01 5.33809117e+01] [ 4.74511140e-01 -7.42640826e-01 -4.72571457e-01 3.47798525e+01] [ 6.94588185e-01 -1.38939884e-02 7.19273391e-01 3.18439181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:53.39, Y:34.80, Z:31.83 [[-0.53962834 -0.69807016 0.47063712 53.39434489] [ 0.46877967 -0.71347784 -0.52076385 34.80271462] [ 0.69931886 -0.06039382 0.71225397 31.83327224] [ 0. 0. 0. 1. ]] SLAMing on 153.24037174299997 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:53.39, Y:34.79, Z:31.84 [[-5.39598912e-01 -6.87887704e-01 4.85431273e-01 5.33905834e+01] [ 4.69699973e-01 -7.24468575e-01 -5.04506907e-01 3.47939293e+01] [ 6.98723800e-01 -4.42243225e-02 7.14023291e-01 3.18385828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27037174299997 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:53.39, Y:34.79, Z:31.84 [[-5.40811032e-01 -6.86595175e-01 4.85912022e-01 5.33897319e+01] [ 4.72870525e-01 -7.25920769e-01 -4.99432181e-01 3.47940366e+01] [ 6.95641355e-01 -4.03249602e-02 7.17256581e-01 3.18376131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30037174299997 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:53.39, Y:34.79, Z:31.83 [[-5.42559921e-01 -6.82450399e-01 4.89785856e-01 5.33931569e+01] [ 4.81631527e-01 -7.30439189e-01 -4.84241327e-01 3.47856335e+01] [ 6.88229471e-01 -2.68336265e-02 7.24996657e-01 3.18271288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33037174299997 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:53.40, Y:34.80, Z:31.82 [[-0.54199483 -0.70084896 0.46373736 53.39969726] [ 0.4769852 -0.71087031 -0.51686412 34.80496266] [ 0.6919008 -0.05894182 0.71958262 31.82430698] [ 0. 0. 0. 1. ]] SLAMing on 153.36037174299997 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:53.40, Y:34.80, Z:31.83 [[-0.54274596 -0.69852497 0.4663579 53.39789898] [ 0.45978363 -0.71177156 -0.53101813 34.80262814] [ 0.70286971 -0.07378422 0.70748149 31.83316396] [ 0. 0. 0. 1. ]] SLAMing on 153.39037174299997 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:53.39, Y:34.77, Z:31.83 [[-5.43908313e-01 -6.61603920e-01 5.16182139e-01 5.33889523e+01] [ 4.81737704e-01 -7.49850800e-01 -4.53489318e-01 3.47663847e+01] [ 6.87089900e-01 2.00778822e-03 7.26569637e-01 3.18305665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42037174299998 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:53.40, Y:34.81, Z:31.83 [[-0.5455823 -0.70726937 0.44956644 53.40108517] [ 0.45768574 -0.70083388 -0.54713403 34.81357722] [ 0.70204253 -0.09274649 0.70606966 31.83006947] [ 0. 0. 0. 1. ]] SLAMing on 153.45037174299998 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:53.39, Y:34.78, Z:31.84 [[-5.43265082e-01 -6.74954230e-01 4.99299348e-01 5.33917418e+01] [ 4.54931974e-01 -7.36497345e-01 -5.00608189e-01 3.47830134e+01] [ 7.05620259e-01 -4.48157113e-02 7.07171551e-01 3.18422005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48037174299998 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:53.39, Y:34.78, Z:31.84 [[-5.45114489e-01 -6.73352307e-01 4.99446558e-01 5.33941542e+01] [ 4.53155968e-01 -7.37868109e-01 -5.00200283e-01 3.47794113e+01] [ 7.05336702e-01 -4.63392327e-02 7.07356213e-01 3.18383283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51037174299998 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:53.40, Y:34.76, Z:31.82 [[-5.47399714e-01 -6.61009803e-01 5.13244185e-01 5.34003309e+01] [ 4.73332665e-01 -7.50314686e-01 -4.61501961e-01 3.47595604e+01] [ 6.90151970e-01 -9.69080283e-03 7.23599576e-01 3.18201769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54037174299998 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:53.41, Y:34.78, Z:31.80 [[-5.49850604e-01 -6.86990518e-01 4.75087720e-01 5.34121949e+01] [ 4.83407857e-01 -7.25585410e-01 -4.89737335e-01 3.47787981e+01] [ 6.81161623e-01 -3.96212331e-02 7.31060190e-01 3.18000723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57037174299998 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:53.41, Y:34.80, Z:31.82 [[-0.54998526 -0.69923401 0.45671436 53.40697057] [ 0.47401397 -0.71158005 -0.51861797 34.80087628] [ 0.68762415 -0.06874325 0.72280523 31.81557953] [ 0. 0. 0. 1. ]] SLAMing on 153.60037174299998 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:53.41, Y:34.79, Z:31.82 [[-5.49305557e-01 -6.88886105e-01 4.72968646e-01 5.34058187e+01] [ 4.73616416e-01 -7.22981703e-01 -5.02976090e-01 3.47875485e+01] [ 6.88440916e-01 -5.22818461e-02 7.23405635e-01 3.18157690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63037174299998 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:53.40, Y:34.78, Z:31.81 [[-5.49478428e-01 -6.85899005e-01 4.77091200e-01 5.34045045e+01] [ 4.76599881e-01 -7.26318202e-01 -4.95292260e-01 3.47843169e+01] [ 6.86240491e-01 -4.47708032e-02 7.25995568e-01 3.18148748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66037174299998 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:53.41, Y:34.79, Z:31.81 [[-5.49668305e-01 -6.89841879e-01 4.71150652e-01 5.34068222e+01] [ 4.76885432e-01 -7.22181379e-01 -5.01033272e-01 3.47871725e+01] [ 6.85889961e-01 -5.07172268e-02 7.25935757e-01 3.18120487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:53.41, Y:34.78, Z:31.81 [[-0.54774667 -0.69323777 0.46839618 53.41204168] [ 0.47574707 -0.71860825 -0.50721486 34.78347143] [ 0.68821385 -0.05498714 0.72342111 31.80512241] [ 0. 0. 0. 1. ]] SLAMing on 153.720371743 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:53.41, Y:34.78, Z:31.81 [[-5.47740900e-01 -6.88686326e-01 4.75069521e-01 5.34093306e+01] [ 4.76242014e-01 -7.23503268e-01 -4.99736496e-01 3.47786336e+01] [ 6.87876043e-01 -4.74780528e-02 7.24273694e-01 3.18082470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750371743 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:53.42, Y:34.78, Z:31.80 [[-0.54673717 -0.69383144 0.46869649 53.41531964] [ 0.47468686 -0.71796716 -0.5091125 34.7764271 ] [ 0.68974695 -0.05586666 0.721892 31.80205771] [ 0. 0. 0. 1. ]] SLAMing on 153.780371743 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:53.41, Y:34.77, Z:31.81 [[-0.54580559 -0.69048078 0.47469206 53.41316184] [ 0.47040754 -0.72132044 -0.50834394 34.77363718] [ 0.6934068 -0.05415824 0.7185081 31.80708938] [ 0. 0. 0. 1. ]] SLAMing on 153.810371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:53.41, Y:34.77, Z:31.81 [[-5.45478591e-01 -6.86554423e-01 4.80724590e-01 5.34129906e+01] [ 4.68649272e-01 -7.25375847e-01 -5.04180266e-01 3.47680188e+01] [ 6.94853198e-01 -4.97283123e-02 7.17430225e-01 3.18067323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:53.40, Y:34.78, Z:31.82 [[-0.54843691 -0.68671673 0.47711329 53.40396887] [ 0.45379901 -0.72367603 -0.51996102 34.77659791] [ 0.70234138 -0.06865228 0.70852202 31.82105598] [ 0. 0. 0. 1. ]] SLAMing on 153.870371743 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:53.40, Y:34.76, Z:31.83 [[-5.48034763e-01 -6.69982814e-01 5.00780319e-01 5.33999166e+01] [ 4.51456710e-01 -7.40924671e-01 -4.97209686e-01 3.47604676e+01] [ 7.04162437e-01 -4.64075577e-02 7.08520713e-01 3.18259279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900371743 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:53.40, Y:34.76, Z:31.82 [[-5.49913799e-01 -6.68295999e-01 5.00974322e-01 5.34007623e+01] [ 4.49517159e-01 -7.42343398e-01 -4.96850684e-01 3.47585499e+01] [ 7.03938305e-01 -4.80284938e-02 7.08635397e-01 3.18238299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930371743 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:53.40, Y:34.76, Z:31.82 [[-5.53268341e-01 -6.65044193e-01 5.01607779e-01 5.33995456e+01] [ 4.44997233e-01 -7.45010932e-01 -4.96926730e-01 3.47575050e+01] [ 7.04181515e-01 -5.17197542e-02 7.08133788e-01 3.18240348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:53.40, Y:34.76, Z:31.82 [[-0.55519693 -0.66310042 0.50205 53.39969769] [ 0.44245083 -0.74660199 -0.49681257 34.75653586] [ 0.70426815 -0.05369637 0.70790047 31.8227088 ] [ 0. 0. 0. 1. ]] SLAMing on 153.99037174299997 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:53.40, Y:34.76, Z:31.82 [[-0.55866973 -0.65969688 0.50268097 53.39839594] [ 0.4377426 -0.74932512 -0.49688356 34.75606608] [ 0.70446401 -0.05754893 0.7074027 31.82359442] [ 0. 0. 0. 1. ]] SLAMing on 154.02037174299997 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:53.39, Y:34.76, Z:31.83 [[-0.56047192 -0.6579107 0.50301565 53.3948883 ] [ 0.43553353 -0.75075889 -0.49666048 34.75832223] [ 0.70440171 -0.05928407 0.70732144 31.82819696] [ 0. 0. 0. 1. ]] SLAMing on 154.05037174299997 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:53.40, Y:34.75, Z:31.82 [[-0.5623239 -0.65631003 0.50303973 53.39937684] [ 0.43391782 -0.75204508 -0.49612853 34.75239937] [ 0.70392269 -0.06070703 0.70767754 31.82116191] [ 0. 0. 0. 1. ]] SLAMing on 154.08037174299997 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:53.41, Y:34.74, Z:31.81 [[-5.60587363e-01 -6.54987532e-01 5.06688407e-01 5.34051337e+01] [ 4.42983913e-01 -7.54157407e-01 -4.84780217e-01 3.47449403e+01] [ 6.99647813e-01 -4.73068499e-02 7.12920052e-01 3.18103195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11037174299997 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:53.41, Y:34.75, Z:31.80 [[-0.56304496 -0.66632654 0.48886533 53.41023507] [ 0.44452286 -0.74286326 -0.5005533 34.75275753] [ 0.69669204 -0.0645222 0.71446279 31.80100487] [ 0. 0. 0. 1. ]] SLAMing on 154.14037174299997 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:53.40, Y:34.76, Z:31.82 [[-0.56744445 -0.66783251 0.48167057 53.3991131 ] [ 0.43085811 -0.73931445 -0.51747023 34.76490612] [ 0.70168945 -0.08610394 0.70726093 31.81726405] [ 0. 0. 0. 1. ]] SLAMing on 154.17037174299998 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:53.40, Y:34.74, Z:31.81 [[-5.63629081e-01 -6.51827905e-01 5.07388058e-01 5.34003965e+01] [ 4.41215020e-01 -7.56852219e-01 -4.82186712e-01 3.47414916e+01] [ 6.98320532e-01 -4.79072215e-02 7.14180183e-01 3.18097506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20037174299998 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:53.40, Y:34.75, Z:31.80 [[-0.56507205 -0.66199433 0.49239931 53.40224269] [ 0.44448056 -0.74706709 -0.49429525 34.74981892] [ 0.69507597 -0.0604505 0.71639034 31.80446083] [ 0. 0. 0. 1. ]] SLAMing on 154.23037174299998 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:53.41, Y:34.75, Z:31.80 [[-0.56616564 -0.66763881 0.48344067 53.40556338] [ 0.44428637 -0.74117367 -0.50326058 34.74915612] [ 0.69430979 -0.07014275 0.71624989 31.7977413 ] [ 0. 0. 0. 1. ]] SLAMing on 154.26037174299998 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:53.40, Y:34.75, Z:31.80 [[-0.5666496 -0.6651514 0.486294 53.40077749] [ 0.4455503 -0.7438173 -0.49821758 34.74766587] [ 0.69310401 -0.06564636 0.71784218 31.80255056] [ 0. 0. 0. 1. ]] SLAMing on 154.29037174299998 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:53.40, Y:34.75, Z:31.80 [[-0.56719456 -0.66636716 0.48398877 53.3989289 ] [ 0.44542338 -0.74249975 -0.50029205 34.74851821] [ 0.69273974 -0.06818302 0.71795733 31.80354344] [ 0. 0. 0. 1. ]] SLAMing on 154.32037174299998 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:53.40, Y:34.75, Z:31.80 [[-0.56752068 -0.66661404 0.48326597 53.39811745] [ 0.4444097 -0.74210924 -0.50177076 34.74794766] [ 0.69312358 -0.0699972 0.71741209 31.80403912] [ 0. 0. 0. 1. ]] SLAMing on 154.35037174299998 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:53.40, Y:34.74, Z:31.80 [[-0.56730358 -0.66326066 0.48811058 53.4016415 ] [ 0.44491823 -0.74562484 -0.49607597 34.73580042] [ 0.69297505 -0.06425638 0.7180924 31.79542316] [ 0. 0. 0. 1. ]] SLAMing on 154.38037174299998 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:53.40, Y:34.74, Z:31.79 [[-0.56752243 -0.66582966 0.48434405 53.40069674] [ 0.44520095 -0.74299971 -0.49974748 34.73775145] [ 0.69261418 -0.06798747 0.718097 31.7945295 ] [ 0. 0. 0. 1. ]] SLAMing on 154.41037174299998 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:53.40, Y:34.74, Z:31.80 [[-0.56642849 -0.66546164 0.48612712 53.39594225] [ 0.44276908 -0.74325092 -0.50153127 34.73652162] [ 0.69506425 -0.06883954 0.71564433 31.7976906 ] [ 0. 0. 0. 1. ]] SLAMing on 154.440371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:53.40, Y:34.73, Z:31.79 [[-0.56584353 -0.66273994 0.49050676 53.39642295] [ 0.4434223 -0.7461517 -0.4966229 34.72976078] [ 0.69512428 -0.06350922 0.71607878 31.7943619 ] [ 0. 0. 0. 1. ]] SLAMing on 154.470371743 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:53.40, Y:34.72, Z:31.79 [[-0.56468285 -0.66567896 0.48785737 53.3994963 ] [ 0.44242451 -0.74316956 -0.50195574 34.72445168] [ 0.69670211 -0.06760574 0.71416779 31.78678383] [ 0. 0. 0. 1. ]] SLAMing on 154.500371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:53.40, Y:34.72, Z:31.79 [[-0.56656056 -0.6643701 0.48746435 53.39537031] [ 0.43087066 -0.743105 -0.5120014 34.72351344] [ 0.70239562 -0.08004571 0.70727157 31.79330711] [ 0. 0. 0. 1. ]] SLAMing on 154.530371743 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:53.39, Y:34.71, Z:31.80 [[-0.56546855 -0.6512978 0.50602026 53.39301383] [ 0.42969662 -0.75632568 -0.49328722 34.70759833] [ 0.703993 -0.06150321 0.70753884 31.79636096] [ 0. 0. 0. 1. ]] SLAMing on 154.560371743 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:53.39, Y:34.71, Z:31.80 [[-0.56603702 -0.65072723 0.50611872 53.3894699 ] [ 0.42937383 -0.75680489 -0.49283311 34.70616995] [ 0.70373305 -0.06164765 0.70778483 31.79900734] [ 0. 0. 0. 1. ]] SLAMing on 154.590371743 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:53.39, Y:34.70, Z:31.80 [[-0.56659155 -0.65015302 0.50623618 53.3905079 ] [ 0.42902602 -0.75728586 -0.49239699 34.70255143] [ 0.70349889 -0.06179948 0.70800434 31.79618903] [ 0. 0. 0. 1. ]] SLAMing on 154.620371743 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:53.40, Y:34.70, Z:31.79 [[-5.64263680e-01 -6.51093846e-01 5.07625160e-01 5.33951912e+01] [ 4.37255000e-01 -7.57226352e-01 -4.85197194e-01 3.46983819e+01] [ 7.00296055e-01 -5.18175150e-02 7.11969368e-01 3.17880030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650371743 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:53.39, Y:34.71, Z:31.79 [[-0.56731038 -0.65854546 0.49444596 53.39343121] [ 0.42971486 -0.74892304 -0.50443971 34.70510877] [ 0.70249845 -0.0737031 0.70785858 31.78707823] [ 0. 0. 0. 1. ]] SLAMing on 154.680371743 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:53.39, Y:34.70, Z:31.79 [[-0.56348327 -0.65262329 0.50652684 53.39423097] [ 0.43445694 -0.75559772 -0.49022368 34.69616348] [ 0.70266192 -0.05616874 0.70930339 31.78723823] [ 0. 0. 0. 1. ]] SLAMing on 154.710371743 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:53.39, Y:34.70, Z:31.79 [[-0.56572557 -0.65621696 0.49933344 53.39068738] [ 0.43144162 -0.75160678 -0.49894426 34.69735518] [ 0.70271808 -0.0668323 0.70832248 31.7878962 ] [ 0. 0. 0. 1. ]] SLAMing on 154.74037174299997 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:53.39, Y:34.69, Z:31.79 [[-0.56472243 -0.65148564 0.50661133 53.38824364] [ 0.43220995 -0.75641881 -0.49094311 34.69058172] [ 0.70305272 -0.05828413 0.70874525 31.79138819] [ 0. 0. 0. 1. ]] SLAMing on 154.77037174299997 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:53.39, Y:34.68, Z:31.79 [[-0.56414696 -0.6520267 0.50655641 53.39132913] [ 0.4335378 -0.75604941 -0.49034097 34.68471038] [ 0.70269708 -0.05701302 0.7092012 31.78539684] [ 0. 0. 0. 1. ]] SLAMing on 154.80037174299997 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:53.39, Y:34.68, Z:31.78 [[-0.56328594 -0.65254103 0.5068522 53.39336241] [ 0.43445555 -0.7556924 -0.49007895 34.68035587] [ 0.70282097 -0.05584983 0.70917098 31.78184669] [ 0. 0. 0. 1. ]] SLAMing on 154.83037174299997 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:53.40, Y:34.68, Z:31.78 [[-0.56185899 -0.65363975 0.50702028 53.39504296] [ 0.43629311 -0.75488184 -0.48969554 34.6764291 ] [ 0.70282487 -0.05393039 0.70931567 31.77787557] [ 0. 0. 0. 1. ]] SLAMing on 154.86037174299997 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:53.40, Y:34.67, Z:31.77 [[-5.58270681e-01 -6.56758910e-01 5.06953233e-01 5.34006388e+01] [ 4.42234958e-01 -7.52558009e-01 -4.87939223e-01 3.46744294e+01] [ 7.01970148e-01 -4.82097202e-02 7.10572821e-01 3.17706144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89037174299997 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:53.39, Y:34.68, Z:31.78 [[-0.56206303 -0.65928444 0.49942886 53.39399948] [ 0.43602997 -0.74930161 -0.49842247 34.68104719] [ 0.70282503 -0.06237889 0.7086225 31.77633068] [ 0. 0. 0. 1. ]] SLAMing on 154.92037174299998 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:53.40, Y:34.67, Z:31.77 [[-5.57814855e-01 -6.57127071e-01 5.06977909e-01 5.34035307e+01] [ 4.40989486e-01 -7.52146929e-01 -4.89697120e-01 3.46691322e+01] [ 7.03115112e-01 -4.95884004e-02 7.09344860e-01 3.17657671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95037174299998 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:53.40, Y:34.67, Z:31.76 [[-0.55893148 -0.66083859 0.50088717 53.4044041 ] [ 0.44291789 -0.7485885 -0.49339538 34.6725644 ] [ 0.70101309 -0.05392232 0.71110691 31.76254745] [ 0. 0. 0. 1. ]] SLAMing on 154.98037174299998 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:53.40, Y:34.68, Z:31.76 [[-0.55868293 -0.66423505 0.49665399 53.40448744] [ 0.44031927 -0.7450096 -0.50107847 34.67567702] [ 0.70284588 -0.06125766 0.70869964 31.76290576] [ 0. 0. 0. 1. ]] SLAMing on 155.01037174299998 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:53.40, Y:34.67, Z:31.76 [[-5.57907372e-01 -6.60512154e-01 5.02457022e-01 5.34018677e+01] [ 4.43110594e-01 -7.48999990e-01 -4.92597215e-01 3.46714782e+01] [ 7.01706752e-01 -5.21795883e-02 7.10552549e-01 3.17635661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04037174299998 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:53.40, Y:34.67, Z:31.76 [[-5.57309376e-01 -6.62345508e-01 5.00704192e-01 5.34027332e+01] [ 4.46121697e-01 -7.47464823e-01 -4.92211103e-01 3.46706087e+01] [ 7.00272583e-01 -5.09388588e-02 7.12055856e-01 3.17594054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07037174299998 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:53.41, Y:34.67, Z:31.75 [[-5.54702102e-01 -6.65984581e-01 4.98768599e-01 5.34057190e+01] [ 4.50283463e-01 -7.44357557e-01 -4.93129424e-01 3.46658806e+01] [ 6.99678769e-01 -4.89526762e-02 7.12778546e-01 3.17525691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10037174299998 meters Centerline goodness : 0.996233 Centerline is valid? [True, True] Translation: X:53.41, Y:34.66, Z:31.75 [[-5.53601821e-01 -6.70239595e-01 4.94271088e-01 5.34079453e+01] [ 4.52063598e-01 -7.40320288e-01 -4.97558414e-01 3.46648246e+01] [ 6.99402264e-01 -5.20072773e-02 7.12833582e-01 3.17478960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13037174299998 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:53.40, Y:34.67, Z:31.75 [[-0.55526607 -0.67044187 0.49212529 53.40246842] [ 0.44286582 -0.73921539 -0.50737606 34.66571467] [ 0.70395274 -0.06378324 0.70737701 31.75408214] [ 0. 0. 0. 1. ]] SLAMing on 155.16037174299998 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:53.40, Y:34.66, Z:31.76 [[-5.48502631e-01 -6.63640177e-01 5.08651726e-01 5.33978585e+01] [ 4.51161638e-01 -7.47071133e-01 -4.88198626e-01 3.46575724e+01] [ 7.03987244e-01 -3.82940848e-02 7.09179472e-01 3.17642679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190371743 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:53.41, Y:34.65, Z:31.75 [[-5.48497838e-01 -6.65928649e-01 5.05657153e-01 5.34060460e+01] [ 4.59128102e-01 -7.45284033e-01 -4.83480192e-01 3.46503861e+01] [ 6.98821513e-01 -3.30264312e-02 7.14533237e-01 3.17498863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220371743 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:53.41, Y:34.65, Z:31.74 [[-0.54961561 -0.67568091 0.49130234 53.4083035 ] [ 0.4524878 -0.73512862 -0.5048175 34.6525158 ] [ 0.70226595 -0.05514726 0.70977553 31.743886 ] [ 0. 0. 0. 1. ]] SLAMing on 155.250371743 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:53.41, Y:34.64, Z:31.75 [[-5.48040131e-01 -6.63965941e-01 5.08725117e-01 5.34070694e+01] [ 4.52787420e-01 -7.46868919e-01 -4.87001407e-01 3.46373533e+01] [ 7.03303325e-01 -3.65519816e-02 7.09949565e-01 3.17479499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280371743 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:53.40, Y:34.64, Z:31.75 [[-5.44443403e-01 -6.63993232e-01 5.12537189e-01 5.34021590e+01] [ 4.61644845e-01 -7.47367845e-01 -4.77834011e-01 3.46422733e+01] [ 7.00332363e-01 -2.35434238e-02 7.13428545e-01 3.17544767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310371743 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:53.41, Y:34.65, Z:31.75 [[-5.46939095e-01 -6.74459865e-01 4.95945074e-01 5.34061065e+01] [ 4.53891917e-01 -7.36679291e-01 -5.01284101e-01 3.46479289e+01] [ 7.03448473e-01 -4.90664126e-02 7.09050586e-01 3.17450651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340371743 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:53.41, Y:34.63, Z:31.74 [[-5.43688775e-01 -6.60223382e-01 5.18177193e-01 5.34071874e+01] [ 4.68378804e-01 -7.50998051e-01 -4.65428001e-01 3.46326128e+01] [ 6.96436510e-01 -1.03447660e-02 7.17543848e-01 3.17425001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370371743 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:53.41, Y:34.65, Z:31.73 [[-0.54606874 -0.68361865 0.48422565 53.41363866] [ 0.45364092 -0.72723324 -0.51511331 34.65332461] [ 0.70428605 -0.0616227 0.70723673 31.73072031] [ 0. 0. 0. 1. ]] SLAMing on 155.400371743 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:53.41, Y:34.63, Z:31.74 [[-5.44611627e-01 -6.64420431e-01 5.11804325e-01 5.34105341e+01] [ 4.51891516e-01 -7.46554819e-01 -4.88313383e-01 3.46331574e+01] [ 7.06535373e-01 -3.46611132e-02 7.06828391e-01 3.17381806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:53.41, Y:34.63, Z:31.74 [[-5.44290019e-01 -6.64118992e-01 5.12537159e-01 5.34117102e+01] [ 4.51265531e-01 -7.46826625e-01 -4.88476624e-01 3.46319330e+01] [ 7.07183000e-01 -3.45825981e-02 7.06184288e-01 3.17369427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460371743 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:53.41, Y:34.63, Z:31.73 [[-5.45031344e-01 -6.63389122e-01 5.12694554e-01 5.34129541e+01] [ 4.50639106e-01 -7.47456299e-01 -4.88091669e-01 3.46293542e+01] [ 7.07011478e-01 -3.49850432e-02 7.06336192e-01 3.17349229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49037174299997 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:53.42, Y:34.62, Z:31.72 [[-5.44899883e-01 -6.55176707e-01 5.23285390e-01 5.34188308e+01] [ 4.71213012e-01 -7.55474245e-01 -4.55210899e-01 3.46162714e+01] [ 6.93572213e-01 -1.46548081e-03 7.20385617e-01 3.17222605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52037174299997 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:53.42, Y:34.65, Z:31.71 [[-5.45814676e-01 -6.83404220e-01 4.84814410e-01 5.34228182e+01] [ 4.70891447e-01 -7.28769419e-01 -4.97148246e-01 3.46467975e+01] [ 6.93071125e-01 -4.30558498e-02 7.19582246e-01 3.17118663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55037174299997 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:53.42, Y:34.64, Z:31.71 [[-5.46044727e-01 -6.81920162e-01 4.86641602e-01 5.34239281e+01] [ 4.70613995e-01 -7.30254215e-01 -4.95228482e-01 3.46442298e+01] [ 6.93078368e-01 -4.13965530e-02 7.19672635e-01 3.17106737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58037174299997 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:53.42, Y:34.64, Z:31.71 [[-5.49481502e-01 -6.73854677e-01 4.93953392e-01 5.34212211e+01] [ 4.77782695e-01 -7.38424439e-01 -4.75870828e-01 3.46385117e+01] [ 6.85415039e-01 -2.54798343e-02 7.27706673e-01 3.17107736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61037174299997 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:53.41, Y:34.66, Z:31.72 [[-5.50507533e-01 -6.85703716e-01 4.76184701e-01 5.34142123e+01] [ 4.74122225e-01 -7.26281264e-01 -4.97718436e-01 3.46621913e+01] [ 6.87131408e-01 -4.82279985e-02 7.24930678e-01 3.17211540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64037174299997 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:53.42, Y:34.65, Z:31.71 [[-5.51229880e-01 -6.83794796e-01 4.78090260e-01 5.34243106e+01] [ 4.72883991e-01 -7.28130933e-01 -4.96191572e-01 3.46501327e+01] [ 6.87405522e-01 -4.74343904e-02 7.24723138e-01 3.17088297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67037174299998 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:53.42, Y:34.65, Z:31.71 [[-5.51865202e-01 -6.79003127e-01 4.84148275e-01 5.34228899e+01] [ 4.72882145e-01 -7.32994867e-01 -4.88979552e-01 3.46457314e+01] [ 6.86896845e-01 -4.09057243e-02 7.25602816e-01 3.17109871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70037174299998 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:53.43, Y:34.66, Z:31.71 [[-0.55290132 -0.69109779 0.46549327 53.42594777] [ 0.44783416 -0.71757068 -0.53341999 34.65695225] [ 0.7026697 -0.08646483 0.70624297 31.71351815] [ 0. 0. 0. 1. ]] SLAMing on 155.73037174299998 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:53.42, Y:34.61, Z:31.73 [[-5.52721227e-01 -6.44175909e-01 5.28712251e-01 5.34168243e+01] [ 4.72231452e-01 -7.64840856e-01 -4.38196212e-01 3.46119799e+01] [ 6.86656174e-01 7.47420641e-03 7.26943901e-01 3.17250862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76037174299998 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:53.43, Y:34.66, Z:31.71 [[-0.55244785 -0.69215362 0.46446178 53.42962525] [ 0.44825145 -0.71647401 -0.53454245 34.65511176] [ 0.70276028 -0.08711116 0.70607339 31.70877637] [ 0. 0. 0. 1. ]] SLAMing on 155.79037174299998 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:53.42, Y:34.62, Z:31.73 [[-5.50230477e-01 -6.58349144e-01 5.13636863e-01 5.34210144e+01] [ 4.46321541e-01 -7.51760065e-01 -4.85441950e-01 3.46208941e+01] [ 7.05721973e-01 -3.78577595e-02 7.07476704e-01 3.17270248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82037174299998 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:53.42, Y:34.62, Z:31.72 [[-5.49802522e-01 -6.58371324e-01 5.14066519e-01 5.34248527e+01] [ 4.46447866e-01 -7.51767369e-01 -4.85314460e-01 3.46171138e+01] [ 7.05975559e-01 -3.73232136e-02 7.07252068e-01 3.17222429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85037174299998 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:53.43, Y:34.62, Z:31.72 [[-5.48625097e-01 -6.58879275e-01 5.14673299e-01 5.34250661e+01] [ 4.47060642e-01 -7.51377802e-01 -4.85353666e-01 3.46171120e+01] [ 7.06503563e-01 -3.61870265e-02 7.06783711e-01 3.17222228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88037174299998 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:53.43, Y:34.62, Z:31.72 [[-5.48053289e-01 -6.59028541e-01 5.15091229e-01 5.34274046e+01] [ 4.47374958e-01 -7.51280387e-01 -4.85214825e-01 3.46150586e+01] [ 7.06748357e-01 -3.54846637e-02 7.06574553e-01 3.17199175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91037174299998 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:53.43, Y:34.61, Z:31.72 [[-5.47167332e-01 -6.59359878e-01 5.15608826e-01 5.34298104e+01] [ 4.47839937e-01 -7.51032796e-01 -4.85169176e-01 3.46128976e+01] [ 7.07140227e-01 -3.45584995e-02 7.06228298e-01 3.17167448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940371743 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:53.45, Y:34.60, Z:31.70 [[-5.39125572e-01 -6.65561307e-01 5.16112163e-01 5.34467305e+01] [ 4.59732369e-01 -7.46004777e-01 -4.81791472e-01 3.46032248e+01] [ 7.05683900e-01 -2.24726354e-02 7.08170328e-01 3.16955947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970371743 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:53.43, Y:34.62, Z:31.71 [[-5.44671851e-01 -6.71868478e-01 5.01921631e-01 5.34339206e+01] [ 4.51280401e-01 -7.39256509e-01 -4.99845790e-01 3.46210736e+01] [ 7.06879462e-01 -4.57445365e-02 7.05853287e-01 3.17088290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000371743 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:53.45, Y:34.60, Z:31.69 [[-5.35588844e-01 -6.69317529e-01 5.14935564e-01 5.34496720e+01] [ 4.62502497e-01 -7.42673493e-01 -4.84280417e-01 3.46011518e+01] [ 7.06566367e-01 -2.12162044e-02 7.07328666e-01 3.16930962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:53.44, Y:34.61, Z:31.71 [[-5.40756547e-01 -6.72691811e-01 5.05042657e-01 5.34364543e+01] [ 4.55427856e-01 -7.38919769e-01 -4.96571287e-01 3.46146942e+01] [ 7.07225442e-01 -3.85136798e-02 7.05938291e-01 3.17067049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060371743 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:53.45, Y:34.60, Z:31.69 [[-5.31426257e-01 -6.73000493e-01 5.14447732e-01 5.34544040e+01] [ 4.65311845e-01 -7.39392381e-01 -4.86604351e-01 3.45975336e+01] [ 7.07863701e-01 -1.92157052e-02 7.06087627e-01 3.16878108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090371743 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:53.44, Y:34.61, Z:31.70 [[-5.37133766e-01 -6.75025809e-01 5.05793905e-01 5.34423679e+01] [ 4.58288572e-01 -7.36959841e-01 -4.96851868e-01 3.46096042e+01] [ 7.08137629e-01 -3.50763488e-02 7.05202629e-01 3.16991508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120371743 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:53.44, Y:34.60, Z:31.70 [[-5.34623538e-01 -6.68099058e-01 5.17514561e-01 5.34426129e+01] [ 4.60196104e-01 -7.43775376e-01 -4.84786279e-01 3.45996139e+01] [ 7.08799844e-01 -2.10199716e-02 7.05096406e-01 3.17012127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150371743 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:53.44, Y:34.60, Z:31.70 [[-5.34150209e-01 -6.68402875e-01 5.17611003e-01 5.34418531e+01] [ 4.61054309e-01 -7.43528651e-01 -4.84349118e-01 3.46009101e+01] [ 7.08598954e-01 -2.00683994e-02 7.05326011e-01 3.17025449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180371743 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:53.45, Y:34.60, Z:31.70 [[-5.33744637e-01 -6.68485246e-01 5.17922908e-01 5.34485869e+01] [ 4.61394216e-01 -7.43471657e-01 -4.84112871e-01 3.45960746e+01] [ 7.08683315e-01 -1.94260144e-02 7.05259236e-01 3.16953736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210371743 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:53.45, Y:34.60, Z:31.70 [[-5.34379859e-01 -6.67845383e-01 5.18093343e-01 5.34478750e+01] [ 4.60865919e-01 -7.44038432e-01 -4.83745198e-01 3.45972938e+01] [ 7.08548355e-01 -1.97321265e-02 7.05386328e-01 3.16969231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24037174299997 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:53.45, Y:34.59, Z:31.69 [[-5.34931072e-01 -6.67205418e-01 5.18348993e-01 5.34526007e+01] [ 4.60253628e-01 -7.44604019e-01 -4.83457810e-01 3.45943112e+01] [ 7.08530413e-01 -2.00446002e-02 7.05395540e-01 3.16921548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27037174299997 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:53.45, Y:34.60, Z:31.69 [[-5.36735264e-01 -6.65805965e-01 5.18283391e-01 5.34538607e+01] [ 4.58898578e-01 -7.45819851e-01 -4.82871458e-01 3.45966392e+01] [ 7.08044739e-01 -2.13346280e-02 7.05845225e-01 3.16933140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30037174299997 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:53.46, Y:34.60, Z:31.69 [[-5.38081343e-01 -6.64648288e-01 5.18373535e-01 5.34552821e+01] [ 4.57729126e-01 -7.46823151e-01 -4.82430543e-01 3.45966546e+01] [ 7.07779991e-01 -2.23122097e-02 7.06080484e-01 3.16930435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33037174299997 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:53.46, Y:34.60, Z:31.69 [[-5.40734385e-01 -6.62706192e-01 5.18099246e-01 5.34592479e+01] [ 4.55830953e-01 -7.48485818e-01 -4.81650415e-01 3.45961665e+01] [ 7.06982650e-01 -2.42792682e-02 7.06814013e-01 3.16906579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36037174299997 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:53.46, Y:34.60, Z:31.69 [[-5.42231909e-01 -6.61457942e-01 5.18129277e-01 5.34609275e+01] [ 4.54599453e-01 -7.49553524e-01 -4.81153667e-01 3.45961606e+01] [ 7.06628540e-01 -2.53555856e-02 7.07130257e-01 3.16896947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39037174299997 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:53.46, Y:34.60, Z:31.69 [[-5.43759231e-01 -6.60113014e-01 5.18243868e-01 5.34623344e+01] [ 4.53153185e-01 -7.50696570e-01 -4.80735738e-01 3.45961515e+01] [ 7.06383812e-01 -2.65606358e-02 7.07330505e-01 3.16888879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42037174299998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:53.46, Y:34.60, Z:31.69 [[-5.46741240e-01 -6.57831840e-01 5.18007033e-01 5.34626805e+01] [ 4.50762806e-01 -7.52608883e-01 -4.79992460e-01 3.45988003e+01] [ 7.05611018e-01 -2.89333690e-02 7.08008440e-01 3.16907074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45037174299998 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.69 [[-5.48249628e-01 -6.56532638e-01 5.18061040e-01 5.34666424e+01] [ 4.49445435e-01 -7.53698599e-01 -4.79517698e-01 3.45965107e+01] [ 7.05280899e-01 -3.00552298e-02 7.08290573e-01 3.16861657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48037174299998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.69 [[-5.49296012e-01 -6.55442197e-01 5.18333307e-01 5.34666247e+01] [ 4.48202560e-01 -7.54611773e-01 -4.79244757e-01 3.45987187e+01] [ 7.05257653e-01 -3.09289184e-02 7.08276108e-01 3.16875167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51037174299998 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.68 [[-5.52675690e-01 -6.52692059e-01 5.18211016e-01 5.34702465e+01] [ 4.45072017e-01 -7.56865680e-01 -4.78607608e-01 3.45970629e+01] [ 7.04599518e-01 -3.38735686e-02 7.08796233e-01 3.16836442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54037174299998 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.69 [[-5.54480639e-01 -6.51159290e-01 5.18211154e-01 5.34688876e+01] [ 4.43495148e-01 -7.58121380e-01 -4.78083702e-01 3.45994263e+01] [ 7.04175599e-01 -3.52640240e-02 7.09149613e-01 3.16859327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57037174299998 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.69 [[-5.57061359e-01 -6.48847435e-01 5.18343176e-01 5.34682350e+01] [ 4.40728071e-01 -7.59986537e-01 -4.77681097e-01 3.46015324e+01] [ 7.03875990e-01 -3.76492933e-02 7.09324412e-01 3.16881658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60037174299998 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.69 [[-5.59038365e-01 -6.47322263e-01 5.18121602e-01 5.34690811e+01] [ 4.39389100e-01 -7.61219203e-01 -4.76951302e-01 3.46004823e+01] [ 7.03145308e-01 -3.89770918e-02 7.09977085e-01 3.16864888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63037174299998 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.69 [[-5.60575437e-01 -6.46050394e-01 5.18048326e-01 5.34674621e+01] [ 4.38251739e-01 -7.62246018e-01 -4.76357452e-01 3.46018294e+01] [ 7.02631192e-01 -3.99987075e-02 7.10429103e-01 3.16885250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66037174299998 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:53.47, Y:34.60, Z:31.68 [[-5.62013529e-01 -6.45095057e-01 5.17680558e-01 5.34740486e+01] [ 4.37836016e-01 -7.63024309e-01 -4.75492931e-01 3.45954622e+01] [ 7.01740990e-01 -4.05742663e-02 7.11275834e-01 3.16797693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690371743 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:53.47, Y:34.58, Z:31.67 [[-5.64904993e-01 -6.27287053e-01 5.36090759e-01 5.34721419e+01] [ 4.65835146e-01 -7.78690840e-01 -4.20283466e-01 3.45783220e+01] [ 6.81087341e-01 1.23096890e-02 7.32098700e-01 3.16736777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720371743 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:53.48, Y:34.62, Z:31.65 [[-0.56539838 -0.67166298 0.4787416 53.48274776] [ 0.46369178 -0.73885154 -0.4889666 34.61762573] [ 0.68213973 -0.05447238 0.72919006 31.65133438] [ 0. 0. 0. 1. ]] SLAMing on 156.750371743 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:53.48, Y:34.62, Z:31.66 [[-5.65359001e-01 -6.68281628e-01 4.83496499e-01 5.34801791e+01] [ 4.61197258e-01 -7.42087754e-01 -4.86418395e-01 3.46151286e+01] [ 6.83861308e-01 -5.20137586e-02 7.27755646e-01 3.16550194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780371743 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:53.48, Y:34.62, Z:31.66 [[-0.56529101 -0.6687973 0.48286255 53.4782877 ] [ 0.45572462 -0.74112914 -0.49299357 34.61683662] [ 0.68757628 -0.05863248 0.72374104 31.65867824] [ 0. 0. 0. 1. ]] SLAMing on 156.810371743 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:53.48, Y:34.61, Z:31.66 [[-5.65866266e-01 -6.60120989e-01 4.93999646e-01 5.34794747e+01] [ 4.52502233e-01 -7.49500294e-01 -4.83209104e-01 3.46052554e+01] [ 6.89229351e-01 -4.98957882e-02 7.22823154e-01 3.16582823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840371743 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:53.48, Y:34.60, Z:31.66 [[-5.67005255e-01 -6.59168226e-01 4.93965881e-01 5.34795075e+01] [ 4.51241101e-01 -7.50258260e-01 -4.83212181e-01 3.46042819e+01] [ 6.89120098e-01 -5.10861382e-02 7.22844172e-01 3.16572829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870371743 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:53.47, Y:34.61, Z:31.67 [[-0.56719938 -0.65855729 0.49455754 53.47350229] [ 0.44649317 -0.75047672 -0.48726639 34.60879334] [ 0.69204676 -0.05556063 0.71971126 31.66710786] [ 0. 0. 0. 1. ]] SLAMing on 156.900371743 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:53.48, Y:34.59, Z:31.65 [[-5.67768283e-01 -6.49264172e-01 5.06058507e-01 5.34817806e+01] [ 4.52395934e-01 -7.59697409e-01 -4.67116437e-01 3.45867860e+01] [ 6.87733303e-01 -3.62750861e-02 7.25056565e-01 3.16519051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930371743 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:53.49, Y:34.59, Z:31.64 [[-5.68139837e-01 -6.58659668e-01 4.93340214e-01 5.34897051e+01] [ 4.52744039e-01 -7.50783894e-01 -4.80984803e-01 3.45880129e+01] [ 6.87197178e-01 -4.99097866e-02 7.24754477e-01 3.16373545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960371743 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:53.48, Y:34.60, Z:31.65 [[-0.56721115 -0.66486869 0.48602586 53.48025267] [ 0.44623378 -0.74411696 -0.49715728 34.60035743] [ 0.6922044 -0.06511199 0.71875831 31.64927752] [ 0. 0. 0. 1. ]] SLAMing on 156.99037174299997 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:53.48, Y:34.58, Z:31.65 [[-5.66004188e-01 -6.54502717e-01 5.01263855e-01 5.34803256e+01] [ 4.46600000e-01 -7.54513832e-01 -4.80892210e-01 3.45846521e+01] [ 6.92955770e-01 -4.83225672e-02 7.19358902e-01 3.16495152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02037174299997 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:53.48, Y:34.59, Z:31.65 [[-5.64632280e-01 -6.56438800e-01 5.00278413e-01 5.34785246e+01] [ 4.47051748e-01 -7.52774770e-01 -4.83192384e-01 3.45852631e+01] [ 6.93783196e-01 -4.91756783e-02 7.18503048e-01 3.16511091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05037174299997 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:53.48, Y:34.57, Z:31.64 [[-5.62924213e-01 -6.55025664e-01 5.04041377e-01 5.34812056e+01] [ 4.53892584e-01 -7.54654111e-01 -4.73791827e-01 3.45731917e+01] [ 6.90722704e-01 -3.79282486e-02 7.22124362e-01 3.16431244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08037174299997 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:53.47, Y:34.59, Z:31.66 [[-0.56464668 -0.66631692 0.48702761 53.47073946] [ 0.43698899 -0.74196004 -0.50846429 34.59160672] [ 0.70015338 -0.07427697 0.71011842 31.65746134] [ 0. 0. 0. 1. ]] SLAMing on 157.11037174299997 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:53.47, Y:34.56, Z:31.66 [[-5.61302764e-01 -6.43988160e-01 5.19825411e-01 5.34705253e+01] [ 4.38095808e-01 -7.64087790e-01 -4.73541880e-01 3.45589343e+01] [ 7.02147613e-01 -3.80670322e-02 7.11013102e-01 3.16623131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14037174299997 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:53.47, Y:34.55, Z:31.65 [[-5.59663189e-01 -6.40503854e-01 5.25863032e-01 5.34736336e+01] [ 4.54337690e-01 -7.67829706e-01 -4.51679982e-01 3.45507699e+01] [ 6.93076026e-01 -1.38692636e-02 7.20731063e-01 3.16537168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17037174299998 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:53.47, Y:34.57, Z:31.65 [[-5.60779159e-01 -6.53906228e-01 5.07871421e-01 5.34673009e+01] [ 4.66245396e-01 -7.56295787e-01 -4.58946526e-01 3.45651906e+01] [ 6.84209007e-01 -2.05749352e-02 7.28995683e-01 3.16490723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20037174299998 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:53.47, Y:34.59, Z:31.65 [[-0.55910849 -0.67859562 0.47634617 53.46909105] [ 0.44368702 -0.73023885 -0.51951232 34.58815592] [ 0.70038527 -0.07911514 0.70936681 31.64761468] [ 0. 0. 0. 1. ]] SLAMing on 157.23037174299998 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:53.47, Y:34.55, Z:31.66 [[-5.56363557e-01 -6.47310325e-01 5.21007615e-01 5.34690714e+01] [ 4.43083123e-01 -7.61541379e-01 -4.73003250e-01 3.45481041e+01] [ 7.02948745e-01 -3.23120900e-02 7.10506151e-01 3.16555282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26037174299998 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:53.47, Y:34.54, Z:31.65 [[-5.53734447e-01 -6.48812335e-01 5.21939379e-01 5.34711701e+01] [ 4.44767611e-01 -7.60358649e-01 -4.73324937e-01 3.45423046e+01] [ 7.03960180e-01 -2.99545911e-02 7.09607489e-01 3.16507116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29037174299998 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:53.47, Y:34.54, Z:31.65 [[-5.52899841e-01 -6.49162844e-01 5.22388139e-01 5.34740527e+01] [ 4.45336244e-01 -7.60096437e-01 -4.73211408e-01 3.45380341e+01] [ 7.04256627e-01 -2.90001404e-02 7.09352941e-01 3.16458025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32037174299998 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:53.46, Y:34.53, Z:31.65 [[-5.56454396e-01 -6.32793142e-01 5.38452732e-01 5.34644309e+01] [ 4.74843824e-01 -7.73991212e-01 -4.18880588e-01 3.45294377e+01] [ 6.81822446e-01 2.25930102e-02 7.31168728e-01 3.16481451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35037174299998 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:53.48, Y:34.58, Z:31.63 [[-0.55268423 -0.68613794 0.47302735 53.47517677] [ 0.44776597 -0.72318938 -0.5258353 34.5771815 ] [ 0.7028839 -0.07881532 0.70692458 31.63059582] [ 0. 0. 0. 1. ]] SLAMing on 157.38037174299998 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:53.47, Y:34.53, Z:31.64 [[-5.51224263e-01 -6.49838635e-01 5.23317839e-01 5.34730444e+01] [ 4.46378257e-01 -7.59586866e-01 -4.73047826e-01 3.45349023e+01] [ 7.04910110e-01 -2.71577342e-02 7.08776547e-01 3.16439150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41037174299998 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:53.47, Y:34.54, Z:31.65 [[-5.52018873e-01 -6.48935595e-01 5.23600761e-01 5.34701849e+01] [ 4.45381876e-01 -7.60335905e-01 -4.72783561e-01 3.45366246e+01] [ 7.04918540e-01 -2.77831593e-02 7.08743923e-01 3.16468060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440371743 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:53.47, Y:34.53, Z:31.64 [[-5.54877147e-01 -6.37039975e-01 5.35062074e-01 5.34707055e+01] [ 4.65379711e-01 -7.70793416e-01 -4.35085318e-01 3.45262744e+01] [ 6.89589064e-01 7.58813335e-03 7.24161131e-01 3.16412799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470371743 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:53.48, Y:34.55, Z:31.62 [[-5.55321379e-01 -6.65761634e-01 4.98376978e-01 5.34761520e+01] [ 4.66479403e-01 -7.45482490e-01 -4.76080690e-01 3.45533686e+01] [ 6.88487569e-01 -3.18951898e-02 7.24546454e-01 3.16243702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500371743 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:53.49, Y:34.56, Z:31.61 [[-5.56174940e-01 -6.74714941e-01 4.85210454e-01 5.34859821e+01] [ 4.62178546e-01 -7.36343052e-01 -4.94155747e-01 3.45566129e+01] [ 6.90695612e-01 -5.05831809e-02 7.21374323e-01 3.16113798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530371743 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:53.49, Y:34.53, Z:31.61 [[-5.54398689e-01 -6.52242212e-01 5.16935384e-01 5.34896313e+01] [ 4.65535972e-01 -7.57903994e-01 -4.57009623e-01 3.45257550e+01] [ 6.89868359e-01 -1.27135195e-02 7.23823193e-01 3.16101149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560371743 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:53.49, Y:34.56, Z:31.61 [[-0.55649881 -0.6764926 0.4823555 53.48966169] [ 0.45787497 -0.73414969 -0.50137286 34.55679576] [ 0.69329617 -0.05815489 0.71830246 31.60702032] [ 0. 0. 0. 1. ]] SLAMing on 157.590371743 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:53.49, Y:34.54, Z:31.61 [[-5.55811694e-01 -6.58896812e-01 5.06881004e-01 5.34907481e+01] [ 4.52080971e-01 -7.51267194e-01 -4.80853824e-01 3.45357566e+01] [ 6.97636121e-01 -3.81129222e-02 7.15437802e-01 3.16130984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620371743 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:53.50, Y:34.51, Z:31.61 [[-5.55524753e-01 -6.44866247e-01 5.24918825e-01 5.34968912e+01] [ 4.55016416e-01 -7.64145367e-01 -4.57211023e-01 3.45148443e+01] [ 6.95954245e-01 -1.51453586e-02 7.17926394e-01 3.16070441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650371743 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:53.48, Y:34.55, Z:31.63 [[-0.56066351 -0.66194568 0.49747799 53.48269443] [ 0.43581119 -0.74673712 -0.5024463 34.55213036] [ 0.70407743 -0.06489683 0.70715159 31.6251662 ] [ 0. 0. 0. 1. ]] SLAMing on 157.680371743 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:53.47, Y:34.54, Z:31.65 [[-5.60590051e-01 -6.40100085e-01 5.25367182e-01 5.34685885e+01] [ 4.33884450e-01 -7.67415944e-01 -4.72035013e-01 3.45425517e+01] [ 7.05324804e-01 -3.66694818e-02 7.07935216e-01 3.16515025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710371743 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:53.48, Y:34.54, Z:31.63 [[-5.59467063e-01 -6.48030154e-01 5.16772218e-01 5.34829015e+01] [ 4.39115104e-01 -7.60527850e-01 -4.78304625e-01 3.45417093e+01] [ 7.02975484e-01 -4.06731978e-02 7.10050111e-01 3.16339053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74037174299997 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:53.48, Y:34.53, Z:31.64 [[-5.61654830e-01 -6.34518937e-01 5.30970405e-01 5.34796769e+01] [ 4.32372069e-01 -7.72249974e-01 -4.65493686e-01 3.45297402e+01] [ 7.05406440e-01 -3.18700042e-02 7.08086193e-01 3.16403629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77037174299997 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:53.49, Y:34.53, Z:31.63 [[-5.61289513e-01 -6.38903097e-01 5.26076909e-01 5.34883452e+01] [ 4.32714779e-01 -7.68396228e-01 -4.71513686e-01 3.45271457e+01] [ 7.05487067e-01 -3.70144338e-02 7.07755558e-01 3.16286528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80037174299997 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:53.48, Y:34.53, Z:31.63 [[-5.63692713e-01 -6.34927432e-01 5.28315892e-01 5.34848138e+01] [ 4.50071235e-01 -7.72429866e-01 -4.48093724e-01 3.45272912e+01] [ 6.92593971e-01 -1.48073814e-02 7.21175660e-01 3.16281953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83037174299997 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:53.49, Y:34.54, Z:31.62 [[-5.61185559e-01 -6.53824768e-01 5.07527282e-01 5.34917124e+01] [ 4.49177243e-01 -7.55610243e-01 -4.76752520e-01 3.45422780e+01] [ 6.95205418e-01 -3.95769243e-02 7.17720763e-01 3.16150768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86037174299997 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:53.48, Y:34.55, Z:31.62 [[-5.59941115e-01 -6.54028894e-01 5.08637546e-01 5.34848553e+01] [ 4.46842356e-01 -7.55350741e-01 -4.79350776e-01 3.45501443e+01] [ 6.97709005e-01 -4.11274091e-02 7.15199748e-01 3.16235656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89037174299997 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:53.49, Y:34.53, Z:31.62 [[-5.59247301e-01 -6.38963568e-01 5.28174228e-01 5.34909182e+01] [ 4.52201346e-01 -7.69114342e-01 -4.51638208e-01 3.45257678e+01] [ 6.94806735e-01 -1.37363520e-02 7.19065306e-01 3.16210875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92037174299998 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:53.19, Y:34.81, Z:32.01 [[-5.57351036e-01 -6.54517045e-01 5.10849548e-01 5.31903775e+01] [ 4.37552828e-01 -7.54447625e-01 -4.89240538e-01 3.48081575e+01] [ 7.05625499e-01 -4.91550563e-02 7.06877950e-01 3.20115359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95037174299998 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:53.49, Y:34.51, Z:31.63 [[-5.52274243e-01 -6.30027419e-01 5.45947445e-01 5.34923782e+01] [ 4.57108149e-01 -7.76507973e-01 -4.33690567e-01 3.45094580e+01] [ 6.97169492e-01 1.00408961e-02 7.16836020e-01 3.16257299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98037174299998 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:53.50, Y:34.53, Z:31.60 [[-5.50840834e-01 -6.62694188e-01 5.07356668e-01 5.35031668e+01] [ 4.65064471e-01 -7.48490988e-01 -4.72732777e-01 3.45327099e+01] [ 6.93029157e-01 -2.44469564e-02 7.20494923e-01 3.15995373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01037174299998 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:53.50, Y:34.53, Z:31.60 [[-5.49072025e-01 -6.59782668e-01 5.13036785e-01 5.35043808e+01] [ 4.67915201e-01 -7.51296867e-01 -4.65412056e-01 3.45274225e+01] [ 6.92513737e-01 -1.54870295e-02 7.21238432e-01 3.15981824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04037174299998 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:53.50, Y:34.55, Z:31.61 [[-5.46394902e-01 -6.71448693e-01 5.00608893e-01 5.34954677e+01] [ 4.49817347e-01 -7.39463322e-01 -5.00857614e-01 3.45458618e+01] [ 7.06482105e-01 -4.84834827e-02 7.06068260e-01 3.16111386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07037174299998 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:53.50, Y:34.50, Z:31.61 [[-5.44231171e-01 -6.31139320e-01 5.52698464e-01 5.35047794e+01] [ 4.70818826e-01 -7.75055540e-01 -4.21448151e-01 3.44955166e+01] [ 6.94364505e-01 3.08556214e-02 7.18961657e-01 3.16062667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10037174299998 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:53.52, Y:34.53, Z:31.58 [[-5.43648336e-01 -6.71484664e-01 5.03542285e-01 5.35155219e+01] [ 4.71701799e-01 -7.40674412e-01 -4.78433724e-01 3.45303798e+01] [ 6.94221794e-01 -2.25778964e-02 7.19406936e-01 3.15804380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13037174299998 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:53.51, Y:34.54, Z:31.58 [[-5.45619162e-01 -6.75394872e-01 4.96126493e-01 5.35129298e+01] [ 4.71595355e-01 -7.36831660e-01 -4.84434646e-01 3.45406714e+01] [ 6.92746383e-01 -3.03458757e-02 7.20542557e-01 3.15833564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16037174299998 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:53.52, Y:34.53, Z:31.58 [[-5.46378389e-01 -6.65051250e-01 5.09094776e-01 5.35150148e+01] [ 4.71645555e-01 -7.46621466e-01 -4.69155473e-01 3.45300150e+01] [ 6.92113521e-01 -1.62241235e-02 7.21606300e-01 3.15832917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190371743 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:53.52, Y:34.52, Z:31.58 [[-5.46105114e-01 -6.57395802e-01 5.19230164e-01 5.35184760e+01] [ 4.69621741e-01 -7.53508988e-01 -4.60086542e-01 3.45187192e+01] [ 6.93703557e-01 -7.41384041e-03 7.20222473e-01 3.15832337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220371743 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:53.52, Y:34.54, Z:31.59 [[-0.54891362 -0.6755332 0.49228928 53.52048861] [ 0.44859303 -0.73502528 -0.50843105 34.54215683] [ 0.70530712 -0.05824719 0.70650487 31.58502231] [ 0. 0. 0. 1. ]] SLAMing on 158.250371743 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:53.52, Y:34.52, Z:31.60 [[-5.49462090e-01 -6.48163058e-01 5.27234352e-01 5.35170637e+01] [ 4.47661345e-01 -7.61189197e-01 -4.69244422e-01 3.45170719e+01] [ 7.05471992e-01 -2.18095814e-02 7.08402153e-01 3.15982471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:53.52, Y:34.52, Z:31.60 [[-5.50718390e-01 -6.47263932e-01 5.27028137e-01 5.35187951e+01] [ 4.47114443e-01 -7.61936821e-01 -4.68551978e-01 3.45176413e+01] [ 7.04838939e-01 -2.23982991e-02 7.09013672e-01 3.15977772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310371743 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:53.52, Y:34.52, Z:31.60 [[-5.52927285e-01 -6.45663523e-01 5.26678301e-01 5.35199878e+01] [ 4.45732395e-01 -7.63249046e-01 -4.67732323e-01 3.45197222e+01] [ 7.03984410e-01 -2.38643831e-02 7.09814371e-01 3.15987206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340371743 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:53.52, Y:34.51, Z:31.59 [[-5.57861929e-01 -6.29680338e-01 5.40641045e-01 5.35178656e+01] [ 4.71185867e-01 -7.76559198e-01 -4.18257924e-01 3.45102206e+01] [ 6.83208567e-01 2.14122469e-02 7.29909288e-01 3.15949933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370371743 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:53.53, Y:34.56, Z:31.58 [[-0.558339 -0.67614556 0.48071275 53.53053694] [ 0.4427445 -0.73287919 -0.51659017 34.55634025] [ 0.70159452 -0.07559951 0.70855476 31.58045942] [ 0. 0. 0. 1. ]] SLAMing on 158.400371743 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:53.52, Y:34.52, Z:31.60 [[-5.63069505e-01 -6.25017031e-01 5.40653719e-01 5.35181833e+01] [ 4.65777218e-01 -7.80426871e-01 -4.17115669e-01 3.45165777e+01] [ 6.82645087e-01 1.69590716e-02 7.30553266e-01 3.15985339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430371743 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:53.53, Y:34.56, Z:31.58 [[-5.63639190e-01 -6.62656179e-01 4.93150740e-01 5.35264506e+01] [ 4.60803199e-01 -7.47732947e-01 -4.78075153e-01 3.45557968e+01] [ 6.85544510e-01 -4.22164540e-02 7.26805679e-01 3.15818773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460371743 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:53.53, Y:34.55, Z:31.58 [[-5.66209738e-01 -6.49878146e-01 5.07015708e-01 5.35294526e+01] [ 4.59848432e-01 -7.59547132e-01 -4.60029971e-01 3.45452336e+01] [ 6.84065751e-01 -2.73230704e-02 7.28908429e-01 3.15804617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49037174299997 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:53.53, Y:34.57, Z:31.58 [[-0.56537482 -0.66947448 0.48182489 53.53450205] [ 0.43484062 -0.73829711 -0.51558802 34.56535493] [ 0.70090295 -0.08198345 0.7085293 31.58187784] [ 0. 0. 0. 1. ]] SLAMing on 158.52037174299997 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:53.53, Y:34.52, Z:31.59 [[-5.67155106e-01 -6.20539735e-01 5.41539955e-01 5.35268913e+01] [ 4.56460522e-01 -7.84126479e-01 -4.20463384e-01 3.45199732e+01] [ 6.85550055e-01 8.72365595e-03 7.27973228e-01 3.15921692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55037174299997 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:53.54, Y:34.56, Z:31.58 [[-0.56609254 -0.66747296 0.4837552 53.53769806] [ 0.43338227 -0.74017247 -0.514125 34.56409155] [ 0.70122681 -0.0813914 0.70827706 31.58080799] [ 0. 0. 0. 1. ]] SLAMing on 158.58037174299997 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:53.53, Y:34.52, Z:31.59 [[-5.68183025e-01 -6.20715089e-01 5.40259963e-01 5.35270255e+01] [ 4.54417005e-01 -7.84018731e-01 -4.22870921e-01 3.45235295e+01] [ 6.86056292e-01 5.23523520e-03 7.27529626e-01 3.15943411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61037174299997 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:53.53, Y:34.56, Z:31.58 [[-5.67876645e-01 -6.53070951e-01 5.01013423e-01 5.35321356e+01] [ 4.54340920e-01 -7.56254025e-01 -4.70801633e-01 3.45560887e+01] [ 6.86360288e-01 -3.97263520e-02 7.26175855e-01 3.15828603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64037174299997 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:53.53, Y:34.55, Z:31.58 [[-5.67977736e-01 -6.50033362e-01 5.04834547e-01 5.35329954e+01] [ 4.59983153e-01 -7.59345048e-01 -4.60228854e-01 3.45518307e+01] [ 6.82507722e-01 -2.91843554e-02 7.30295476e-01 3.15798668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67037174299998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:53.54, Y:34.55, Z:31.57 [[-5.67497432e-01 -6.56800027e-01 4.96548476e-01 5.35409840e+01] [ 4.62609457e-01 -7.53221430e-01 -4.67600222e-01 3.45524643e+01] [ 6.81130791e-01 -3.56539044e-02 7.31293131e-01 3.15680974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70037174299998 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:53.54, Y:34.55, Z:31.57 [[-5.63600793e-01 -6.59051421e-01 4.98001376e-01 5.35392479e+01] [ 4.62835196e-01 -7.51298829e-01 -4.70461104e-01 3.45525015e+01] [ 6.84205910e-01 -3.46596866e-02 7.28464810e-01 3.15721318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73037174299998 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:53.54, Y:34.55, Z:31.57 [[-5.61720380e-01 -6.59300046e-01 4.99793622e-01 5.35447017e+01] [ 4.64736381e-01 -7.51240913e-01 -4.68675993e-01 3.45452087e+01] [ 6.84463521e-01 -3.09925782e-02 7.28388048e-01 3.15656558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76037174299998 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:53.55, Y:34.54, Z:31.56 [[-5.58457023e-01 -6.57706538e-01 5.05517421e-01 5.35482927e+01] [ 4.72816225e-01 -7.53094188e-01 -4.57486569e-01 3.45355311e+01] [ 6.81594140e-01 -1.64697489e-02 7.31545061e-01 3.15593838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79037174299998 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:53.55, Y:34.54, Z:31.55 [[-5.56157204e-01 -6.70018516e-01 4.91695385e-01 5.35524849e+01] [ 4.73010088e-01 -7.41657036e-01 -4.75611498e-01 3.45440822e+01] [ 6.83337853e-01 -3.19378835e-02 7.29403421e-01 3.15529812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82037174299998 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:53.56, Y:34.53, Z:31.55 [[-5.55345527e-01 -6.62905737e-01 5.02142738e-01 5.35572707e+01] [ 4.77511386e-01 -7.48537717e-01 -4.60080605e-01 3.45293653e+01] [ 6.80862851e-01 -1.57248310e-02 7.32242110e-01 3.15475101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85037174299998 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:53.56, Y:34.54, Z:31.54 [[-5.54072757e-01 -6.72413708e-01 4.90778144e-01 5.35586425e+01] [ 4.84535130e-01 -7.39883777e-01 -4.66688017e-01 3.45374044e+01] [ 6.76926206e-01 -2.07798644e-02 7.35757507e-01 3.15420510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88037174299998 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:53.56, Y:34.54, Z:31.54 [[-5.52356422e-01 -6.76435414e-01 4.87172981e-01 5.35627367e+01] [ 4.80353569e-01 -7.35908627e-01 -4.77178102e-01 3.45384995e+01] [ 6.81294967e-01 -2.95571091e-02 7.31412021e-01 3.15398447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91037174299998 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:53.56, Y:34.54, Z:31.56 [[-0.54892787 -0.67897696 0.48751255 53.55890162] [ 0.45539866 -0.73200958 -0.50672875 34.54306393] [ 0.70092101 -0.05614497 0.71102566 31.5601875 ] [ 0. 0. 0. 1. ]] SLAMing on 158.940371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:53.56, Y:34.50, Z:31.56 [[-5.54144031e-01 -6.32134729e-01 5.41599555e-01 5.35570299e+01] [ 4.85256264e-01 -7.73956931e-01 -4.06837840e-01 3.44951127e+01] [ 6.76351057e-01 3.73678159e-02 7.35630950e-01 3.15567338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970371743 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:53.57, Y:34.52, Z:31.53 [[-5.53248506e-01 -6.68258800e-01 4.97339187e-01 5.35697972e+01] [ 4.89274888e-01 -7.43879964e-01 -4.55250133e-01 3.45242709e+01] [ 6.74185564e-01 -8.53088096e-03 7.38512728e-01 3.15309641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000371743 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:53.57, Y:34.56, Z:31.55 [[-0.55127034 -0.69466144 0.46211091 53.56965549] [ 0.45365072 -0.71440948 -0.5327477 34.56031684] [ 0.7002157 -0.08405106 0.70896642 31.54693935] [ 0. 0. 0. 1. ]] SLAMing on 159.030371743 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:53.42, Y:34.64, Z:31.75 [[-5.51059799e-01 -6.48171151e-01 5.25554238e-01 5.34218081e+01] [ 4.51189443e-01 -7.61243971e-01 -4.65763569e-01 3.46374841e+01] [ 7.01969504e-01 -1.95390548e-02 7.11938930e-01 3.17454186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060371743 meters Centerline goodness : 0.996151 Centerline is valid? [True, True] Translation: X:53.56, Y:34.51, Z:31.57 [[-5.50863313e-01 -6.42531125e-01 5.32638118e-01 5.35627083e+01] [ 4.50276999e-01 -7.66153360e-01 -4.58540786e-01 3.45110442e+01] [ 7.02709211e-01 -1.27586030e-02 7.11362765e-01 3.15682919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090371743 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:53.57, Y:34.52, Z:31.57 [[-5.53094070e-01 -6.43848960e-01 5.28720594e-01 5.35653421e+01] [ 4.47416014e-01 -7.64897617e-01 -4.63411854e-01 3.45178647e+01] [ 7.02784363e-01 -1.97522882e-02 7.11128671e-01 3.15671588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120371743 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:53.57, Y:34.52, Z:31.57 [[-5.54688826e-01 -6.42376994e-01 5.28840340e-01 5.35658083e+01] [ 4.45769655e-01 -7.66098621e-01 -4.63014381e-01 3.45198615e+01] [ 7.02573641e-01 -2.10879279e-02 7.11298515e-01 3.15678375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150371743 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:53.57, Y:34.52, Z:31.57 [[-5.57899950e-01 -6.40015046e-01 5.28326023e-01 5.35692845e+01] [ 4.43474499e-01 -7.68003377e-01 -4.62061880e-01 3.45218026e+01] [ 7.01482725e-01 -2.34851810e-02 7.12299398e-01 3.15665079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180371743 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:53.57, Y:34.52, Z:31.57 [[-5.59433992e-01 -6.38616199e-01 5.28396592e-01 5.35704506e+01] [ 4.41981505e-01 -7.69128750e-01 -4.61620315e-01 3.45230626e+01] [ 7.01203221e-01 -2.47045751e-02 7.12533316e-01 3.15668645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210371743 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:53.57, Y:34.52, Z:31.57 [[-5.60879722e-01 -6.37180805e-01 5.28596783e-01 5.35714004e+01] [ 4.40323094e-01 -7.70276503e-01 -4.61291320e-01 3.45243029e+01] [ 7.01091656e-01 -2.59755763e-02 7.12597895e-01 3.15672785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24037174299997 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:53.58, Y:34.52, Z:31.56 [[-5.63461489e-01 -6.34802794e-01 5.28712174e-01 5.35757346e+01] [ 4.37451973e-01 -7.72151865e-01 -4.60887479e-01 3.45249157e+01] [ 7.00818751e-01 -2.84061615e-02 7.12773575e-01 3.15647183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27037174299997 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:53.58, Y:34.53, Z:31.57 [[-5.65051032e-01 -6.33253555e-01 5.28873583e-01 5.35755888e+01] [ 4.35678794e-01 -7.73370461e-01 -4.60523744e-01 3.45268452e+01] [ 7.00643505e-01 -2.98004120e-02 7.12888922e-01 3.15662260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30037174299997 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:53.57, Y:34.52, Z:31.56 [[-5.70832035e-01 -6.15250953e-01 5.43706771e-01 5.35728710e+01] [ 4.59197135e-01 -7.88173910e-01 -4.09780282e-01 3.45191167e+01] [ 6.80653201e-01 1.57528794e-02 7.32436391e-01 3.15619888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33037174299997 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:53.59, Y:34.55, Z:31.54 [[-5.73543193e-01 -6.51795762e-01 4.96196020e-01 5.35865249e+01] [ 4.62189869e-01 -7.57585604e-01 -4.60917105e-01 3.45507685e+01] [ 6.76334778e-01 -3.50190946e-02 7.35761464e-01 3.15374883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36037174299997 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:53.59, Y:34.55, Z:31.53 [[-5.73631831e-01 -6.55100047e-01 4.91721925e-01 5.35883378e+01] [ 4.62369674e-01 -7.54491413e-01 -4.65786424e-01 3.45531475e+01] [ 6.76136678e-01 -3.98326125e-02 7.35698686e-01 3.15348076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39037174299997 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:53.59, Y:34.57, Z:31.55 [[-0.57536846 -0.6669482 0.473425 53.59275903] [ 0.43107917 -0.73919616 -0.51745511 34.56812038] [ 0.69506969 -0.09364369 0.71281764 31.54523393] [ 0. 0. 0. 1. ]] SLAMing on 159.42037174299998 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:53.59, Y:34.52, Z:31.55 [[-5.76729728e-01 -6.11883444e-01 5.41277629e-01 5.35866396e+01] [ 4.54043249e-01 -7.90895101e-01 -4.10279987e-01 3.45154425e+01] [ 6.79137357e-01 9.14278787e-03 7.33954263e-01 3.15501569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45037174299998 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:53.59, Y:34.56, Z:31.55 [[-0.57783244 -0.6606019 0.47928572 53.5927083 ] [ 0.4292726 -0.74545327 -0.50992593 34.56459626] [ 0.69414315 -0.08890752 0.71432538 31.54749602] [ 0. 0. 0. 1. ]] SLAMing on 159.48037174299998 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:53.59, Y:34.51, Z:31.55 [[-5.79330649e-01 -6.07882817e-01 5.43005045e-01 5.35870567e+01] [ 4.52907387e-01 -7.93951231e-01 -4.05606141e-01 3.45140012e+01] [ 6.77680528e-01 1.09509273e-02 7.35274900e-01 3.15505213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51037174299998 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:53.60, Y:34.56, Z:31.53 [[-0.58116566 -0.65397115 0.48432242 53.59530204] [ 0.44978679 -0.75411485 -0.47854221 34.55978654] [ 0.67818753 -0.06027047 0.73241324 31.53466364] [ 0. 0. 0. 1. ]] SLAMing on 159.54037174299998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:53.59, Y:34.56, Z:31.55 [[-0.58107583 -0.64815451 0.49218554 53.58945791] [ 0.42396025 -0.75729697 -0.49674843 34.55664217] [ 0.69470036 -0.0799814 0.71483872 31.55240318] [ 0. 0. 0. 1. ]] SLAMing on 159.57037174299998 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:53.58, Y:34.52, Z:31.56 [[-5.83535647e-01 -6.04836518e-01 5.41903068e-01 5.35824044e+01] [ 4.43737897e-01 -7.96349416e-01 -4.11003999e-01 3.45163003e+01] [ 6.80134419e-01 6.27443107e-04 7.33087156e-01 3.15551194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60037174299998 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:53.59, Y:34.55, Z:31.54 [[-0.58501342 -0.64214166 0.49539216 53.58871574] [ 0.44278496 -0.76464009 -0.46825957 34.55164153] [ 0.67948568 -0.05458594 0.73165538 31.54099139] [ 0. 0. 0. 1. ]] SLAMing on 159.63037174299998 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:53.59, Y:34.55, Z:31.55 [[-0.58453003 -0.64217427 0.49592021 53.58613954] [ 0.43668985 -0.76413149 -0.47476841 34.55393628] [ 0.6838323 -0.06095307 0.72708879 31.5470164 ] [ 0. 0. 0. 1. ]] SLAMing on 159.66037174299998 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:53.58, Y:34.54, Z:31.55 [[-5.87005118e-01 -6.31445187e-01 5.06657643e-01 5.35842979e+01] [ 4.33711129e-01 -7.73719609e-01 -4.61792836e-01 3.45422185e+01] [ 6.83607817e-01 -5.13316997e-02 7.28042175e-01 3.15488032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690371743 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:53.58, Y:34.55, Z:31.55 [[-0.58655217 -0.63979766 0.49660397 53.58425834] [ 0.42254605 -0.76483598 -0.48629287 34.55386249] [ 0.69094963 -0.07539809 0.71896018 31.55259461] [ 0. 0. 0. 1. ]] SLAMing on 159.720371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:53.58, Y:34.53, Z:31.56 [[-5.85970424e-01 -6.18396888e-01 5.23663968e-01 5.35781315e+01] [ 4.19218496e-01 -7.84376464e-01 -4.57175476e-01 3.45326535e+01] [ 6.93465583e-01 -4.83616867e-02 7.18864822e-01 3.15631807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750371743 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:53.58, Y:34.53, Z:31.56 [[-0.58855693 -0.62049571 0.51825265 53.57978187] [ 0.41683405 -0.78216936 -0.46309876 34.53201899] [ 0.69271214 -0.05653464 0.71899494 31.55828513] [ 0. 0. 0. 1. ]] SLAMing on 159.780371743 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:53.58, Y:34.53, Z:31.56 [[-5.90286935e-01 -6.16296693e-01 5.21286601e-01 5.35773594e+01] [ 4.16274583e-01 -7.85722511e-01 -4.57553939e-01 3.45284568e+01] [ 6.91575597e-01 -5.30897495e-02 7.20350382e-01 3.15600633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810371743 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:53.58, Y:34.53, Z:31.56 [[-0.59281224 -0.61935385 0.51475669 53.5783787 ] [ 0.40456282 -0.78170005 -0.47463034 34.5257489 ] [ 0.69634946 -0.07311525 0.7139689 31.55642174] [ 0. 0. 0. 1. ]] SLAMing on 159.840371743 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:53.58, Y:34.51, Z:31.56 [[-0.59221041 -0.60651122 0.53050068 53.57593831] [ 0.40278545 -0.79303103 -0.45701824 34.51228655] [ 0.69789018 -0.05697301 0.71393513 31.56175822] [ 0. 0. 0. 1. ]] SLAMing on 159.870371743 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:53.57, Y:34.51, Z:31.56 [[-5.91531360e-01 -6.05087744e-01 5.32878479e-01 5.35737760e+01] [ 4.10865885e-01 -7.94876029e-01 -4.46498962e-01 3.45118113e+01] [ 6.93743379e-01 -4.51765508e-02 7.18804009e-01 3.15621071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900371743 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:53.57, Y:34.51, Z:31.55 [[-0.59420014 -0.61193877 0.52197427 53.57479665] [ 0.41327488 -0.78903312 -0.4545664 34.51352227] [ 0.69002179 -0.05438457 0.72174251 31.55410962] [ 0. 0. 0. 1. ]] SLAMing on 159.930371743 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:53.58, Y:34.51, Z:31.55 [[-0.59475405 -0.61533449 0.51733073 53.57896157] [ 0.41334657 -0.78601158 -0.45970688 34.51088731] [ 0.68950144 -0.05957564 0.72182997 31.54580606] [ 0. 0. 0. 1. ]] SLAMing on 159.960371743 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:53.58, Y:34.51, Z:31.54 [[-0.59583094 -0.61609369 0.51518352 53.57604195] [ 0.41235387 -0.78516029 -0.46204719 34.51025864] [ 0.689166 -0.0628641 0.72187141 31.54460086] [ 0. 0. 0. 1. ]] SLAMing on 159.99037174299997 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:53.57, Y:34.50, Z:31.55 [[-0.59615485 -0.60967494 0.52239436 53.57282674] [ 0.41219195 -0.79077991 -0.4525096 34.503562 ] [ 0.68898273 -0.05443904 0.72273037 31.54745209] [ 0. 0. 0. 1. ]] SLAMing on 160.02037174299997 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:53.57, Y:34.50, Z:31.54 [[-5.98129346e-01 -6.09596860e-01 5.20223945e-01 5.35732713e+01] [ 4.17403455e-01 -7.91114821e-01 -4.47114857e-01 3.45002793e+01] [ 6.84116687e-01 -5.02892452e-02 7.27636826e-01 3.15401840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05037174299997 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:53.57, Y:34.51, Z:31.54 [[-0.59855215 -0.62331151 0.5032078 53.57412116] [ 0.41230482 -0.77827166 -0.47360106 34.51355948] [ 0.68683336 -0.07599993 0.72283051 31.53655796] [ 0. 0. 0. 1. ]] SLAMing on 160.08037174299997 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:53.57, Y:34.49, Z:31.54 [[-0.59713431 -0.60906345 0.52198882 53.56902459] [ 0.41240387 -0.79125897 -0.45147789 34.49216207] [ 0.68800702 -0.05432273 0.723668 31.54243797] [ 0. 0. 0. 1. ]] SLAMing on 160.11037174299997 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:53.57, Y:34.49, Z:31.53 [[-0.59846976 -0.61708411 0.51092186 53.57356503] [ 0.41252109 -0.78405809 -0.4637664 34.49423857] [ 0.68677529 -0.06678412 0.72379526 31.53167343] [ 0. 0. 0. 1. ]] SLAMing on 160.14037174299997 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:53.56, Y:34.48, Z:31.54 [[-5.97654149e-01 -6.08851115e-01 5.21641485e-01 5.35639772e+01] [ 4.13673484e-01 -7.91506469e-01 -4.49879714e-01 3.44848265e+01] [ 6.86792375e-01 -5.30832273e-02 7.24912687e-01 3.15413497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17037174299998 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:53.56, Y:34.49, Z:31.54 [[-0.59829835 -0.61322969 0.51574066 53.56313959] [ 0.41526725 -0.78777097 -0.45493957 34.48668146] [ 0.68526797 -0.05801939 0.72597628 31.537384 ] [ 0. 0. 0. 1. ]] SLAMing on 160.20037174299998 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:53.56, Y:34.48, Z:31.53 [[-0.59789994 -0.61398821 0.51530005 53.56088073] [ 0.41729399 -0.78730092 -0.45389754 34.48049513] [ 0.68438394 -0.0563537 0.72694077 31.53407826] [ 0. 0. 0. 1. ]] SLAMing on 160.23037174299998 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:53.55, Y:34.49, Z:31.54 [[-0.59823348 -0.61651451 0.5118853 53.55262866] [ 0.41780475 -0.78507819 -0.45726516 34.4871422 ] [ 0.68378059 -0.05968322 0.72724275 31.54003103] [ 0. 0. 0. 1. ]] SLAMing on 160.26037174299998 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:53.56, Y:34.48, Z:31.52 [[-0.59790601 -0.61914096 0.50909025 53.56386266] [ 0.41643824 -0.78261425 -0.46270306 34.47747906] [ 0.6848997 -0.06464829 0.72576374 31.52403194] [ 0. 0. 0. 1. ]] SLAMing on 160.29037174299998 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:53.56, Y:34.47, Z:31.52 [[-0.59769821 -0.61299834 0.51671064 53.56098693] [ 0.41686868 -0.78815039 -0.45281284 34.46661309] [ 0.68481921 -0.05524494 0.72661589 31.52379299] [ 0. 0. 0. 1. ]] SLAMing on 160.32037174299998 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:53.56, Y:34.48, Z:31.52 [[-0.59757417 -0.62166303 0.50639924 53.56016905] [ 0.4133193 -0.78001904 -0.46982705 34.47533661] [ 0.68707515 -0.07145192 0.72306456 31.52151975] [ 0. 0. 0. 1. ]] SLAMing on 160.35037174299998 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:53.56, Y:34.45, Z:31.52 [[-5.96813407e-01 -6.07417522e-01 5.24268740e-01 5.35577761e+01] [ 4.12828045e-01 -7.92728496e-01 -4.48502550e-01 3.44544097e+01] [ 6.88031077e-01 -5.12394964e-02 7.23869982e-01 3.15246986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38037174299998 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:53.55, Y:34.46, Z:31.53 [[-0.597506 -0.61421059 0.51549193 53.5540531 ] [ 0.41214567 -0.78668931 -0.45962581 34.46327516] [ 0.68783903 -0.06217142 0.72319582 31.52506052] [ 0. 0. 0. 1. ]] SLAMing on 160.41037174299998 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:53.55, Y:34.45, Z:31.53 [[-5.95584182e-01 -6.07868684e-01 5.25142975e-01 5.35536643e+01] [ 4.13805684e-01 -7.92491502e-01 -4.48020173e-01 3.44528091e+01] [ 6.88508778e-01 -4.95265801e-02 7.23534920e-01 3.15266331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:53.56, Y:34.45, Z:31.51 [[-0.59540052 -0.61682712 0.51480338 53.56184968] [ 0.4160345 -0.78486495 -0.45924102 34.4530413 ] [ 0.68732344 -0.05925637 0.72393036 31.51080038] [ 0. 0. 0. 1. ]] SLAMing on 160.470371743 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:53.56, Y:34.45, Z:31.51 [[-0.59350303 -0.61814773 0.51541006 53.56029927] [ 0.41821697 -0.78401486 -0.45871043 34.44935254] [ 0.68763996 -0.0566928 0.72383507 31.50959483] [ 0. 0. 0. 1. ]] SLAMing on 160.500371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:53.56, Y:34.45, Z:31.51 [[-0.59296292 -0.61823019 0.51593257 53.55584413] [ 0.42000093 -0.7841243 -0.45688982 34.45008135] [ 0.68701834 -0.05422657 0.72461388 31.51247463] [ 0. 0. 0. 1. ]] SLAMing on 160.530371743 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:53.56, Y:34.45, Z:31.51 [[-0.5920739 -0.6222939 0.5120535 53.55710143] [ 0.42446999 -0.78092147 -0.45824326 34.44717829] [ 0.68503556 -0.05396253 0.72650831 31.50558615] [ 0. 0. 0. 1. ]] SLAMing on 160.560371743 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:53.55, Y:34.45, Z:31.52 [[-5.90445913e-01 -6.20255468e-01 5.16388205e-01 5.35484916e+01] [ 4.25949239e-01 -7.82945257e-01 -4.53391630e-01 3.44479060e+01] [ 6.85522333e-01 -4.77480718e-02 7.26484172e-01 3.15160219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590371743 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:53.56, Y:34.44, Z:31.49 [[-5.89531780e-01 -6.25943562e-01 5.10535931e-01 5.35631658e+01] [ 4.28062624e-01 -7.78101661e-01 -4.59695764e-01 3.44377712e+01] [ 6.84992460e-01 -5.24639118e-02 7.26658701e-01 3.14948038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:53.55, Y:34.44, Z:31.51 [[-5.88861842e-01 -6.24644106e-01 5.12895187e-01 5.35515056e+01] [ 4.32340387e-01 -7.79608246e-01 -4.53092455e-01 3.44410891e+01] [ 6.82878849e-01 -4.50635540e-02 7.29140422e-01 3.15059735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650371743 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:53.55, Y:34.45, Z:31.51 [[-5.88814376e-01 -6.29100918e-01 5.07473808e-01 5.35450089e+01] [ 4.31085784e-01 -7.75527874e-01 -4.61217479e-01 3.44504397e+01] [ 6.83712423e-01 -5.28067373e-02 7.27838424e-01 3.15122523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680371743 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:53.54, Y:34.46, Z:31.52 [[-0.5881259 -0.63324352 0.50310096 53.53758312] [ 0.43042586 -0.77171588 -0.46817537 34.46128676] [ 0.68472002 -0.0587984 0.72643048 31.51759834] [ 0. 0. 0. 1. ]] SLAMing on 160.710371743 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:53.56, Y:34.43, Z:31.50 [[-5.87106151e-01 -6.20087722e-01 5.20382152e-01 5.35580128e+01] [ 4.32115775e-01 -7.83652518e-01 -4.46278711e-01 3.44283924e+01] [ 6.84530733e-01 -3.71476394e-02 7.28036900e-01 3.14971454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74037174299997 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:53.57, Y:34.43, Z:31.47 [[-0.5852822 -0.63308962 0.50659874 53.57349548] [ 0.43180119 -0.77218812 -0.46612577 34.42896011] [ 0.68628892 -0.05406517 0.72531681 31.47358198] [ 0. 0. 0. 1. ]] SLAMing on 160.77037174299997 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:53.56, Y:34.44, Z:31.50 [[-0.58659814 -0.63366357 0.50435414 53.55926971] [ 0.41270869 -0.76971197 -0.48704723 34.43854813] [ 0.69683151 -0.07754966 0.71303008 31.49510745] [ 0. 0. 0. 1. ]] SLAMing on 160.80037174299997 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:53.56, Y:34.41, Z:31.51 [[-5.84854931e-01 -6.09689245e-01 5.34998817e-01 5.35563885e+01] [ 4.11814427e-01 -7.91425422e-01 -4.51724119e-01 3.44129023e+01] [ 6.98823001e-01 -4.38728477e-02 7.13947887e-01 3.15088936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83037174299997 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:53.16, Y:34.75, Z:32.00 [[-5.86928024e-01 -6.09119109e-01 5.33375483e-01 5.31603601e+01] [ 4.09629126e-01 -7.91650416e-01 -4.53314017e-01 3.47450799e+01] [ 6.98369153e-01 -4.75765667e-02 7.14154742e-01 3.20025982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86037174299997 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:53.55, Y:34.41, Z:31.51 [[-5.84697401e-01 -6.05322204e-01 5.40105526e-01 5.35548660e+01] [ 4.11170739e-01 -7.95041409e-01 -4.45923516e-01 3.44073380e+01] [ 6.99333663e-01 -3.86547330e-02 7.13749423e-01 3.15116807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89037174299997 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:53.56, Y:34.41, Z:31.50 [[-5.82072061e-01 -6.10603286e-01 5.36987657e-01 5.35590700e+01] [ 4.21622971e-01 -7.91316986e-01 -4.42777030e-01 3.44098419e+01] [ 6.95288563e-01 -3.13218066e-02 7.18047880e-01 3.15036991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92037174299998 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.49 [[-5.85914900e-01 -6.20772860e-01 5.20907656e-01 5.35666478e+01] [ 4.22894386e-01 -7.82554903e-01 -4.56911547e-01 3.44172856e+01] [ 6.91277128e-01 -4.74223601e-02 7.21031935e-01 3.14866162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95037174299998 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:53.56, Y:34.41, Z:31.49 [[-5.84246974e-01 -6.17049912e-01 5.27166843e-01 5.35638079e+01] [ 4.23095149e-01 -7.85884345e-01 -4.50972606e-01 3.44139143e+01] [ 6.92564776e-01 -4.04376467e-02 7.20221375e-01 3.14928274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98037174299998 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.49 [[-5.85351146e-01 -6.24960847e-01 5.16515223e-01 5.35663620e+01] [ 4.22311859e-01 -7.78832244e-01 -4.63759668e-01 3.44221466e+01] [ 6.92110345e-01 -5.33317488e-02 7.19818724e-01 3.14859888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01037174299998 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:53.56, Y:34.41, Z:31.50 [[-5.84743857e-01 -6.12773680e-01 5.31585401e-01 5.35619712e+01] [ 4.24454480e-01 -7.89546220e-01 -4.43232626e-01 3.44108864e+01] [ 6.91312532e-01 -3.35437503e-02 7.21776835e-01 3.14954798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04037174299998 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:53.56, Y:34.42, Z:31.49 [[-5.85604780e-01 -6.22169638e-01 5.19588283e-01 5.35629891e+01] [ 4.26728338e-01 -7.81604788e-01 -4.54969100e-01 3.44204397e+01] [ 6.89180649e-01 -4.47090352e-02 7.23208915e-01 3.14891475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07037174299998 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:53.57, Y:34.41, Z:31.48 [[-5.86252042e-01 -6.23488419e-01 5.17272399e-01 5.35718255e+01] [ 4.29417546e-01 -7.80585415e-01 -4.54188265e-01 3.44142830e+01] [ 6.86956414e-01 -4.41429539e-02 7.25356661e-01 3.14759087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10037174299998 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.47 [[-5.87084684e-01 -6.26450699e-01 5.12729066e-01 5.35743983e+01] [ 4.29097488e-01 -7.77886644e-01 -4.59094451e-01 3.44161985e+01] [ 6.86445132e-01 -4.95165662e-02 7.25493756e-01 3.14715472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13037174299998 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.48 [[-5.87428612e-01 -6.25893488e-01 5.13015562e-01 5.35677354e+01] [ 4.26411820e-01 -7.78165089e-01 -4.61120433e-01 3.44239355e+01] [ 6.87823077e-01 -5.21194367e-02 7.24004820e-01 3.14808259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16037174299998 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:53.58, Y:34.41, Z:31.47 [[-5.88386790e-01 -6.22522949e-01 5.16009847e-01 5.35768421e+01] [ 4.25960899e-01 -7.81075174e-01 -4.56594881e-01 3.44143404e+01] [ 6.87283273e-01 -4.88543779e-02 7.24744750e-01 3.14704155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190371743 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:53.58, Y:34.41, Z:31.46 [[-5.87925465e-01 -6.24115766e-01 5.14609715e-01 5.35823528e+01] [ 4.24877502e-01 -7.79609157e-01 -4.60096371e-01 3.44130299e+01] [ 6.88347845e-01 -5.18562825e-02 7.23524823e-01 3.14641598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:53.58, Y:34.42, Z:31.47 [[-0.58695346 -0.62707032 0.51212152 53.57955733] [ 0.41718466 -0.77635631 -0.47246994 34.42176819] [ 0.69386065 -0.06366862 0.71728914 31.47163962] [ 0. 0. 0. 1. ]] SLAMing on 161.250371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.49 [[-5.87650185e-01 -6.15197606e-01 5.25546539e-01 5.35695709e+01] [ 4.17451690e-01 -7.86932680e-01 -4.54390849e-01 3.44181595e+01] [ 6.93109909e-01 -4.76325755e-02 7.19256416e-01 3.14876049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.48 [[-5.88023880e-01 -6.17216171e-01 5.22754354e-01 5.35713643e+01] [ 4.17272414e-01 -7.85140619e-01 -4.57643902e-01 3.44192340e+01] [ 6.92900895e-01 -5.09745716e-02 7.19228714e-01 3.14844466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310371743 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:53.56, Y:34.43, Z:31.50 [[-5.89122722e-01 -6.15404357e-01 5.23652457e-01 5.35591805e+01] [ 4.17011169e-01 -7.86632548e-01 -4.55314089e-01 3.44301164e+01] [ 6.92124341e-01 -4.98669521e-02 7.20053598e-01 3.15005621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:53.57, Y:34.43, Z:31.49 [[-0.58875625 -0.61825373 0.52069992 53.56979571] [ 0.41332674 -0.78386548 -0.46337448 34.42516086] [ 0.69464169 -0.05759542 0.7170465 31.48814815] [ 0. 0. 0. 1. ]] SLAMing on 161.370371743 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:53.57, Y:34.43, Z:31.49 [[-5.88024812e-01 -6.14864382e-01 5.25517470e-01 5.35656827e+01] [ 4.12698523e-01 -7.86854441e-01 -4.58846399e-01 3.44252347e+01] [ 6.95634063e-01 -5.29327837e-02 7.16443558e-01 3.14947687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400371743 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.49 [[-5.88044954e-01 -6.14051663e-01 5.26444382e-01 5.35681833e+01] [ 4.12691325e-01 -7.87560632e-01 -4.57639730e-01 3.44241727e+01] [ 6.95621307e-01 -5.18537043e-02 7.16534850e-01 3.14923268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430371743 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:53.56, Y:34.43, Z:31.50 [[-5.88511373e-01 -6.13503541e-01 5.26562217e-01 5.35628810e+01] [ 4.12273751e-01 -7.87975433e-01 -4.57301948e-01 3.44283558e+01] [ 6.95474455e-01 -5.20396173e-02 7.16663910e-01 3.14993150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460371743 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:53.57, Y:34.42, Z:31.49 [[-5.88148024e-01 -6.14026474e-01 5.26358615e-01 5.35731151e+01] [ 4.14401798e-01 -7.87701239e-01 -4.55848558e-01 3.44184646e+01] [ 6.94516416e-01 -4.99824718e-02 7.17738602e-01 3.14868530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49037174299997 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:53.58, Y:34.42, Z:31.48 [[-5.87556230e-01 -6.14968371e-01 5.25919746e-01 5.35754888e+01] [ 4.14217589e-01 -7.86907713e-01 -4.57383909e-01 3.44166237e+01] [ 6.95126942e-01 -5.08935566e-02 7.17083245e-01 3.14846311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52037174299997 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:53.58, Y:34.41, Z:31.47 [[-5.87588303e-01 -6.13173403e-01 5.27975723e-01 5.35845161e+01] [ 4.16121611e-01 -7.88589122e-01 -4.52736127e-01 3.44064145e+01] [ 6.93961664e-01 -4.63203441e-02 7.18520449e-01 3.14742941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55037174299997 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:53.59, Y:34.40, Z:31.47 [[-5.87451314e-01 -6.15354735e-01 5.25584915e-01 5.35906308e+01] [ 4.16531399e-01 -7.86744695e-01 -4.55559413e-01 3.44031481e+01] [ 6.93831786e-01 -4.86963554e-02 7.18488774e-01 3.14666051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58037174299997 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:53.60, Y:34.40, Z:31.46 [[-5.86616910e-01 -6.15327608e-01 5.26547752e-01 5.35974906e+01] [ 4.17677554e-01 -7.86896333e-01 -4.54246213e-01 3.43971559e+01] [ 6.93848732e-01 -4.65413329e-02 7.18615225e-01 3.14587835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61037174299997 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:53.60, Y:34.39, Z:31.45 [[-5.86567164e-01 -6.14031863e-01 5.28113467e-01 5.36004535e+01] [ 4.19856289e-01 -7.88149604e-01 -4.50045439e-01 3.43932911e+01] [ 6.92574659e-01 -4.22501165e-02 7.20107818e-01 3.14548310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64037174299997 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:53.60, Y:34.39, Z:31.45 [[-5.86875132e-01 -6.14426291e-01 5.27311969e-01 5.36010015e+01] [ 4.23495051e-01 -7.88012713e-01 -4.46864528e-01 3.43934412e+01] [ 6.90093850e-01 -3.89396695e-02 7.22671558e-01 3.14520805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67037174299998 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:53.60, Y:34.40, Z:31.45 [[-5.86271436e-01 -6.21652405e-01 5.19455572e-01 5.36026641e+01] [ 4.22996515e-01 -7.81766544e-01 -4.58164838e-01 3.43998824e+01] [ 6.90912261e-01 -4.88810610e-02 7.21284195e-01 3.14475700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70037174299998 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:53.61, Y:34.40, Z:31.45 [[-5.85243116e-01 -6.20887678e-01 5.21525633e-01 5.36050974e+01] [ 4.21070209e-01 -7.82368095e-01 -4.58911804e-01 3.43974754e+01] [ 6.92957700e-01 -4.89760666e-02 7.19312846e-01 3.14457010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73037174299998 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:53.60, Y:34.39, Z:31.45 [[-5.84446084e-01 -6.16548717e-01 5.27532420e-01 5.36042819e+01] [ 4.24176806e-01 -7.86364202e-01 -4.49116220e-01 3.43934006e+01] [ 6.91734640e-01 -3.87171994e-02 7.21113144e-01 3.14471176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76037174299998 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:53.61, Y:34.39, Z:31.43 [[-5.84665713e-01 -6.20005925e-01 5.23219511e-01 5.36136521e+01] [ 4.29078010e-01 -7.83670974e-01 -4.49167971e-01 3.43888712e+01] [ 6.88518747e-01 -3.81111256e-02 7.24216457e-01 3.14326675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79037174299998 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:53.61, Y:34.40, Z:31.43 [[-5.84826624e-01 -6.27209323e-01 5.14379515e-01 5.36144079e+01] [ 4.30339382e-01 -7.77437489e-01 -4.58692671e-01 3.43963187e+01] [ 6.87594238e-01 -4.68979242e-02 7.24579014e-01 3.14294976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82037174299998 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:53.62, Y:34.39, Z:31.42 [[-5.84756744e-01 -6.22770770e-01 5.19823161e-01 5.36206859e+01] [ 4.36376634e-01 -7.81677082e-01 -4.45596649e-01 3.43860203e+01] [ 6.83838420e-01 -3.37269642e-02 7.28853557e-01 3.14221485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85037174299998 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:53.62, Y:34.40, Z:31.42 [[-5.85955182e-01 -6.31656366e-01 5.07608864e-01 5.36170612e+01] [ 4.36428676e-01 -7.73793323e-01 -4.59101191e-01 3.44003240e+01] [ 6.82778540e-01 -4.74776580e-02 7.29081159e-01 3.14233331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88037174299998 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:53.63, Y:34.39, Z:31.41 [[-5.86824033e-01 -6.27444918e-01 5.11810931e-01 5.36288575e+01] [ 4.44155029e-01 -7.77940418e-01 -4.44449117e-01 3.43856535e+01] [ 6.77025749e-01 -3.34900246e-02 7.35196949e-01 3.14075758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91037174299998 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:53.62, Y:34.42, Z:31.42 [[-0.58787972 -0.64051688 0.49410076 53.61718403] [ 0.43373316 -0.76515205 -0.47583388 34.4155318 ] [ 0.68284185 -0.06542521 0.72763078 31.42178596] [ 0. 0. 0. 1. ]] SLAMing on 161.940371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:53.61, Y:34.40, Z:31.44 [[-5.88843693e-01 -6.22065511e-01 5.16040315e-01 5.36105636e+01] [ 4.34638864e-01 -7.82005436e-01 -4.46717535e-01 3.44007968e+01] [ 6.81433903e-01 -3.87556271e-02 7.30852815e-01 3.14351260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:53.61, Y:34.41, Z:31.44 [[-5.89635270e-01 -6.28576981e-01 5.07169821e-01 5.36056274e+01] [ 4.32057816e-01 -7.76020690e-01 -4.59475714e-01 3.44148732e+01] [ 6.82390132e-01 -5.17964015e-02 7.29150767e-01 3.14400957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000371743 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:53.59, Y:34.42, Z:31.46 [[-5.90608867e-01 -6.20097082e-01 5.16392074e-01 5.35933038e+01] [ 4.28000105e-01 -7.83213647e-01 -4.50990346e-01 3.44204866e+01] [ 6.84103118e-01 -4.53430354e-02 7.27974542e-01 3.14604384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030371743 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:53.62, Y:34.40, Z:31.43 [[-5.91730627e-01 -6.19622204e-01 5.15677409e-01 5.36180974e+01] [ 4.26893544e-01 -7.83487913e-01 -4.51562390e-01 3.44017503e+01] [ 6.83825100e-01 -4.70639389e-02 7.28126512e-01 3.14309610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060371743 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:53.62, Y:34.41, Z:31.43 [[-5.93089198e-01 -6.19237696e-01 5.14577379e-01 5.36158179e+01] [ 4.26566611e-01 -7.83719079e-01 -4.51470190e-01 3.44055332e+01] [ 6.82851470e-01 -4.82605643e-02 7.28961445e-01 3.14337201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090371743 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:53.62, Y:34.40, Z:31.43 [[-5.94121706e-01 -6.16230590e-01 5.16990579e-01 5.36179658e+01] [ 4.24052746e-01 -7.86105540e-01 -4.49685833e-01 3.44047580e+01] [ 6.83519325e-01 -4.79368394e-02 7.28356638e-01 3.14346614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120371743 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:53.62, Y:34.40, Z:31.43 [[-5.94630151e-01 -6.15815001e-01 5.16901217e-01 5.36247566e+01] [ 4.24068418e-01 -7.86436938e-01 -4.49091215e-01 3.44004822e+01] [ 6.83067317e-01 -4.78416956e-02 7.28786809e-01 3.14273231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150371743 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:53.63, Y:34.41, Z:31.43 [[-0.59612892 -0.617821 0.51276458 53.62616179] [ 0.42029844 -0.78428456 -0.45634083 34.40684656] [ 0.68409029 -0.05652381 0.72720391 31.42693897] [ 0. 0. 0. 1. ]] SLAMing on 162.180371743 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:53.62, Y:34.40, Z:31.43 [[-5.96996661e-01 -6.11208865e-01 5.19633245e-01 5.36232808e+01] [ 4.19268954e-01 -7.89934697e-01 -4.47455828e-01 3.44044041e+01] [ 6.83965299e-01 -4.92635481e-02 7.27849279e-01 3.14327233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:53.62, Y:34.41, Z:31.44 [[-5.97204858e-01 -6.09726342e-01 5.21133519e-01 5.36202932e+01] [ 4.18444954e-01 -7.91135992e-01 -4.46102748e-01 3.44072391e+01] [ 6.84288081e-01 -4.83490372e-02 7.27607169e-01 3.14366998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24037174299997 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:53.63, Y:34.41, Z:31.42 [[-0.59824806 -0.61467729 0.51407304 53.63291766] [ 0.41739144 -0.78667509 -0.45489195 34.40664254] [ 0.6840202 -0.05756854 0.72718789 31.42045516] [ 0. 0. 0. 1. ]] SLAMing on 162.27037174299997 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:53.63, Y:34.40, Z:31.43 [[-5.96712643e-01 -6.03541910e-01 5.28839469e-01 5.36292991e+01] [ 4.16116743e-01 -7.96224225e-01 -4.39174043e-01 3.43968689e+01] [ 6.86134737e-01 -4.20017468e-02 7.26260956e-01 3.14311901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30037174299997 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:53.63, Y:34.41, Z:31.43 [[-0.5960859 -0.61352045 0.51795198 53.63252708] [ 0.41489521 -0.78764655 -0.45549411 34.40573344] [ 0.68741804 -0.05661782 0.7240517 31.42618364] [ 0. 0. 0. 1. ]] SLAMing on 162.33037174299997 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:53.63, Y:34.40, Z:31.43 [[-5.95969742e-01 -6.08363887e-01 5.24131136e-01 5.36314483e+01] [ 4.16376854e-01 -7.92227963e-01 -4.46099956e-01 3.44010288e+01] [ 6.86622445e-01 -4.76260017e-02 7.25452536e-01 3.14290619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36037174299997 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:53.62, Y:34.41, Z:31.44 [[-5.95514622e-01 -6.10880775e-01 5.21715453e-01 5.36243542e+01] [ 4.14531003e-01 -7.89960821e-01 -4.51802997e-01 3.44102789e+01] [ 6.88132532e-01 -5.27880608e-02 7.23662241e-01 3.14382207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39037174299997 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:53.64, Y:34.40, Z:31.42 [[-5.94009432e-01 -6.11066384e-01 5.23211878e-01 5.36382236e+01] [ 4.16454617e-01 -7.90039774e-01 -4.49891884e-01 3.43988678e+01] [ 6.88272001e-01 -4.93460200e-02 7.23772494e-01 3.14220232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42037174299998 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:53.64, Y:34.40, Z:31.43 [[-5.93777778e-01 -6.09809505e-01 5.24938396e-01 5.36370763e+01] [ 4.15927218e-01 -7.91093860e-01 -4.48525422e-01 3.43991364e+01] [ 6.88790607e-01 -4.79882619e-02 7.23370325e-01 3.14258023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45037174299998 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:53.64, Y:34.40, Z:31.43 [[-5.92682760e-01 -6.11758971e-01 5.23906582e-01 5.36390282e+01] [ 4.15869320e-01 -7.89483628e-01 -4.51407033e-01 3.43998747e+01] [ 6.89767972e-01 -4.96644919e-02 7.22325123e-01 3.14250239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48037174299998 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:53.65, Y:34.39, Z:31.41 [[-5.91721455e-01 -6.09138822e-01 5.28029938e-01 5.36486585e+01] [ 4.16511870e-01 -7.91820346e-01 -4.46697215e-01 3.43884657e+01] [ 6.90205463e-01 -4.43895890e-02 7.22250637e-01 3.14147692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51037174299998 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:53.64, Y:34.40, Z:31.43 [[-5.91767917e-01 -6.09794699e-01 5.27220218e-01 5.36396593e+01] [ 4.14746147e-01 -7.91143419e-01 -4.49530560e-01 3.43967803e+01] [ 6.91228158e-01 -4.73552090e-02 7.21083295e-01 3.14263248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54037174299998 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:53.64, Y:34.40, Z:31.43 [[-5.89776192e-01 -6.11163066e-01 5.27867171e-01 5.36392184e+01] [ 4.12204104e-01 -7.89912723e-01 -4.54010646e-01 3.43985776e+01] [ 6.94443533e-01 -5.01756556e-02 7.17795642e-01 3.14290194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57037174299998 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:53.65, Y:34.39, Z:31.42 [[-5.89328336e-01 -6.07101936e-01 5.33028472e-01 5.36450943e+01] [ 4.13115042e-01 -7.93448498e-01 -4.46962463e-01 3.43902596e+01] [ 6.94282417e-01 -4.32055649e-02 7.18404625e-01 3.14228339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60037174299998 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:53.66, Y:34.38, Z:31.40 [[-5.89126696e-01 -6.11136648e-01 5.28622487e-01 5.36612108e+01] [ 4.10505777e-01 -7.89852228e-01 -4.55651692e-01 3.43843044e+01] [ 6.95999097e-01 -5.14339904e-02 7.16198158e-01 3.14029061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63037174299998 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:53.65, Y:34.38, Z:31.42 [[-5.89145299e-01 -6.02322751e-01 5.38623357e-01 5.36542361e+01] [ 4.08570077e-01 -7.97155841e-01 -4.44536902e-01 3.43807768e+01] [ 6.97121445e-01 -4.18314393e-02 7.15731669e-01 3.14151093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66037174299998 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:53.66, Y:34.38, Z:31.41 [[-0.5891027 -0.60794739 0.5323138 53.66082428] [ 0.40452744 -0.79214616 -0.45701424 34.38265535] [ 0.69951095 -0.05389278 0.71258684 31.40702736] [ 0. 0. 0. 1. ]] SLAMing on 162.690371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:53.66, Y:34.38, Z:31.41 [[-5.92254039e-01 -5.98334822e-01 5.39657849e-01 5.36601329e+01] [ 4.02124651e-01 -7.99874935e-01 -4.45528734e-01 3.43769648e+01] [ 6.98234142e-01 -4.68564683e-02 7.14334343e-01 3.14102291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720371743 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:53.66, Y:34.38, Z:31.41 [[-0.59293139 -0.60252339 0.53422648 53.66125335] [ 0.39862849 -0.79605881 -0.45539619 34.38259881] [ 0.69966255 -0.0570608 0.71219125 31.40851646] [ 0. 0. 0. 1. ]] SLAMing on 162.750371743 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:53.66, Y:34.38, Z:31.42 [[-0.59606432 -0.59611111 0.53792088 53.65748676] [ 0.39328863 -0.80082883 -0.45166054 34.38380998] [ 0.70002241 -0.05766057 0.71178922 31.41696365] [ 0. 0. 0. 1. ]] SLAMing on 162.780371743 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:53.65, Y:34.38, Z:31.42 [[-5.98160511e-01 -5.90580422e-01 5.41681427e-01 5.36548590e+01] [ 3.92413740e-01 -8.05212548e-01 -4.44571939e-01 3.43820013e+01] [ 6.98724165e-01 -5.33621432e-02 7.13398221e-01 3.14210446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810371743 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:53.66, Y:34.38, Z:31.42 [[-0.59981867 -0.59135498 0.53899616 53.65655378] [ 0.3919129 -0.80442691 -0.4464321 34.38323476] [ 0.69758286 -0.05653876 0.71426992 31.4185809 ] [ 0. 0. 0. 1. ]] SLAMing on 162.840371743 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:53.67, Y:34.37, Z:31.40 [[-6.03154567e-01 -5.84406485e-01 5.42838492e-01 5.36672985e+01] [ 3.98360799e-01 -8.10323073e-01 -4.29750150e-01 3.43695596e+01] [ 6.91023329e-01 -4.29601899e-02 7.21554697e-01 3.14038623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:53.66, Y:34.40, Z:31.41 [[-0.6038878 -0.60340345 0.52079152 53.65915362] [ 0.38824487 -0.79331113 -0.46895988 34.39942866] [ 0.69612172 -0.08100452 0.71333921 31.41150377] [ 0. 0. 0. 1. ]] SLAMing on 162.900371743 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:53.66, Y:34.39, Z:31.42 [[-0.60343504 -0.58774734 0.53890557 53.65894063] [ 0.38422975 -0.80650166 -0.44935796 34.38584743] [ 0.69873718 -0.06409479 0.71250137 31.41804966] [ 0. 0. 0. 1. ]] SLAMing on 162.930371743 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:53.66, Y:34.39, Z:31.42 [[-0.60374993 -0.58547771 0.54101929 53.65830107] [ 0.38266103 -0.8082201 -0.44760564 34.38557361] [ 0.69932579 -0.06321487 0.71200233 31.41973427] [ 0. 0. 0. 1. ]] SLAMing on 162.960371743 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:53.66, Y:34.39, Z:31.42 [[-0.60404876 -0.58463 0.54160212 53.6589564 ] [ 0.3809144 -0.80873966 -0.44815665 34.38587748] [ 0.70002093 -0.06440442 0.71121218 31.42030149] [ 0. 0. 0. 1. ]] SLAMing on 162.99037174299997 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:53.67, Y:34.38, Z:31.41 [[-0.6049602 -0.58103406 0.54444705 53.66746541] [ 0.38155421 -0.81167832 -0.44226089 34.37755516] [ 0.6988845 -0.05981417 0.71272906 31.41034157] [ 0. 0. 0. 1. ]] SLAMing on 163.02037174299997 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:53.67, Y:34.38, Z:31.41 [[-0.60580275 -0.58234899 0.54210025 53.66589353] [ 0.38151018 -0.81054132 -0.44437907 34.38163204] [ 0.69817835 -0.0623893 0.71320023 31.41188975] [ 0. 0. 0. 1. ]] SLAMing on 163.05037174299997 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:53.66, Y:34.39, Z:31.42 [[-0.6071387 -0.58293743 0.53996903 53.66021117] [ 0.38289697 -0.81008424 -0.44401963 34.38913631] [ 0.69625606 -0.062829 0.71503847 31.41820328] [ 0. 0. 0. 1. ]] SLAMing on 163.08037174299997 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:53.66, Y:34.40, Z:31.43 [[-0.60732969 -0.58502061 0.53749562 53.65520246] [ 0.38176457 -0.80823858 -0.44833716 34.39604926] [ 0.69671117 -0.06709168 0.71420743 31.42509069] [ 0. 0. 0. 1. ]] SLAMing on 163.11037174299997 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:53.66, Y:34.39, Z:31.42 [[-0.60780802 -0.58256891 0.53961365 53.65591999] [ 0.38301608 -0.81034825 -0.44343477 34.39261836] [ 0.69560628 -0.06284251 0.71566942 31.42403773] [ 0. 0. 0. 1. ]] SLAMing on 163.14037174299997 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:53.66, Y:34.39, Z:31.42 [[-0.60546727 -0.58977012 0.53439741 53.66208255] [ 0.37927224 -0.80413071 -0.4577405 34.39401157] [ 0.69968704 -0.07446479 0.71055826 31.4177718 ] [ 0. 0. 0. 1. ]] SLAMing on 163.17037174299998 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:53.66, Y:34.38, Z:31.42 [[-0.60484486 -0.58119874 0.54439942 53.66261004] [ 0.37858003 -0.81129053 -0.44551637 34.38492026] [ 0.70059965 -0.06336954 0.71073514 31.42027735] [ 0. 0. 0. 1. ]] SLAMing on 163.20037174299998 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:53.67, Y:34.37, Z:31.40 [[-6.06990373e-01 -5.75714018e-01 5.47828493e-01 5.36749514e+01] [ 3.86542215e-01 -8.16186926e-01 -4.29446176e-01 3.43696418e+01] [ 6.94368637e-01 -4.89108550e-02 7.17955378e-01 3.14028010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23037174299998 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:53.68, Y:34.37, Z:31.39 [[-0.60550959 -0.58720882 0.53716286 53.68015015] [ 0.39113347 -0.80740015 -0.44172345 34.37344457] [ 0.69308928 -0.05736541 0.71856556 31.39071141] [ 0. 0. 0. 1. ]] SLAMing on 163.26037174299998 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:53.67, Y:34.38, Z:31.40 [[-0.60586425 -0.59322979 0.53010086 53.67355225] [ 0.37816475 -0.80097359 -0.46414732 34.38339128] [ 0.69994281 -0.0807448 0.70961986 31.39943296] [ 0. 0. 0. 1. ]] SLAMing on 163.29037174299998 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:53.67, Y:34.37, Z:31.41 [[-6.01981219e-01 -5.76537232e-01 5.52470300e-01 5.36732446e+01] [ 3.89222528e-01 -8.15977040e-01 -4.27419342e-01 3.43652258e+01] [ 6.97226244e-01 -4.22645297e-02 7.15604132e-01 3.14050344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32037174299998 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:53.68, Y:34.37, Z:31.39 [[-0.60238705 -0.58892788 0.53878919 53.68102417] [ 0.39230024 -0.80629014 -0.44271518 34.37017077] [ 0.69514772 -0.05531877 0.71673529 31.39034112] [ 0. 0. 0. 1. ]] SLAMing on 163.35037174299998 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:53.67, Y:34.38, Z:31.40 [[-0.60043093 -0.59509839 0.53417282 53.67456803] [ 0.38898736 -0.8009816 -0.45510143 34.3802898 ] [ 0.69869273 -0.0654705 0.71241988 31.39877004] [ 0. 0. 0. 1. ]] SLAMing on 163.38037174299998 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:53.68, Y:34.36, Z:31.39 [[-6.00726972e-01 -5.86607937e-01 5.43155810e-01 5.36828175e+01] [ 3.93138705e-01 -8.08344355e-01 -4.38202422e-01 3.43624435e+01] [ 6.96109951e-01 -4.97044423e-02 7.16212541e-01 3.13891297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41037174299998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:53.69, Y:34.36, Z:31.38 [[-0.60036815 -0.59171728 0.53798583 53.68721618] [ 0.393653 -0.80423029 -0.4452538 34.36242649] [ 0.69612887 -0.05553646 0.71576553 31.38179885] [ 0. 0. 0. 1. ]] SLAMing on 163.440371743 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:53.69, Y:34.36, Z:31.38 [[-0.59945328 -0.59467875 0.53573589 53.69047031] [ 0.39250826 -0.80172742 -0.45074428 34.36149121] [ 0.6975622 -0.05991938 0.71401446 31.37779082] [ 0. 0. 0. 1. ]] SLAMing on 163.470371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:53.69, Y:34.36, Z:31.38 [[-0.59847565 -0.59417026 0.53739055 53.68907259] [ 0.39072455 -0.80207224 -0.45167959 34.36011777] [ 0.69940062 -0.06034756 0.71217761 31.38105242] [ 0. 0. 0. 1. ]] SLAMing on 163.500371743 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:53.68, Y:34.36, Z:31.39 [[-5.98879839e-01 -5.87724117e-01 5.43988328e-01 5.36848961e+01] [ 3.93849630e-01 -8.07599120e-01 -4.38937501e-01 3.43561904e+01] [ 6.97298650e-01 -4.86212178e-02 7.15129757e-01 3.13863964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530371743 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:53.69, Y:34.35, Z:31.37 [[-0.59930504 -0.59380046 0.53687473 53.69434666] [ 0.39368242 -0.8025726 -0.44820908 34.35287158] [ 0.69702771 -0.05725582 0.71475461 31.37336972] [ 0. 0. 0. 1. ]] SLAMing on 163.560371743 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:53.69, Y:34.35, Z:31.37 [[-6.00741872e-01 -5.90580315e-01 5.38817311e-01 5.36941595e+01] [ 3.95550369e-01 -8.05289850e-01 -4.41642574e-01 3.43495003e+01] [ 6.94729522e-01 -5.21838008e-02 7.17375593e-01 3.13728201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590371743 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:53.70, Y:34.35, Z:31.37 [[-0.60124487 -0.59444946 0.53397981 53.69673576] [ 0.39358232 -0.80188301 -0.4495293 34.35152126] [ 0.69541179 -0.06011217 0.71609285 31.36920316] [ 0. 0. 0. 1. ]] SLAMing on 163.620371743 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:53.69, Y:34.35, Z:31.37 [[-6.03445583e-01 -5.87702020e-01 5.38943191e-01 5.36942698e+01] [ 3.96979971e-01 -8.07577581e-01 -4.36148317e-01 3.43477340e+01] [ 6.91563685e-01 -4.92421228e-02 7.20635055e-01 3.13702666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650371743 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:53.69, Y:34.35, Z:31.37 [[-0.60475524 -0.59253518 0.53214017 53.69263436] [ 0.39577333 -0.80342445 -0.44482876 34.35493902] [ 0.69111111 -0.05840563 0.72038477 31.36939225] [ 0. 0. 0. 1. ]] SLAMing on 163.680371743 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:53.69, Y:34.36, Z:31.38 [[-0.60716525 -0.59277454 0.52912068 53.6891766 ] [ 0.37876887 -0.80131035 -0.4630722 34.3573335 ] [ 0.69848729 -0.08074691 0.71105235 31.37530185] [ 0. 0. 0. 1. ]] SLAMing on 163.710371743 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:53.69, Y:34.34, Z:31.39 [[-0.60584215 -0.57356179 0.55134578 53.68756681] [ 0.3771259 -0.81724042 -0.43576847 34.33814054] [ 0.7005222 -0.05608013 0.71142369 31.38531751] [ 0. 0. 0. 1. ]] SLAMing on 163.74037174299997 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:53.69, Y:34.34, Z:31.39 [[-0.60591369 -0.57314901 0.55169631 53.68803837] [ 0.37674245 -0.81753127 -0.43555454 34.33666127] [ 0.70066663 -0.05606104 0.71128295 31.38560581] [ 0. 0. 0. 1. ]] SLAMing on 163.77037174299997 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:53.69, Y:34.33, Z:31.38 [[-6.05761803e-01 -5.69983504e-01 5.55131915e-01 5.36906788e+01] [ 3.96470699e-01 -8.21159266e-01 -4.10497800e-01 3.43317944e+01] [ 6.89828690e-01 -2.85703489e-02 7.23408676e-01 3.13790454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80037174299997 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:53.69, Y:34.35, Z:31.37 [[-0.60690641 -0.59018956 0.53229775 53.69493552] [ 0.39838122 -0.80543885 -0.43881734 34.34814438] [ 0.6877187 -0.05426363 0.72394644 31.3655256 ] [ 0. 0. 0. 1. ]] SLAMing on 163.83037174299997 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:53.70, Y:34.35, Z:31.36 [[-0.60514644 -0.59787801 0.5256802 53.69679618] [ 0.39816333 -0.79908394 -0.45047844 34.35196699] [ 0.68939376 -0.06329885 0.7216159 31.36165553] [ 0. 0. 0. 1. ]] SLAMing on 163.86037174299997 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:53.70, Y:34.35, Z:31.36 [[-0.60365811 -0.59588212 0.5296427 53.69869098] [ 0.39846911 -0.80092016 -0.44693317 34.34624199] [ 0.690521 -0.05874857 0.72092257 31.36107133] [ 0. 0. 0. 1. ]] SLAMing on 163.89037174299997 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:53.70, Y:34.34, Z:31.36 [[-0.60107255 -0.59644367 0.53194618 53.69761765] [ 0.39666546 -0.80047834 -0.44932275 34.34337891] [ 0.69380711 -0.05907089 0.71773416 31.36390168] [ 0. 0. 0. 1. ]] SLAMing on 163.92037174299998 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:53.70, Y:34.33, Z:31.37 [[-0.5993153 -0.59252485 0.53827082 53.69565128] [ 0.39097991 -0.80341197 -0.44907006 34.33171111] [ 0.69853838 -0.05868148 0.7131624 31.36896029] [ 0. 0. 0. 1. ]] SLAMing on 163.95037174299998 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:53.67, Y:34.34, Z:31.40 [[-5.96027160e-01 -5.82643638e-01 5.52519698e-01 5.36745553e+01] [ 4.01820840e-01 -8.12170208e-01 -4.22988848e-01 3.43367702e+01] [ 6.95191799e-01 -3.00989128e-02 7.18193858e-01 3.13973058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98037174299998 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:53.69, Y:34.33, Z:31.37 [[-5.94645444e-01 -5.96031441e-01 5.39576980e-01 5.36947610e+01] [ 3.96745270e-01 -8.01259852e-01 -4.47856942e-01 3.43276790e+01] [ 6.99278190e-01 -5.22414757e-02 7.12938175e-01 3.13672052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01037174299998 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:53.69, Y:34.32, Z:31.38 [[-5.92509185e-01 -5.85564262e-01 5.53215475e-01 5.36904868e+01] [ 4.06562621e-01 -8.10233463e-01 -4.22171258e-01 3.43205559e+01] [ 6.95442091e-01 -2.52236147e-02 7.18139309e-01 3.13753015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04037174299998 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:53.70, Y:34.32, Z:31.36 [[-5.93394891e-01 -5.97420886e-01 5.39417082e-01 5.37008242e+01] [ 3.98576805e-01 -8.00317758e-01 -4.47915190e-01 3.43212699e+01] [ 6.99298959e-01 -5.07914483e-02 7.13022577e-01 3.13579431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07037174299998 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:53.70, Y:34.31, Z:31.36 [[-5.92560086e-01 -5.86824912e-01 5.51823402e-01 5.37031256e+01] [ 3.98447163e-01 -8.08898958e-01 -4.32345156e-01 3.43081557e+01] [ 7.00080283e-01 -3.63180139e-02 7.13139958e-01 3.13589035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10037174299998 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:53.70, Y:34.30, Z:31.36 [[-5.95644272e-01 -5.75536618e-01 5.60326247e-01 5.37023313e+01] [ 4.17561881e-01 -8.17773664e-01 -3.96091291e-01 3.42995837e+01] [ 6.86185090e-01 -1.95862729e-03 7.27424351e-01 3.13562114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13037174299998 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:53.71, Y:34.33, Z:31.33 [[-0.59400983 -0.61369574 0.52012485 53.71201278] [ 0.40833385 -0.78708465 -0.46234318 34.33024988] [ 0.69312033 -0.06225182 0.71812877 31.33378175] [ 0. 0. 0. 1. ]] SLAMing on 164.16037174299998 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:53.71, Y:34.31, Z:31.34 [[-5.95935188e-01 -5.91129522e-01 5.43532096e-01 5.37115279e+01] [ 4.14604646e-01 -8.06149920e-01 -4.22167376e-01 3.43067785e+01] [ 6.87723955e-01 -2.62334626e-02 7.25498151e-01 3.13397819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190371743 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:53.71, Y:34.32, Z:31.34 [[-5.97407603e-01 -6.02349195e-01 5.29414397e-01 5.37105944e+01] [ 4.11222727e-01 -7.96864845e-01 -4.42608504e-01 3.43201318e+01] [ 6.88476598e-01 -4.67104530e-02 7.23752795e-01 3.13365022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220371743 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:53.71, Y:34.32, Z:31.35 [[-0.59929162 -0.60026299 0.5296545 53.7071011 ] [ 0.39457498 -0.79716689 -0.45698527 34.32101629] [ 0.69653438 -0.06487903 0.71458419 31.34558502] [ 0. 0. 0. 1. ]] SLAMing on 164.250371743 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:53.72, Y:34.29, Z:31.33 [[-5.99371205e-01 -5.73719212e-01 5.58211810e-01 5.37202281e+01] [ 4.14406531e-01 -8.19026151e-01 -3.96816572e-01 3.42855494e+01] [ 6.84851361e-01 -6.51380743e-03 7.28653679e-01 3.13345256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280371743 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:53.69, Y:34.34, Z:31.36 [[-0.60334092 -0.60715167 0.51705568 53.69305226] [ 0.38977226 -0.79014886 -0.47301413 34.3444645 ] [ 0.69574227 -0.08385482 0.71338002 31.35755151] [ 0. 0. 0. 1. ]] SLAMing on 164.310371743 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:53.71, Y:34.30, Z:31.35 [[-6.02651771e-01 -5.71720519e-01 5.56728382e-01 5.37059991e+01] [ 4.03018125e-01 -8.20196821e-01 -4.06021632e-01 3.43000244e+01] [ 6.88757747e-01 -2.03180272e-02 7.24706798e-01 3.13525401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340371743 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:53.71, Y:34.32, Z:31.34 [[-0.60549325 -0.59687974 0.52641476 53.70861449] [ 0.3861421 -0.79870895 -0.46147405 34.32461958] [ 0.69589669 -0.07614852 0.71409327 31.34253724] [ 0. 0. 0. 1. ]] SLAMing on 164.370371743 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:53.72, Y:34.30, Z:31.34 [[-6.05670775e-01 -5.70977334e-01 5.54209163e-01 5.37164247e+01] [ 3.97157980e-01 -8.20454573e-01 -4.11241818e-01 3.42959981e+01] [ 6.89513199e-01 -2.89685586e-02 7.23693562e-01 3.13404832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400371743 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-6.07643098e-01 -5.86409970e-01 5.35624133e-01 5.37193454e+01] [ 3.97739982e-01 -8.08432648e-01 -4.33865831e-01 3.43101932e+01] [ 6.87439286e-01 -5.05964443e-02 7.24477210e-01 3.13292291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430371743 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:53.72, Y:34.32, Z:31.33 [[-0.60828165 -0.58870273 0.53237443 53.71749999] [ 0.39415371 -0.80622831 -0.44117884 34.31544837] [ 0.68893852 -0.05852363 0.72245325 31.3317447 ] [ 0. 0. 0. 1. ]] SLAMing on 164.460371743 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.34 [[-0.60914391 -0.58452861 0.53597575 53.71539237] [ 0.39380305 -0.80956639 -0.43534057 34.31283789] [ 0.68837697 -0.05411618 0.72333159 31.3356769 ] [ 0. 0. 0. 1. ]] SLAMing on 164.49037174299997 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.34 [[-0.61096905 -0.58469895 0.53370774 53.71545916] [ 0.39265707 -0.80921385 -0.43702789 34.31408299] [ 0.68741344 -0.0574464 0.72399079 31.33527653] [ 0. 0. 0. 1. ]] SLAMing on 164.52037174299997 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:53.71, Y:34.32, Z:31.34 [[-0.61137947 -0.5830249 0.53506739 53.71186477] [ 0.39135537 -0.8104448 -0.43591306 34.31597546] [ 0.68779075 -0.0571068 0.72365924 31.34048641] [ 0. 0. 0. 1. ]] SLAMing on 164.55037174299997 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.34 [[-0.6110456 -0.58360196 0.53481962 53.71529186] [ 0.38930087 -0.80982148 -0.4389009 34.31447664] [ 0.68925184 -0.05998272 0.72203461 31.33717977] [ 0. 0. 0. 1. ]] SLAMing on 164.58037174299997 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-0.61116513 -0.58056222 0.53798206 53.71808075] [ 0.38948399 -0.81230238 -0.43412793 34.30962686] [ 0.68904239 -0.05578846 0.72257058 31.33410087] [ 0. 0. 0. 1. ]] SLAMing on 164.61037174299997 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.34 [[-0.61136943 -0.58117427 0.53708835 53.71575961] [ 0.38925082 -0.81177476 -0.43532234 34.31204373] [ 0.68899291 -0.05708069 0.72251683 31.33579298] [ 0. 0. 0. 1. ]] SLAMing on 164.64037174299997 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.34 [[-0.61136314 -0.58084223 0.53745457 53.71567313] [ 0.38907025 -0.81202919 -0.43500912 34.31112888] [ 0.68910047 -0.05684096 0.72243314 31.33514445] [ 0. 0. 0. 1. ]] SLAMing on 164.67037174299998 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-0.61145765 -0.57915907 0.53916075 53.71924281] [ 0.38932226 -0.81339919 -0.43221515 34.30673207] [ 0.68887424 -0.05437398 0.72283867 31.33086941] [ 0. 0. 0. 1. ]] SLAMing on 164.70037174299998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-0.61136111 -0.57989311 0.5384808 53.72057435] [ 0.38946862 -0.81282753 -0.43315772 34.30641373] [ 0.68887719 -0.05509441 0.72278131 31.32860703] [ 0. 0. 0. 1. ]] SLAMing on 164.73037174299998 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-6.11652575e-01 -5.78029671e-01 5.40150744e-01 5.37167435e+01] [ 3.90766568e-01 -8.14399344e-01 -4.29016547e-01 3.43071434e+01] [ 6.87882706e-01 -5.13362233e-02 7.24004127e-01 3.13323478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76037174299998 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-0.61124147 -0.58141216 0.53697651 53.72113549] [ 0.38860266 -0.81153624 -0.43634493 34.30668025] [ 0.68947215 -0.05804161 0.72198291 31.32666553] [ 0. 0. 0. 1. ]] SLAMing on 164.79037174299998 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-6.12102989e-01 -5.76586109e-01 5.41182400e-01 5.37154836e+01] [ 3.89733342e-01 -8.15439972e-01 -4.27978474e-01 3.43055859e+01] [ 6.88068204e-01 -5.10500783e-02 7.23848075e-01 3.13332474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82037174299998 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.31 [[-6.11495010e-01 -5.79134883e-01 5.39144360e-01 5.37310193e+01] [ 3.91986394e-01 -8.13620654e-01 -4.29381064e-01 3.42951648e+01] [ 6.87328539e-01 -5.12271244e-02 7.24537964e-01 3.13133527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85037174299998 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:53.72, Y:34.31, Z:31.33 [[-0.61295399 -0.57926069 0.53734947 53.71834007] [ 0.3895755 -0.81324178 -0.43228318 34.30652799] [ 0.68739969 -0.05563151 0.72414557 31.32775527] [ 0. 0. 0. 1. ]] SLAMing on 164.88037174299998 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:53.72, Y:34.30, Z:31.33 [[-6.13705881e-01 -5.75328267e-01 5.40705536e-01 5.37200719e+01] [ 3.89435427e-01 -8.16317166e-01 -4.26575119e-01 3.43025753e+01] [ 6.86807935e-01 -5.12217680e-02 7.25031855e-01 3.13265343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91037174299998 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:53.72, Y:34.30, Z:31.32 [[-0.61339251 -0.5785886 0.53757312 53.72272214] [ 0.38878841 -0.81368965 -0.43214895 34.30428545] [ 0.68745414 -0.05607473 0.72405968 31.32261823] [ 0. 0. 0. 1. ]] SLAMing on 164.940371743 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.32 [[-0.61366069 -0.5783794 0.53749216 53.7275854 ] [ 0.38769938 -0.81375041 -0.43301209 34.30106505] [ 0.68782974 -0.05733712 0.72360397 31.31741496] [ 0. 0. 0. 1. ]] SLAMing on 164.970371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.32 [[-6.14780709e-01 -5.74468844e-01 5.40398212e-01 5.37293198e+01] [ 3.88513420e-01 -8.16861941e-01 -4.26372949e-01 3.42965650e+01] [ 6.86368707e-01 -5.21739059e-02 7.25379819e-01 3.13162445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000371743 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:53.74, Y:34.30, Z:31.31 [[-0.61304242 -0.58121216 0.53513682 53.73653242] [ 0.38555497 -0.81130269 -0.43947162 34.29773791] [ 0.68958419 -0.06309009 0.7214522 31.3070038 ] [ 0. 0. 0. 1. ]] SLAMing on 165.030371743 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:53.72, Y:34.30, Z:31.33 [[-6.15300272e-01 -5.70353691e-01 5.44152775e-01 5.37225279e+01] [ 3.87485940e-01 -8.19973321e-01 -4.21305589e-01 3.42992250e+01] [ 6.86483956e-01 -4.83778942e-02 7.25533843e-01 3.13255401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060371743 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.32 [[-0.6152354 -0.57529422 0.53900089 53.72653853] [ 0.38808273 -0.81614725 -0.42813019 34.30084663] [ 0.68620492 -0.05422391 0.72538443 31.31881364] [ 0. 0. 0. 1. ]] SLAMing on 165.090371743 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.32 [[-0.61550251 -0.57554677 0.53842601 53.7281697 ] [ 0.3878239 -0.81590882 -0.42881863 34.30019438] [ 0.68611171 -0.05512447 0.72540472 31.31669204] [ 0. 0. 0. 1. ]] SLAMing on 165.120371743 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:53.74, Y:34.29, Z:31.31 [[-0.61476832 -0.57617132 0.53859681 53.73588097] [ 0.38666647 -0.8153638 -0.43089549 34.29466357] [ 0.68742196 -0.05664357 0.72404596 31.30755616] [ 0. 0. 0. 1. ]] SLAMing on 165.150371743 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.32 [[-6.15431408e-01 -5.72081253e-01 5.42187441e-01 5.37270263e+01] [ 3.89471101e-01 -8.18765451e-01 -4.21823893e-01 3.42972807e+01] [ 6.85241887e-01 -4.84373331e-02 7.26703090e-01 3.13172887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180371743 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.31 [[-0.61452955 -0.57895129 0.53588137 53.73407114] [ 0.38779793 -0.81323756 -0.43388643 34.29849706] [ 0.68699796 -0.05882235 0.72427462 31.30639966] [ 0. 0. 0. 1. ]] SLAMing on 165.210371743 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.31 [[-0.61460377 -0.57563048 0.53936236 53.72874626] [ 0.38635435 -0.8157811 -0.4303853 34.29948534] [ 0.68774452 -0.05613143 0.72377949 31.31415187] [ 0. 0. 0. 1. ]] SLAMing on 165.24037174299997 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:53.73, Y:34.30, Z:31.31 [[-0.61449143 -0.57423284 0.54097776 53.73192145] [ 0.38627302 -0.81689269 -0.42834506 34.29548141] [ 0.68789058 -0.05424926 0.7237842 31.31063106] [ 0. 0. 0. 1. ]] SLAMing on 165.27037174299997 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:53.74, Y:34.29, Z:31.30 [[-0.61127643 -0.58160224 0.53673081 53.73953389] [ 0.38101201 -0.81069019 -0.44453489 34.29432412] [ 0.69366489 -0.06723282 0.71715324 31.30228219] [ 0. 0. 0. 1. ]] SLAMing on 165.30037174299997 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:53.74, Y:34.28, Z:31.31 [[-0.60975769 -0.56974415 0.55098745 53.73823912] [ 0.37782617 -0.82005127 -0.42984101 34.28180628] [ 0.69673735 -0.05392138 0.71529682 31.31339306] [ 0. 0. 0. 1. ]] SLAMing on 165.33037174299997 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:53.74, Y:34.28, Z:31.31 [[-0.60708315 -0.57261069 0.55096919 53.7396362 ] [ 0.37733626 -0.81792967 -0.43429069 34.27956871] [ 0.69933354 -0.05574991 0.71261809 31.31079498] [ 0. 0. 0. 1. ]] SLAMing on 165.36037174299997 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:53.74, Y:34.26, Z:31.31 [[-6.11293966e-01 -5.60261891e-01 5.58951072e-01 5.37444866e+01] [ 3.79014875e-01 -8.27267584e-01 -4.14699974e-01 3.42615053e+01] [ 6.94742695e-01 -4.16528207e-02 7.18051273e-01 3.13053036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39037174299997 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:53.73, Y:34.28, Z:31.32 [[-6.08372455e-01 -5.70095167e-01 5.52154377e-01 5.37324722e+01] [ 3.81750523e-01 -8.20146541e-01 -4.26176241e-01 3.42807973e+01] [ 6.95808518e-01 -4.84886645e-02 7.16588694e-01 3.13179758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42037174299998 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:53.75, Y:34.27, Z:31.30 [[-0.60481333 -0.57691945 0.54896702 53.74787163] [ 0.3760771 -0.81454381 -0.44168359 34.2721804 ] [ 0.70197354 -0.06068219 0.70961315 31.30038201] [ 0. 0. 0. 1. ]] SLAMing on 165.45037174299998 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:53.74, Y:34.27, Z:31.32 [[-6.05781040e-01 -5.60728169e-01 5.64458371e-01 5.37369326e+01] [ 3.79957350e-01 -8.27203797e-01 -4.13964118e-01 3.42653384e+01] [ 6.99043449e-01 -3.63015075e-02 7.14157165e-01 3.13187701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48037174299998 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:53.75, Y:34.27, Z:31.30 [[-0.60459887 -0.57335508 0.55292328 53.74650809] [ 0.37717495 -0.81748476 -0.43526743 34.26999845] [ 0.70156915 -0.05461338 0.71050553 31.30218751] [ 0. 0. 0. 1. ]] SLAMing on 165.51037174299998 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:53.75, Y:34.25, Z:31.30 [[-6.09595109e-01 -5.54764119e-01 5.66242506e-01 5.37507429e+01] [ 3.80684688e-01 -8.31423707e-01 -4.04739160e-01 3.42477864e+01] [ 6.95322207e-01 -3.11671609e-02 7.18022031e-01 3.12984344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54037174299998 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:53.75, Y:34.27, Z:31.30 [[-0.60502359 -0.5747604 0.55099632 53.74630617] [ 0.37860916 -0.81646172 -0.43594192 34.27173932] [ 0.70042955 -0.05514289 0.71158815 31.30039475] [ 0. 0. 0. 1. ]] SLAMing on 165.57037174299998 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:53.76, Y:34.26, Z:31.29 [[-6.03587779e-01 -5.69002513e-01 5.58496135e-01 5.37590318e+01] [ 3.80453773e-01 -8.21141921e-01 -4.25418467e-01 3.42554522e+01] [ 7.00668767e-01 -4.42954255e-02 7.12110381e-01 3.12881761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60037174299998 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:53.75, Y:34.25, Z:31.29 [[-6.09204976e-01 -5.60968144e-01 5.60521220e-01 5.37518073e+01] [ 3.81778528e-01 -8.26990705e-01 -4.12712406e-01 3.42525880e+01] [ 6.95064351e-01 -3.74314852e-02 7.17972445e-01 3.12937367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63037174299998 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:53.76, Y:34.25, Z:31.28 [[-6.04630409e-01 -5.72709133e-01 5.53557871e-01 5.37639632e+01] [ 3.88763307e-01 -8.18770768e-01 -4.22466000e-01 3.42543419e+01] [ 6.95187140e-01 -4.02328020e-02 7.17702001e-01 3.12771206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66037174299998 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:53.76, Y:34.26, Z:31.27 [[-6.04879026e-01 -5.78231952e-01 5.47511803e-01 5.37644368e+01] [ 3.89719740e-01 -8.14544156e-01 -4.29693312e-01 3.42587836e+01] [ 6.94434942e-01 -4.65363146e-02 7.18049081e-01 3.12733362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690371743 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:53.77, Y:34.25, Z:31.26 [[-6.05430521e-01 -5.73972158e-01 5.51370878e-01 5.37730210e+01] [ 3.99121382e-01 -8.18312428e-01 -4.13602337e-01 3.42480700e+01] [ 6.88589868e-01 -3.03435713e-02 7.24515881e-01 3.12620764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720371743 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:53.78, Y:34.25, Z:31.25 [[-6.05641294e-01 -5.80742601e-01 5.44000601e-01 5.37797654e+01] [ 4.05197137e-01 -8.13446504e-01 -4.17276965e-01 3.42477056e+01] [ 6.84845897e-01 -3.22926756e-02 7.27972033e-01 3.12483881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750371743 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:53.76, Y:34.28, Z:31.27 [[-0.60658671 -0.59481161 0.5274957 53.75617228] [ 0.38875653 -0.8006856 -0.45581897 34.27893501] [ 0.69348463 -0.07142633 0.71692214 31.27388803] [ 0. 0. 0. 1. ]] SLAMing on 165.780371743 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:53.77, Y:34.23, Z:31.27 [[-6.04792619e-01 -5.62883022e-01 5.63372516e-01 5.37695565e+01] [ 4.14997468e-01 -8.26527859e-01 -3.80300933e-01 3.42347746e+01] [ 6.79708018e-01 3.79497006e-03 7.33472978e-01 3.12665584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810371743 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:53.77, Y:34.28, Z:31.25 [[-0.60362641 -0.60591246 0.51817492 53.76603622] [ 0.41461646 -0.79370767 -0.44510823 34.28030051] [ 0.68097603 -0.05383523 0.73032418 31.25364586] [ 0. 0. 0. 1. ]] SLAMing on 165.840371743 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:53.77, Y:34.26, Z:31.25 [[-6.03321806e-01 -5.95739614e-01 5.30185921e-01 5.37725176e+01] [ 4.13601504e-01 -8.02153256e-01 -4.30678476e-01 3.42645546e+01] [ 6.81862591e-01 -4.05520215e-02 7.30355352e-01 3.12514737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870371743 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:53.77, Y:34.26, Z:31.25 [[-6.03134927e-01 -5.91409515e-01 5.35222426e-01 5.37726648e+01] [ 4.16648386e-01 -8.05781655e-01 -4.20856327e-01 3.42594341e+01] [ 6.80170848e-01 -3.08335901e-02 7.32404879e-01 3.12531758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900371743 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:53.77, Y:34.28, Z:31.26 [[-0.60134866 -0.60487751 0.52201818 53.77142517] [ 0.39534825 -0.79302679 -0.46347413 34.27555945] [ 0.69431948 -0.07233057 0.71602287 31.25638036] [ 0. 0. 0. 1. ]] SLAMing on 165.930371743 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:53.78, Y:34.23, Z:31.27 [[-6.01846203e-01 -5.65462793e-01 5.63944127e-01 5.37757416e+01] [ 4.17812233e-01 -8.24749954e-01 -3.81078012e-01 3.42344302e+01] [ 6.80598330e-01 6.27240031e-03 7.32629900e-01 3.12650025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960371743 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:53.79, Y:34.26, Z:31.23 [[-6.02291516e-01 -5.96620642e-01 5.30366609e-01 5.37876175e+01] [ 4.24937103e-01 -8.02055508e-01 -4.19684906e-01 3.42560015e+01] [ 6.75776138e-01 -2.74002083e-02 7.36597475e-01 3.12349733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99037174299997 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:53.78, Y:34.29, Z:31.25 [[-0.60084912 -0.61534498 0.51022631 53.77839293] [ 0.39746202 -0.78377717 -0.47719733 34.28538442] [ 0.69354472 -0.08392802 0.71550808 31.24802716] [ 0. 0. 0. 1. ]] SLAMing on 166.02037174299997 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:53.78, Y:34.25, Z:31.27 [[-5.98833714e-01 -5.75486866e-01 5.56967728e-01 5.37792113e+01] [ 3.96183935e-01 -8.17263009e-01 -4.18472775e-01 3.42450793e+01] [ 6.96014707e-01 -2.99339397e-02 7.17403294e-01 3.12667715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05037174299997 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:53.80, Y:34.23, Z:31.24 [[-5.98331499e-01 -5.71993932e-01 5.61090330e-01 5.38021281e+01] [ 4.16116981e-01 -8.20256752e-01 -3.92460850e-01 3.42291981e+01] [ 6.84723356e-01 -1.34247434e-03 7.28801841e-01 3.12393298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08037174299997 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:53.78, Y:34.28, Z:31.26 [[-0.60205219 -0.59966497 0.5271955 53.78265997] [ 0.39409999 -0.79741196 -0.45696758 34.27696128] [ 0.69441944 -0.06735058 0.71641157 31.2561225 ] [ 0. 0. 0. 1. ]] SLAMing on 166.11037174299997 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:53.79, Y:34.24, Z:31.26 [[-5.99774171e-01 -5.71491821e-01 5.60060749e-01 5.37920320e+01] [ 4.08692469e-01 -8.20536896e-01 -3.99611897e-01 3.42438191e+01] [ 6.87925439e-01 -1.07842841e-02 7.25701240e-01 3.12563622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14037174299997 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:53.80, Y:34.26, Z:31.24 [[-5.98779130e-01 -5.93196802e-01 5.38127408e-01 5.38039389e+01] [ 4.07859650e-01 -8.04086982e-01 -4.32544368e-01 3.42587170e+01] [ 6.89285180e-01 -3.95180840e-02 7.23411544e-01 3.12356768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17037174299998 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:53.79, Y:34.27, Z:31.25 [[-5.96278075e-01 -5.95368626e-01 5.38505948e-01 5.37925863e+01] [ 4.01737441e-01 -8.02066766e-01 -4.41922993e-01 3.42707903e+01] [ 6.95024809e-01 -4.71709894e-02 7.17436696e-01 3.12539283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20037174299998 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:53.81, Y:34.25, Z:31.25 [[-5.92514863e-01 -5.88365281e-01 5.50229437e-01 5.38060614e+01] [ 4.03171109e-01 -8.07929363e-01 -4.29771103e-01 3.42544370e+01] [ 6.97408915e-01 -3.28091534e-02 7.15922039e-01 3.12451868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23037174299998 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:53.80, Y:34.26, Z:31.26 [[-5.93252589e-01 -5.86218534e-01 5.51723840e-01 5.37963959e+01] [ 3.95144936e-01 -8.09166079e-01 -4.34868642e-01 3.42585878e+01] [ 7.01364275e-01 -3.99760661e-02 7.11681156e-01 3.12591637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26037174299998 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:53.80, Y:34.25, Z:31.26 [[-5.91162758e-01 -5.77397948e-01 5.63150249e-01 5.37995521e+01] [ 3.96729835e-01 -8.16079270e-01 -4.20261898e-01 3.42467008e+01] [ 7.02233602e-01 -2.50246771e-02 7.11506665e-01 3.12607975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29037174299998 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:53.82, Y:34.24, Z:31.24 [[-5.88255971e-01 -5.84655293e-01 5.58688733e-01 5.38194458e+01] [ 4.18589678e-01 -8.11257537e-01 -4.08220395e-01 3.42387783e+01] [ 6.91908660e-01 -6.27674790e-03 7.21957761e-01 3.12353656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32037174299998 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:53.81, Y:34.25, Z:31.25 [[-5.86724743e-01 -5.93169055e-01 5.51275384e-01 5.38101955e+01] [ 4.03303290e-01 -8.04374951e-01 -4.36265281e-01 3.42519452e+01] [ 7.02211174e-01 -3.36364583e-02 7.11173717e-01 3.12470970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35037174299998 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:53.81, Y:34.24, Z:31.25 [[-5.84349850e-01 -5.84305220e-01 5.63136451e-01 5.38144478e+01] [ 4.07198145e-01 -8.11381410e-01 -4.19344581e-01 3.42407500e+01] [ 7.01943675e-01 -1.57358247e-02 7.12058608e-01 3.12498651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38037174299998 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:53.82, Y:34.24, Z:31.25 [[-5.83645582e-01 -5.84646386e-01 5.63512589e-01 5.38175185e+01] [ 4.07845683e-01 -8.11152992e-01 -4.19157157e-01 3.42398194e+01] [ 7.02153640e-01 -1.48130457e-02 7.11871365e-01 3.12479939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41037174299998 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:53.82, Y:34.24, Z:31.24 [[-5.83117854e-01 -5.81717115e-01 5.67079154e-01 5.38224880e+01] [ 4.23772361e-01 -8.13352928e-01 -3.98590016e-01 3.42364434e+01] [ 6.93102124e-01 7.88751725e-03 7.20796249e-01 3.12433885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440371743 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:53.83, Y:34.25, Z:31.23 [[-5.84332530e-01 -5.99874801e-01 5.46539767e-01 5.38292846e+01] [ 4.26242656e-01 -7.99974530e-01 -4.22324460e-01 3.42517393e+01] [ 6.90559695e-01 -1.38193582e-02 7.23143370e-01 3.12294095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470371743 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:53.83, Y:34.26, Z:31.23 [[-5.85694113e-01 -6.03444365e-01 5.41125959e-01 5.38297427e+01] [ 4.24012427e-01 -7.97091077e-01 -4.29952644e-01 3.42585099e+01] [ 6.90779174e-01 -2.23766012e-02 7.22719462e-01 3.12286905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500371743 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:53.83, Y:34.27, Z:31.24 [[-5.88809316e-01 -6.04491375e-01 5.36557329e-01 5.38274754e+01] [ 4.01968041e-01 -7.94918821e-01 -4.54451055e-01 3.42696405e+01] [ 7.01231263e-01 -5.19061160e-02 7.11041821e-01 3.12358983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530371743 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:53.83, Y:34.25, Z:31.25 [[-5.89416783e-01 -5.77801141e-01 5.64565052e-01 5.38272108e+01] [ 3.98790977e-01 -8.15890916e-01 -4.18673822e-01 3.42489196e+01] [ 7.02533709e-01 -2.16299281e-02 7.11321681e-01 3.12482103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:53.83, Y:34.25, Z:31.25 [[-5.93214648e-01 -5.73248394e-01 5.65227972e-01 5.38274051e+01] [ 3.92444337e-01 -8.18951190e-01 -4.18696061e-01 3.42546692e+01] [ 7.02910964e-01 -2.65561201e-02 7.10781928e-01 3.12502941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:53.83, Y:34.26, Z:31.25 [[-5.95501265e-01 -5.70566927e-01 5.65536581e-01 5.38271001e+01] [ 3.88968182e-01 -8.20731327e-01 -4.18454110e-01 3.42573567e+01] [ 7.02909665e-01 -2.92142163e-02 7.10678924e-01 3.12519013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620371743 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:53.84, Y:34.25, Z:31.24 [[-5.98559502e-01 -5.61769402e-01 5.71088138e-01 5.38388082e+01] [ 4.04803273e-01 -8.27291519e-01 -3.89516435e-01 3.42459710e+01] [ 6.91274788e-01 -1.97041596e-03 7.22589292e-01 3.12364356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650371743 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:53.84, Y:34.28, Z:31.22 [[-6.02285589e-01 -5.87870199e-01 5.40056199e-01 5.38437564e+01] [ 3.97930332e-01 -8.07573387e-01 -4.35289186e-01 3.42754527e+01] [ 6.92028554e-01 -4.72636613e-02 7.20321197e-01 3.12226478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680371743 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:53.84, Y:34.28, Z:31.24 [[-6.03253092e-01 -5.80528921e-01 5.46874646e-01 5.38369462e+01] [ 3.93356123e-01 -8.13061113e-01 -4.29188289e-01 3.42775030e+01] [ 6.93798723e-01 -4.37926712e-02 7.18836236e-01 3.12357654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710371743 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:53.84, Y:34.27, Z:31.23 [[-6.06380109e-01 -5.73609766e-01 5.50704094e-01 5.38418685e+01] [ 3.93955910e-01 -8.18299509e-01 -4.18550660e-01 3.42723980e+01] [ 6.90725636e-01 -3.68476623e-02 7.22177503e-01 3.12319799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74037174299997 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:53.85, Y:34.28, Z:31.23 [[-0.60653684 -0.58419716 0.53928355 53.84531623] [ 0.38865916 -0.80959276 -0.43989047 34.28202795] [ 0.69358282 -0.05721229 0.7181014 31.23065609] [ 0. 0. 0. 1. ]] SLAMing on 166.77037174299997 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:53.85, Y:34.27, Z:31.24 [[-6.05633553e-01 -5.74395573e-01 5.50706569e-01 5.38462347e+01] [ 3.87693094e-01 -8.17362393e-01 -4.26160513e-01 3.42721894e+01] [ 6.94911551e-01 -4.45919719e-02 7.17711288e-01 3.12350637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80037174299997 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:53.85, Y:34.27, Z:31.23 [[-6.06314925e-01 -5.71858144e-01 5.52594313e-01 5.38488149e+01] [ 3.88621765e-01 -8.19336800e-01 -4.21497723e-01 3.42682562e+01] [ 6.93797762e-01 -4.08101832e-02 7.19012652e-01 3.12327349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83037174299997 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:53.85, Y:34.27, Z:31.23 [[-6.06839605e-01 -5.72693274e-01 5.51151619e-01 5.38493660e+01] [ 3.89999497e-01 -8.18756549e-01 -4.21352710e-01 3.42704427e+01] [ 6.92564861e-01 -4.07446577e-02 7.20203990e-01 3.12315304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86037174299997 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:53.85, Y:34.28, Z:31.23 [[-6.05969284e-01 -5.76434234e-01 5.48201423e-01 5.38485753e+01] [ 3.88639799e-01 -8.15822269e-01 -4.28244244e-01 3.42761053e+01] [ 6.94089572e-01 -4.64499677e-02 7.18388521e-01 3.12316857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89037174299997 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:53.85, Y:34.27, Z:31.23 [[-6.06329371e-01 -5.71465608e-01 5.52984405e-01 5.38513787e+01] [ 3.90312743e-01 -8.19731140e-01 -4.19162045e-01 3.42705962e+01] [ 6.92835230e-01 -3.83133990e-02 7.20077376e-01 3.12287951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92037174299998 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:53.85, Y:34.27, Z:31.23 [[-6.07162020e-01 -5.71155857e-01 5.52390504e-01 5.38511524e+01] [ 3.91122537e-01 -8.19975552e-01 -4.17927332e-01 3.42708704e+01] [ 6.91648352e-01 -3.76972270e-02 7.21249940e-01 3.12280598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95037174299998 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:53.85, Y:34.27, Z:31.23 [[-6.09400576e-01 -5.69949185e-01 5.51170449e-01 5.38482743e+01] [ 3.93389295e-01 -8.20915838e-01 -4.13934837e-01 3.42716299e+01] [ 6.88386374e-01 -3.54275736e-02 7.24478493e-01 3.12285904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98037174299998 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:53.85, Y:34.28, Z:31.22 [[-6.09740323e-01 -5.75755542e-01 5.44722218e-01 5.38499106e+01] [ 3.93523248e-01 -8.16477008e-01 -4.22498223e-01 3.42761618e+01] [ 6.88008860e-01 -4.32533471e-02 7.24412146e-01 3.12246706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01037174299998 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:53.85, Y:34.28, Z:31.22 [[-6.08595020e-01 -5.79612820e-01 5.41905048e-01 5.38530387e+01] [ 3.89892919e-01 -8.13256049e-01 -4.31970035e-01 3.42774520e+01] [ 6.91082928e-01 -5.16098713e-02 7.20930516e-01 3.12227854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04037174299998 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:53.85, Y:34.27, Z:31.22 [[-6.08073773e-01 -5.71723118e-01 5.50798477e-01 5.38542506e+01] [ 3.89930108e-01 -8.19437836e-01 -4.20090637e-01 3.42690258e+01] [ 6.91520641e-01 -4.06731889e-02 7.21210714e-01 3.12228863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07037174299998 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:53.86, Y:34.27, Z:31.22 [[-6.07684327e-01 -5.73608638e-01 5.49265772e-01 5.38578680e+01] [ 3.91267312e-01 -8.18092234e-01 -4.21467658e-01 3.42668906e+01] [ 6.91107552e-01 -4.12095478e-02 7.21576139e-01 3.12174424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10037174299998 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:53.86, Y:34.26, Z:31.21 [[-6.06178112e-01 -5.74040515e-01 5.50477597e-01 5.38588861e+01] [ 3.94315207e-01 -8.17999309e-01 -4.18799054e-01 3.42636147e+01] [ 6.90697918e-01 -3.68051318e-02 7.22206181e-01 3.12149917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13037174299998 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:53.86, Y:34.26, Z:31.21 [[-6.05386897e-01 -5.75846196e-01 5.49461429e-01 5.38574427e+01] [ 3.98750989e-01 -8.16883240e-01 -4.16772626e-01 3.42626999e+01] [ 6.88842764e-01 -3.32103985e-02 7.24149650e-01 3.12143619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16037174299998 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:53.86, Y:34.27, Z:31.21 [[-0.59983938 -0.59139205 0.53893243 53.86200112] [ 0.3868964 -0.80396782 -0.45160483 34.26545189] [ 0.70035983 -0.06237934 0.71105901 31.21106714] [ 0. 0. 0. 1. ]] SLAMing on 167.190371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:53.86, Y:34.24, Z:31.22 [[-5.94531162e-01 -5.70459444e-01 5.66664557e-01 5.38624583e+01] [ 3.93389125e-01 -8.21001520e-01 -4.13765030e-01 3.42365928e+01] [ 7.01268632e-01 -2.30765298e-02 7.12523529e-01 3.12178067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:53.86, Y:34.24, Z:31.22 [[-5.94741540e-01 -5.70019789e-01 5.66886180e-01 5.38640468e+01] [ 3.93071056e-01 -8.21306847e-01 -4.13461253e-01 3.42353359e+01] [ 7.01268597e-01 -2.30760329e-02 7.12523579e-01 3.12160735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:53.86, Y:34.23, Z:31.21 [[-5.91975329e-01 -5.73534917e-01 5.66235735e-01 5.38631393e+01] [ 3.98877237e-01 -8.18975670e-01 -4.12523698e-01 3.42327894e+01] [ 7.00330036e-01 -1.83453064e-02 7.13583415e-01 3.12147870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280371743 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:53.87, Y:34.23, Z:31.21 [[-5.90576158e-01 -5.75322523e-01 5.65883200e-01 5.38675219e+01] [ 4.02068748e-01 -8.17776379e-01 -4.11803978e-01 3.42276845e+01] [ 6.99686017e-01 -1.56776615e-02 7.14278439e-01 3.12087444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310371743 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:53.87, Y:34.23, Z:31.21 [[-5.90452530e-01 -5.75203978e-01 5.66132663e-01 5.38690481e+01] [ 4.02172181e-01 -8.17866878e-01 -4.11523155e-01 3.42263336e+01] [ 6.99730910e-01 -1.53020798e-02 7.14242606e-01 3.12072693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340371743 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:53.87, Y:34.22, Z:31.20 [[-5.94490060e-01 -5.64074880e-01 5.73062909e-01 5.38699851e+01] [ 4.20776153e-01 -8.25536999e-01 -3.76079902e-01 3.42185348e+01] [ 6.85221860e-01 1.75554431e-02 7.28122798e-01 3.12028762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370371743 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:53.87, Y:34.25, Z:31.20 [[-5.97851985e-01 -5.89585084e-01 5.43104440e-01 5.38660041e+01] [ 4.18766522e-01 -8.07433059e-01 -4.15555599e-01 3.42511666e+01] [ 6.83525862e-01 -2.10067820e-02 7.29623952e-01 3.11962161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:53.87, Y:34.25, Z:31.19 [[-6.01069780e-01 -5.88605377e-01 5.40609683e-01 5.38715851e+01] [ 4.11906151e-01 -8.07836567e-01 -4.21584398e-01 3.42533392e+01] [ 6.84871113e-01 -3.07211880e-02 7.28016323e-01 3.11913904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430371743 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:53.87, Y:34.26, Z:31.20 [[-6.01736668e-01 -5.85579150e-01 5.43148268e-01 5.38672167e+01] [ 4.06013239e-01 -8.09892562e-01 -4.23352440e-01 3.42573015e+01] [ 6.87798105e-01 -3.42212989e-02 7.25094939e-01 3.12004330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460371743 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:53.87, Y:34.25, Z:31.20 [[-6.03462658e-01 -5.77762306e-01 5.49566682e-01 5.38719818e+01] [ 4.04415292e-01 -8.15748606e-01 -4.13524465e-01 3.42491339e+01] [ 6.87227103e-01 -2.72934028e-02 7.25929734e-01 3.11975710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49037174299997 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:53.88, Y:34.25, Z:31.20 [[-6.04903644e-01 -5.80562456e-01 5.45012675e-01 5.38763869e+01] [ 3.98591982e-01 -8.13271686e-01 -4.23926405e-01 3.42549797e+01] [ 6.89359132e-01 -3.91969449e-02 7.23358546e-01 3.11950154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52037174299997 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:53.88, Y:34.25, Z:31.20 [[-0.60486929 -0.57919192 0.54650696 53.87797382] [ 0.38330353 -0.81331439 -0.4377192 34.25360383] [ 0.6980054 -0.05528485 0.71395521 31.19869539] [ 0. 0. 0. 1. ]] SLAMing on 167.55037174299997 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:53.88, Y:34.24, Z:31.21 [[-6.05491053e-01 -5.58917909e-01 5.66560990e-01 5.38764063e+01] [ 3.81757604e-01 -8.28619505e-01 -4.09451887e-01 3.42420387e+01] [ 6.98313480e-01 -3.16304882e-02 7.15092859e-01 3.12098163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58037174299997 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:53.88, Y:34.24, Z:31.21 [[-6.07187376e-01 -5.60222581e-01 5.63448445e-01 5.38797025e+01] [ 3.80250922e-01 -8.27536036e-01 -4.13029474e-01 3.42439218e+01] [ 6.97662330e-01 -3.65344921e-02 7.15494587e-01 3.12053485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61037174299997 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:53.89, Y:34.23, Z:31.20 [[-6.05493800e-01 -5.51185798e-01 5.74083159e-01 5.38879814e+01] [ 3.90284566e-01 -8.34300296e-01 -3.89385381e-01 3.42339685e+01] [ 6.93581441e-01 -1.17146371e-02 7.20282966e-01 3.12007851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64037174299997 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:53.89, Y:34.25, Z:31.20 [[-6.08119795e-01 -5.70233201e-01 5.52290151e-01 5.38860000e+01] [ 3.79650969e-01 -8.19903858e-01 -4.28512317e-01 3.42535226e+01] [ 6.97176776e-01 -5.09093315e-02 7.15089354e-01 3.11975545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67037174299998 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:53.90, Y:34.23, Z:31.19 [[-6.06507717e-01 -5.54640487e-01 5.69668605e-01 5.38973726e+01] [ 3.90371813e-01 -8.31920513e-01 -3.94357842e-01 3.42333544e+01] [ 6.92645823e-01 -1.67985084e-02 7.21082224e-01 3.11886953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70037174299998 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:53.89, Y:34.26, Z:31.20 [[-0.61045822 -0.56991701 0.55003214 53.88815224] [ 0.37626824 -0.81974894 -0.4317799 34.25847088] [ 0.69696698 -0.05662397 0.71486416 31.19563566] [ 0. 0. 0. 1. ]] SLAMing on 167.73037174299998 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:53.90, Y:34.24, Z:31.19 [[-6.09443406e-01 -5.52857945e-01 5.68266511e-01 5.38958449e+01] [ 3.83936558e-01 -8.32908589e-01 -3.98567438e-01 3.42438560e+01] [ 6.93665232e-01 -2.47260085e-02 7.19873023e-01 3.11934199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76037174299998 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:53.89, Y:34.26, Z:31.20 [[-0.61386136 -0.56246184 0.55390514 53.8894022 ] [ 0.371211 -0.82492082 -0.42627225 34.25899032] [ 0.69668976 -0.05605639 0.71517904 31.19795244] [ 0. 0. 0. 1. ]] SLAMing on 167.79037174299998 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.20 [[-6.11234214e-01 -5.50904544e-01 5.68240195e-01 5.38956073e+01] [ 3.78692096e-01 -8.34026645e-01 -4.01237900e-01 3.42469392e+01] [ 6.94971246e-01 -3.00622623e-02 7.18408817e-01 3.11970441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82037174299998 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:53.90, Y:34.26, Z:31.19 [[-6.14430150e-01 -5.62166296e-01 5.53574427e-01 5.38975604e+01] [ 3.74666787e-01 -8.25382075e-01 -4.22337815e-01 3.42596431e+01] [ 6.94334494e-01 -5.20911350e-02 7.17764671e-01 3.11917881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85037174299998 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.20 [[-6.14926464e-01 -5.52905102e-01 5.62282307e-01 5.38979589e+01] [ 3.72280136e-01 -8.32109652e-01 -4.11097346e-01 3.42519775e+01] [ 6.95178355e-01 -4.34681040e-02 7.17521832e-01 3.11955604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88037174299998 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.19 [[-6.18331660e-01 -5.53235577e-01 5.58208164e-01 5.39013229e+01] [ 3.72030456e-01 -8.31687042e-01 -4.12177151e-01 3.42541818e+01] [ 6.92285561e-01 -4.71917441e-02 7.20078914e-01 3.11902776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91037174299998 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:53.90, Y:34.26, Z:31.19 [[-0.61849668 -0.55764442 0.55361951 53.90204698] [ 0.36769436 -0.82803506 -0.42327155 34.2584669 ] [ 0.69445138 -0.05822928 0.71717964 31.19040724] [ 0. 0. 0. 1. ]] SLAMing on 167.940371743 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.19 [[-6.21258148e-01 -5.47781636e-01 5.60333467e-01 5.39002220e+01] [ 3.69730590e-01 -8.35382244e-01 -4.06737995e-01 3.42515668e+01] [ 6.90896233e-01 -4.55168702e-02 7.21519653e-01 3.11922764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970371743 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:53.90, Y:34.26, Z:31.19 [[-0.62323166 -0.55327162 0.55269595 53.89984773] [ 0.36885716 -0.83115309 -0.41608765 34.25819487] [ 0.68958444 -0.05545314 0.72207912 31.19069503] [ 0. 0. 0. 1. ]] SLAMing on 168.000371743 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:53.90, Y:34.26, Z:31.19 [[-0.62358721 -0.55132026 0.5542427 53.90119058] [ 0.36788384 -0.83251803 -0.41421638 34.25560622] [ 0.68978292 -0.0544031 0.72196941 31.18933411] [ 0. 0. 0. 1. ]] SLAMing on 168.030371743 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.19 [[-6.25396852e-01 -5.48484798e-01 5.55016400e-01 5.39023906e+01] [ 3.69552896e-01 -8.34645675e-01 -4.08408196e-01 3.42537955e+01] [ 6.87247725e-01 -5.03092827e-02 7.24678923e-01 3.11862289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060371743 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:53.90, Y:34.26, Z:31.18 [[-0.62592591 -0.55334589 0.54956809 53.9023962 ] [ 0.36844832 -0.83089461 -0.4169652 34.2593592 ] [ 0.68735915 -0.05850188 0.72395782 31.18435125] [ 0. 0. 0. 1. ]] SLAMing on 168.090371743 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.18 [[-0.62635582 -0.55010586 0.55232411 53.90475729] [ 0.36806877 -0.83327555 -0.41252544 34.25379841] [ 0.68717084 -0.05509446 0.72440378 31.18106962] [ 0. 0. 0. 1. ]] SLAMing on 168.120371743 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:53.90, Y:34.26, Z:31.19 [[-0.62779068 -0.54883783 0.55195642 53.89766045] [ 0.36854833 -0.83417345 -0.41027648 34.25772904] [ 0.68560264 -0.05414513 0.72595959 31.18751735] [ 0. 0. 0. 1. ]] SLAMing on 168.150371743 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.18 [[-0.62766064 -0.55114911 0.54979704 53.90423807] [ 0.36889314 -0.83248126 -0.41339183 34.25388175] [ 0.68553627 -0.05665343 0.72583085 31.1784135 ] [ 0. 0. 0. 1. ]] SLAMing on 168.180371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.18 [[-6.27248807e-01 -5.49542605e-01 5.51871234e-01 5.39036998e+01] [ 3.69852476e-01 -8.33783163e-01 -4.09896065e-01 3.42511898e+01] [ 6.85396295e-01 -5.29958754e-02 7.26239187e-01 3.11781849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210371743 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.18 [[-0.62654533 -0.55281975 0.54939173 53.90344467] [ 0.36944802 -0.8313377 -0.41519367 34.25301496] [ 0.68625732 -0.05716597 0.72510892 31.17750405] [ 0. 0. 0. 1. ]] SLAMing on 168.24037174299997 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.18 [[-6.25369695e-01 -5.52554383e-01 5.50995824e-01 5.39033544e+01] [ 3.73550016e-01 -8.31929057e-01 -4.10310163e-01 3.42471379e+01] [ 6.85108115e-01 -5.07710429e-02 7.26669919e-01 3.11765913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27037174299997 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:53.90, Y:34.25, Z:31.18 [[-6.26032545e-01 -5.51654582e-01 5.51144695e-01 5.38973197e+01] [ 3.78451264e-01 -8.32900252e-01 -4.03796744e-01 3.42468177e+01] [ 6.81804880e-01 -4.42084970e-02 7.30197038e-01 3.11808163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30037174299997 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:53.91, Y:34.24, Z:31.17 [[-6.25164180e-01 -5.58723653e-01 5.44974887e-01 5.39052367e+01] [ 3.87614052e-01 -8.28306255e-01 -4.04554194e-01 3.42399454e+01] [ 6.77440105e-01 -4.16728666e-02 7.34396539e-01 3.11667497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33037174299997 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:53.91, Y:34.25, Z:31.17 [[-0.62033052 -0.57633894 0.5319995 53.90946004] [ 0.36492834 -0.81246959 -0.45466523 34.24831608] [ 0.6942747 -0.08790102 0.7143221 31.16562391] [ 0. 0. 0. 1. ]] SLAMing on 168.36037174299997 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:53.91, Y:34.20, Z:31.17 [[-6.21368470e-01 -5.29203078e-01 5.77793499e-01 5.39060290e+01] [ 3.95354936e-01 -8.48439026e-01 -3.51917169e-01 3.42028561e+01] [ 6.76458202e-01 9.76327955e-03 7.36416308e-01 3.11737383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39037174299997 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:53.90, Y:34.24, Z:31.16 [[-6.22513722e-01 -5.67362284e-01 5.39051672e-01 5.39029662e+01] [ 4.02510920e-01 -8.22815735e-01 -4.01197241e-01 3.42375130e+01] [ 6.71164380e-01 -3.27766030e-02 7.40583600e-01 3.11598538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42037174299998 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:53.91, Y:34.25, Z:31.16 [[-0.61469659 -0.59216183 0.52104939 53.91202887] [ 0.37443775 -0.80048359 -0.46799829 34.24686561] [ 0.69422221 -0.09257639 0.71378227 31.15568359] [ 0. 0. 0. 1. ]] SLAMing on 168.45037174299998 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:53.90, Y:34.20, Z:31.17 [[-6.18072494e-01 -5.33312195e-01 5.77550426e-01 5.39031748e+01] [ 4.02949638e-01 -8.45756569e-01 -3.49753363e-01 3.41988822e+01] [ 6.74994801e-01 1.65508018e-02 7.37636828e-01 3.11730919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48037174299998 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:53.91, Y:34.24, Z:31.16 [[-0.61255389 -0.58902164 0.527097 53.91106944] [ 0.37766284 -0.80390745 -0.45946011 34.24076337] [ 0.69436915 -0.08237913 0.71488822 31.1563192 ] [ 0. 0. 0. 1. ]] SLAMing on 168.51037174299998 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:53.91, Y:34.19, Z:31.16 [[-6.15943997e-01 -5.36098104e-01 5.77245022e-01 5.39119668e+01] [ 4.07713688e-01 -8.43905050e-01 -3.48703048e-01 3.41920432e+01] [ 6.74079032e-01 2.05691477e-02 7.38372784e-01 3.11624010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54037174299998 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:53.92, Y:34.22, Z:31.13 [[-6.14572803e-01 -5.80726552e-01 5.33907241e-01 5.39231070e+01] [ 4.13010375e-01 -8.13503817e-01 -4.09431275e-01 3.42234777e+01] [ 6.72103192e-01 -3.11160965e-02 7.39803412e-01 3.11335607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57037174299998 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:53.93, Y:34.23, Z:31.13 [[-6.13816406e-01 -5.87630234e-01 5.27181305e-01 5.39256490e+01] [ 4.13430205e-01 -8.08163962e-01 -4.19459744e-01 3.42283020e+01] [ 6.72536159e-01 -3.95185975e-02 7.39008386e-01 3.11290156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60037174299998 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:53.92, Y:34.23, Z:31.15 [[-0.60910864 -0.59168315 0.52810767 53.92045368] [ 0.38442623 -0.80270214 -0.45594489 34.23262265] [ 0.69368807 -0.07470154 0.71639133 31.14687618] [ 0. 0. 0. 1. ]] SLAMing on 168.63037174299998 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:53.92, Y:34.19, Z:31.15 [[-6.11729577e-01 -5.40695575e-01 5.77438499e-01 5.39207287e+01] [ 4.12596241e-01 -8.40876571e-01 -3.50272657e-01 3.41875237e+01] [ 6.74945380e-01 2.39768098e-02 7.37478031e-01 3.11536803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66037174299998 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:53.92, Y:34.24, Z:31.15 [[-0.6089923 -0.59628521 0.52304142 53.91915579] [ 0.38488214 -0.79874354 -0.46246567 34.23979313] [ 0.6935374 -0.08032873 0.71592819 31.14656191] [ 0. 0. 0. 1. ]] SLAMing on 168.690371743 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:53.92, Y:34.18, Z:31.15 [[-6.14373375e-01 -5.34791104e-01 5.80123980e-01 5.39236099e+01] [ 4.19002038e-01 -8.44147337e-01 -3.34443666e-01 3.41835827e+01] [ 6.68567610e-01 3.75998461e-02 7.42700210e-01 3.11498941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720371743 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:53.93, Y:34.23, Z:31.12 [[-6.14094206e-01 -5.88432591e-01 5.25961397e-01 5.39335475e+01] [ 4.21587744e-01 -8.07948990e-01 -4.11682164e-01 3.42274761e+01] [ 6.67197182e-01 -3.10727526e-02 7.44232762e-01 3.11198002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750371743 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:53.93, Y:34.25, Z:31.14 [[-0.60988338 -0.6061486 0.51051556 53.92938229] [ 0.38717918 -0.78997864 -0.47542195 34.24910472] [ 0.69147274 -0.09229094 0.71648296 31.13654347] [ 0. 0. 0. 1. ]] SLAMing on 168.780371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:53.93, Y:34.20, Z:31.16 [[-6.06979272e-01 -5.56519691e-01 5.67328826e-01 5.39286882e+01] [ 3.87626793e-01 -8.30519688e-01 -3.99978146e-01 3.42019786e+01] [ 6.93773474e-01 -2.28665909e-02 7.19830179e-01 3.11566209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810371743 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:53.93, Y:34.20, Z:31.15 [[-6.07232915e-01 -5.56538523e-01 5.67038852e-01 5.39310452e+01] [ 3.88298330e-01 -8.30522467e-01 -3.99320471e-01 3.42016278e+01] [ 6.93175731e-01 -2.23002945e-02 7.20423558e-01 3.11541635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840371743 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:53.93, Y:34.20, Z:31.16 [[-6.06980920e-01 -5.56955316e-01 5.66899408e-01 5.39320021e+01] [ 3.89403707e-01 -8.30269467e-01 -3.98769816e-01 3.42049940e+01] [ 6.92776238e-01 -2.12929386e-02 7.20838189e-01 3.11558675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870371743 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:53.94, Y:34.20, Z:31.15 [[-6.07499479e-01 -5.56291492e-01 5.66995731e-01 5.39355610e+01] [ 3.88862153e-01 -8.30708138e-01 -3.98384506e-01 3.42046055e+01] [ 6.92625879e-01 -2.15351995e-02 7.20975469e-01 3.11527903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900371743 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:53.94, Y:34.20, Z:31.15 [[-6.07707487e-01 -5.55846802e-01 5.67208906e-01 5.39371696e+01] [ 3.88537083e-01 -8.31005762e-01 -3.98080845e-01 3.42033813e+01] [ 6.92625833e-01 -2.15350163e-02 7.20975518e-01 3.11510630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930371743 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:53.96, Y:34.19, Z:31.12 [[-6.08511878e-01 -5.50313505e-01 5.71724007e-01 5.39580308e+01] [ 4.09727280e-01 -8.34890793e-01 -3.67533564e-01 3.41927671e+01] [ 6.79585793e-01 1.06023830e-02 7.33519420e-01 3.11245372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96037174299997 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:53.96, Y:34.22, Z:31.12 [[-6.10730179e-01 -5.77182095e-01 5.42097296e-01 5.39561116e+01] [ 4.10570703e-01 -8.16211477e-01 -4.06485576e-01 3.42233125e+01] [ 6.77082230e-01 -2.56837406e-02 7.35459040e-01 3.11163352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99037174299997 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:53.96, Y:34.23, Z:31.11 [[-6.12439938e-01 -5.80248050e-01 5.36870118e-01 5.39592126e+01] [ 4.03873128e-01 -8.13482765e-01 -4.18488098e-01 3.42332231e+01] [ 6.79561490e-01 -3.94714113e-02 7.32555929e-01 3.11138112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02037174299997 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:53.96, Y:34.23, Z:31.11 [[-6.15099443e-01 -5.73730839e-01 5.40819378e-01 5.39604634e+01] [ 4.03016326e-01 -8.18334293e-01 -4.09764354e-01 3.42311977e+01] [ 6.77665490e-01 -3.40867872e-02 7.34579863e-01 3.11130350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05037174299997 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.12 [[-6.16766407e-01 -5.72367455e-01 5.40365336e-01 5.39582481e+01] [ 3.98948340e-01 -8.19084600e-01 -4.12238571e-01 3.42360902e+01] [ 6.78556867e-01 -3.86770484e-02 7.33528912e-01 3.11164654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08037174299997 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.11 [[-6.19609180e-01 -5.71709656e-01 5.37803434e-01 5.39646877e+01] [ 3.91800087e-01 -8.18988831e-01 -4.19225460e-01 3.42396230e+01] [ 6.80130249e-01 -4.90445111e-02 7.31448891e-01 3.11121594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11037174299997 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:53.95, Y:34.24, Z:31.13 [[-6.23897762e-01 -5.60500466e-01 5.44601514e-01 5.39525455e+01] [ 3.91560287e-01 -8.27277397e-01 -4.02855619e-01 3.42418295e+01] [ 6.76337285e-01 -3.80963934e-02 7.35606241e-01 3.11269232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14037174299997 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:53.95, Y:34.26, Z:31.14 [[-0.62642517 -0.57232649 0.52918229 53.95133372] [ 0.35945648 -0.81449829 -0.45539386 34.2596527 ] [ 0.69165204 -0.09505217 0.7159487 31.13628389] [ 0. 0. 0. 1. ]] SLAMing on 169.17037174299998 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:53.95, Y:34.21, Z:31.14 [[-6.27402317e-01 -5.20723803e-01 5.78975867e-01 5.39536466e+01] [ 3.80238268e-01 -8.53719682e-01 -3.55783031e-01 3.42142432e+01] [ 6.79547785e-01 -3.07031771e-03 7.33624823e-01 3.11404331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20037174299998 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:53.96, Y:34.25, Z:31.12 [[-0.63065644 -0.56016746 0.53710788 53.9633236 ] [ 0.37284196 -0.82568685 -0.42335577 34.25077615] [ 0.68063304 -0.06673569 0.72957865 31.12108554] [ 0. 0. 0. 1. ]] SLAMing on 169.23037174299998 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.13 [[-6.34821535e-01 -5.42676060e-01 5.50003921e-01 5.39562747e+01] [ 3.76778616e-01 -8.38884131e-01 -3.92824756e-01 3.42420035e+01] [ 6.74566152e-01 -4.21438982e-02 7.37010447e-01 3.11284665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26037174299998 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:53.95, Y:34.26, Z:31.13 [[-0.63774322 -0.55311059 0.53605248 53.95424042] [ 0.37683473 -0.83102131 -0.40914445 34.25658512] [ 0.67177316 -0.05892591 0.73840948 31.12693542] [ 0. 0. 0. 1. ]] SLAMing on 169.29037174299998 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:53.95, Y:34.27, Z:31.14 [[-0.63839345 -0.56038857 0.52765373 53.95468925] [ 0.34430862 -0.82102068 -0.45538623 34.26521496] [ 0.68840786 -0.10903986 0.71708084 31.13692764] [ 0. 0. 0. 1. ]] SLAMing on 169.32037174299998 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:53.96, Y:34.23, Z:31.14 [[-6.34436964e-01 -5.20889754e-01 5.71107348e-01 5.39589374e+01] [ 3.58798490e-01 -8.52875960e-01 -3.79297035e-01 3.42268193e+01] [ 6.84655667e-01 -3.57276052e-02 7.27990492e-01 3.11410082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35037174299998 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.14 [[-0.63804022 -0.53763494 0.55122894 53.95749917] [ 0.35953972 -0.84106293 -0.40415879 34.24344088] [ 0.68090812 -0.05968087 0.72993309 31.1381617 ] [ 0. 0. 0. 1. ]] SLAMing on 169.38037174299998 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.13 [[-0.63826523 -0.54037389 0.54828236 53.9616384 ] [ 0.35738345 -0.83881856 -0.41068296 34.24339235] [ 0.68183177 -0.06617761 0.72850941 31.13430845] [ 0. 0. 0. 1. ]] SLAMing on 169.41037174299998 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:53.96, Y:34.23, Z:31.13 [[-6.43711165e-01 -5.21065881e-01 5.60469699e-01 5.39589937e+01] [ 3.66884267e-01 -8.52857749e-01 -3.71523343e-01 3.42280169e+01] [ 6.71589064e-01 -3.35262091e-02 7.40164929e-01 3.11335660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440371743 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:53.96, Y:34.26, Z:31.13 [[-0.64309821 -0.5538773 0.52881436 53.96043779] [ 0.35517932 -0.82752227 -0.43480402 34.26033983] [ 0.67843374 -0.09179776 0.72890386 31.12988383] [ 0. 0. 0. 1. ]] SLAMing on 169.470371743 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.14 [[-0.64318985 -0.52962457 0.55299605 53.95814305] [ 0.35485562 -0.84614072 -0.3976473 34.23918285] [ 0.67851625 -0.05952895 0.73216938 31.13569253] [ 0. 0. 0. 1. ]] SLAMing on 169.500371743 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:53.95, Y:34.25, Z:31.14 [[-0.64423475 -0.53435498 0.54719863 53.95050182] [ 0.35150189 -0.84227798 -0.40867373 34.24950252] [ 0.67927021 -0.07094047 0.73045153 31.14124358] [ 0. 0. 0. 1. ]] SLAMing on 169.530371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.13 [[-0.6441417 -0.53151239 0.55006913 53.95999901] [ 0.35093903 -0.84433521 -0.40489486 34.24013566] [ 0.67964937 -0.06776893 0.73039997 31.13088727] [ 0. 0. 0. 1. ]] SLAMing on 169.560371743 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:53.96, Y:34.24, Z:31.13 [[-0.64475354 -0.53095548 0.54989013 53.95832735] [ 0.34954125 -0.84455916 -0.40563622 34.24039761] [ 0.67978951 -0.0693261 0.73012335 31.13189944] [ 0. 0. 0. 1. ]] SLAMing on 169.590371743 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:53.95, Y:34.24, Z:31.14 [[-0.64490411 -0.53411955 0.54663973 53.95312031] [ 0.330274 -0.83978499 -0.43090633 34.24484266] [ 0.68921533 -0.09735237 0.71798659 31.14042604] [ 0. 0. 0. 1. ]] SLAMing on 169.620371743 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:53.95, Y:34.22, Z:31.15 [[-0.64201592 -0.50956638 0.57285048 53.95062712] [ 0.32862945 -0.85795337 -0.39486543 34.22317977] [ 0.69268914 -0.06525435 0.71827824 31.14904698] [ 0. 0. 0. 1. ]] SLAMing on 169.650371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:53.96, Y:34.20, Z:31.13 [[-6.45768365e-01 -4.92180963e-01 5.83730348e-01 5.39647594e+01] [ 3.56975716e-01 -8.70429114e-01 -3.39000731e-01 3.41977925e+01] [ 6.74945595e-01 -1.05383886e-02 7.37792238e-01 3.11256301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680371743 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:53.97, Y:34.25, Z:31.11 [[-0.64632223 -0.55376869 0.52498363 53.96507611] [ 0.34990532 -0.82648012 -0.441018 34.254826 ] [ 0.6781105 -0.10134517 0.72793909 31.11461774] [ 0. 0. 0. 1. ]] SLAMing on 169.71037174299997 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:53.96, Y:34.23, Z:31.13 [[-0.64226169 -0.52755124 0.55604821 53.96000271] [ 0.34930256 -0.84719307 -0.4003144 34.22726194] [ 0.68226655 -0.06287754 0.72839465 31.12821495] [ 0. 0. 0. 1. ]] SLAMing on 169.74037174299997 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:53.96, Y:34.23, Z:31.12 [[-0.64246557 -0.53062353 0.55288033 53.9646169 ] [ 0.35176657 -0.84518485 -0.40239639 34.22512581] [ 0.68080707 -0.06404101 0.72965778 31.12146688] [ 0. 0. 0. 1. ]] SLAMing on 169.77037174299997 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:53.96, Y:34.23, Z:31.13 [[-0.64211139 -0.53490413 0.54915438 53.95869647] [ 0.35435065 -0.84231651 -0.40612622 34.22966591] [ 0.6798004 -0.06618506 0.73040465 31.12665499] [ 0. 0. 0. 1. ]] SLAMing on 169.80037174299997 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:53.97, Y:34.22, Z:31.11 [[-0.6422715 -0.53369974 0.55013808 53.96920343] [ 0.35680845 -0.84342184 -0.40165574 34.21958234] [ 0.67836204 -0.06167811 0.73213439 31.11415137] [ 0. 0. 0. 1. ]] SLAMing on 169.83037174299997 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:53.97, Y:34.22, Z:31.11 [[-0.64119485 -0.53945447 0.54576372 53.96954346] [ 0.35903538 -0.83945417 -0.40793417 34.22176729] [ 0.67820555 -0.0656168 0.73193693 31.11215668] [ 0. 0. 0. 1. ]] SLAMing on 169.86037174299997 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:53.97, Y:34.22, Z:31.12 [[-0.64004144 -0.53849951 0.54805587 53.96694228] [ 0.35825083 -0.84017295 -0.40714342 34.22030271] [ 0.67970824 -0.0642472 0.7306634 31.11559391] [ 0. 0. 0. 1. ]] SLAMing on 169.89037174299997 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:53.97, Y:34.21, Z:31.12 [[-0.63808794 -0.53632547 0.55244799 53.96539319] [ 0.3604154 -0.84209052 -0.40122848 34.21409468] [ 0.68040027 -0.05690829 0.73062776 31.11585618] [ 0. 0. 0. 1. ]] SLAMing on 169.92037174299998 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:53.97, Y:34.21, Z:31.11 [[-0.6366565 -0.54162706 0.54891587 53.9696249 ] [ 0.36077641 -0.83831524 -0.40873944 34.21372907] [ 0.68154888 -0.06219072 0.72912511 31.10901282] [ 0. 0. 0. 1. ]] SLAMing on 169.95037174299998 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:53.97, Y:34.21, Z:31.10 [[-0.63632944 -0.54024297 0.55065631 53.97328711] [ 0.3620554 -0.8394745 -0.40521408 34.2080096 ] [ 0.68117599 -0.05848156 0.72978023 31.10460781] [ 0. 0. 0. 1. ]] SLAMing on 169.98037174299998 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:53.97, Y:34.20, Z:31.11 [[-6.33245129e-01 -5.31894419e-01 5.62217871e-01 5.39665113e+01] [ 3.64918787e-01 -8.45804273e-01 -3.89165017e-01 3.41988837e+01] [ 6.82520978e-01 -4.12729883e-02 7.29699702e-01 3.11136636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01037174299998 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:53.97, Y:34.21, Z:31.11 [[-0.63281933 -0.54653011 0.54849296 53.96670516] [ 0.34854763 -0.83361112 -0.42849393 34.20797967] [ 0.69141467 -0.07998333 0.71801701 31.11233673] [ 0. 0. 0. 1. ]] SLAMing on 170.04037174299998 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:53.97, Y:34.17, Z:31.11 [[-6.31285938e-01 -5.17615895e-01 5.77539479e-01 5.39736920e+01] [ 3.71967233e-01 -8.55521120e-01 -3.60172169e-01 3.41727444e+01] [ 6.80528061e-01 -1.25458638e-02 7.32614605e-01 3.11093931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07037174299998 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:53.98, Y:34.19, Z:31.08 [[-6.33879285e-01 -5.42919726e-01 5.50849547e-01 5.39836507e+01] [ 3.81423248e-01 -8.39018851e-01 -3.88025351e-01 3.41850793e+01] [ 6.72839771e-01 -3.58544092e-02 7.38918875e-01 3.10842856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10037174299998 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:53.98, Y:34.20, Z:31.08 [[-0.63298511 -0.56212759 0.53229919 53.9821027 ] [ 0.38080262 -0.82472664 -0.41810924 34.20324786] [ 0.67403206 -0.06195599 0.73609934 31.08205317] [ 0. 0. 0. 1. ]] SLAMing on 170.13037174299998 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:53.98, Y:34.19, Z:31.09 [[-6.30555487e-01 -5.54642781e-01 5.42928323e-01 5.39799934e+01] [ 3.81586871e-01 -8.30675742e-01 -4.05424803e-01 3.41924273e+01] [ 6.75863328e-01 -4.84685147e-02 7.35431550e-01 3.10866488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16037174299998 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:53.98, Y:34.19, Z:31.08 [[-6.29062231e-01 -5.55541717e-01 5.43740849e-01 5.39818172e+01] [ 3.82143211e-01 -8.30123208e-01 -4.06032050e-01 3.41901514e+01] [ 6.76939640e-01 -4.76325532e-02 7.34495653e-01 3.10845121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190371743 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:53.99, Y:34.19, Z:31.08 [[-6.27589466e-01 -5.55211803e-01 5.45775885e-01 5.39858170e+01] [ 3.82062884e-01 -8.30439126e-01 -4.05461232e-01 3.41853262e+01] [ 6.78350510e-01 -4.59424897e-02 7.33300670e-01 3.10801336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220371743 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:53.98, Y:34.18, Z:31.08 [[-6.29359181e-01 -5.46438552e-01 5.52550387e-01 5.39846102e+01] [ 3.90685358e-01 -8.37123305e-01 -3.82870114e-01 3.41767662e+01] [ 6.71767796e-01 -2.50894755e-02 7.40336779e-01 3.10768302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250371743 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:53.99, Y:34.19, Z:31.06 [[-6.31322569e-01 -5.66245826e-01 5.29903273e-01 5.39926844e+01] [ 3.96294838e-01 -8.22891436e-01 -4.07185568e-01 3.41901070e+01] [ 6.66619993e-01 -4.70675068e-02 7.43910233e-01 3.10581205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280371743 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:53.99, Y:34.19, Z:31.07 [[-6.30905089e-01 -5.63020738e-01 5.33822458e-01 5.39875526e+01] [ 3.93356470e-01 -8.25172991e-01 -4.05413643e-01 3.41905459e+01] [ 6.68752164e-01 -4.57950125e-02 7.42073689e-01 3.10665482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310371743 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:53.98, Y:34.19, Z:31.09 [[-0.62611199 -0.56453354 0.53785282 53.9788118 ] [ 0.36049587 -0.82122232 -0.44230829 34.19451958] [ 0.69139461 -0.0830408 0.71768915 31.08553796] [ 0. 0. 0. 1. ]] SLAMing on 170.340371743 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:53.98, Y:34.16, Z:31.10 [[-6.23585187e-01 -5.30040902e-01 5.74628712e-01 5.39763010e+01] [ 3.59939452e-01 -8.47169545e-01 -3.90829059e-01 3.41632469e+01] [ 6.93963331e-01 -3.68836685e-02 7.19065011e-01 3.11014552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:53.98, Y:34.16, Z:31.10 [[-6.23180950e-01 -5.30173607e-01 5.74944737e-01 5.39771833e+01] [ 3.60327140e-01 -8.47114238e-01 -3.90591629e-01 3.41607490e+01] [ 6.94125245e-01 -3.62410697e-02 7.18941394e-01 3.11002916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400371743 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:53.99, Y:34.15, Z:31.08 [[-6.24327948e-01 -5.25750794e-01 5.77754893e-01 5.39912981e+01] [ 3.87156751e-01 -8.50637130e-01 -3.55705108e-01 3.41495865e+01] [ 6.78472007e-01 1.60506727e-03 7.34624502e-01 3.10779871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430371743 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:53.98, Y:34.19, Z:31.08 [[-0.62454708 -0.56288775 0.54138556 53.98069932] [ 0.36319322 -0.82302001 -0.43672502 34.18687286] [ 0.69139831 -0.07612777 0.71845176 31.08340963] [ 0. 0. 0. 1. ]] SLAMing on 170.46037174299997 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:53.98, Y:34.15, Z:31.09 [[-6.20066436e-01 -5.34106142e-01 5.74672293e-01 5.39841809e+01] [ 3.66569324e-01 -8.44849819e-01 -3.89686688e-01 3.41543777e+01] [ 6.93645836e-01 -3.09744019e-02 7.19649943e-01 3.10923470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49037174299997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:53.99, Y:34.15, Z:31.09 [[-6.18972993e-01 -5.36392816e-01 5.73720473e-01 5.39857916e+01] [ 3.70790721e-01 -8.43510529e-01 -3.88592627e-01 3.41520202e+01] [ 6.92377553e-01 -2.77981138e-02 7.20999715e-01 3.10898259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52037174299997 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:53.99, Y:34.15, Z:31.09 [[-6.18560622e-01 -5.37208903e-01 5.73401562e-01 5.39876435e+01] [ 3.72555700e-01 -8.43038035e-01 -3.87929275e-01 3.41499940e+01] [ 6.91798386e-01 -2.63337534e-02 7.21610370e-01 3.10880168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55037174299997 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:53.99, Y:34.15, Z:31.09 [[-6.18535374e-01 -5.37828390e-01 5.72847810e-01 5.39878631e+01] [ 3.74212565e-01 -8.42681401e-01 -3.87108528e-01 3.41492478e+01] [ 6.90926151e-01 -2.50734696e-02 7.22490398e-01 3.10883907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58037174299997 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:54.00, Y:34.14, Z:31.07 [[-6.18968281e-01 -5.30970068e-01 5.78747833e-01 5.40027819e+01] [ 4.01141118e-01 -8.47228105e-01 -3.48267630e-01 3.41353324e+01] [ 6.75251117e-01 1.65929368e-02 7.37401250e-01 3.10700542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61037174299997 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:54.00, Y:34.18, Z:31.07 [[-0.61980465 -0.57520924 0.53383192 53.99525168] [ 0.37768521 -0.81493329 -0.43958801 34.17888062] [ 0.68789249 -0.07083827 0.72234747 31.06632015] [ 0. 0. 0. 1. ]] SLAMing on 170.64037174299997 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:53.99, Y:34.15, Z:31.08 [[-6.18583610e-01 -5.38509531e-01 5.72155400e-01 5.39916238e+01] [ 3.76258727e-01 -8.42292315e-01 -3.85970242e-01 3.41488478e+01] [ 6.89770750e-01 -2.34764030e-02 7.23647131e-01 3.10849862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67037174299998 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:54.00, Y:34.15, Z:31.08 [[-6.19538242e-01 -5.36940618e-01 5.72596838e-01 5.39973161e+01] [ 3.74243916e-01 -8.43257177e-01 -3.85822271e-01 3.41490623e+01] [ 6.90010042e-01 -2.47407691e-02 7.23376829e-01 3.10786862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70037174299998 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:54.00, Y:34.15, Z:31.08 [[-6.20433453e-01 -5.35502223e-01 5.72974431e-01 5.40000072e+01] [ 3.72451144e-01 -8.44138007e-01 -3.85630873e-01 3.41495370e+01] [ 6.90175684e-01 -2.58533121e-02 7.23179875e-01 3.10762554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73037174299998 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:54.01, Y:34.14, Z:31.07 [[-6.24969449e-01 -5.21949347e-01 5.80501565e-01 5.40063895e+01] [ 3.99125848e-01 -8.52716110e-01 -3.37007112e-01 3.41405729e+01] [ 6.70903679e-01 2.10740299e-02 7.41244993e-01 3.10659784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76037174299998 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:54.00, Y:34.19, Z:31.06 [[-0.62631429 -0.57174571 0.5299408 54.00424939] [ 0.36684754 -0.81597228 -0.44677971 34.191689 ] [ 0.68786139 -0.08541703 0.72079861 31.05856264] [ 0. 0. 0. 1. ]] SLAMing on 170.79037174299998 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:54.00, Y:34.15, Z:31.08 [[-6.24316200e-01 -5.30259410e-01 5.73632496e-01 5.40024490e+01] [ 3.65684070e-01 -8.47278329e-01 -3.85220188e-01 3.41538363e+01] [ 6.90293012e-01 -3.07309384e-02 7.22877006e-01 3.10755620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82037174299998 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:54.00, Y:34.15, Z:31.08 [[-6.28188944e-01 -5.15338602e-01 5.82927763e-01 5.40021271e+01] [ 3.92574557e-01 -8.56780707e-01 -3.34383071e-01 3.41469672e+01] [ 6.71761765e-01 1.87868601e-02 7.40528990e-01 3.10750579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85037174299998 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:54.01, Y:34.20, Z:31.06 [[-0.62915261 -0.56954694 0.52894544 54.00771889] [ 0.36198613 -0.81690089 -0.4490423 34.19540041] [ 0.68784666 -0.09104522 0.72012342 31.05780675] [ 0. 0. 0. 1. ]] SLAMing on 170.88037174299998 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:54.01, Y:34.16, Z:31.07 [[-6.27359285e-01 -5.25791127e-01 5.74424945e-01 5.40089602e+01] [ 3.59898752e-01 -8.49904613e-01 -3.84883147e-01 3.41557562e+01] [ 6.90574555e-01 -3.47251951e-02 7.22427121e-01 3.10727479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91037174299998 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:54.01, Y:34.16, Z:31.07 [[-6.29314519e-01 -5.24047555e-01 5.73879252e-01 5.40098164e+01] [ 3.58349398e-01 -8.50925585e-01 -3.84072072e-01 3.41582804e+01] [ 6.89600569e-01 -3.60528464e-02 7.23291951e-01 3.10744438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940371743 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:54.01, Y:34.16, Z:31.07 [[-6.30770960e-01 -5.22698565e-01 5.73510424e-01 5.40120053e+01] [ 3.57210855e-01 -8.51715976e-01 -3.83380101e-01 3.41580416e+01] [ 6.88860219e-01 -3.69608854e-02 7.23951305e-01 3.10730652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970371743 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:54.01, Y:34.16, Z:31.07 [[-6.35771904e-01 -5.12643105e-01 5.77053838e-01 5.40118556e+01] [ 3.82742723e-01 -8.58592378e-01 -3.41067643e-01 3.41555151e+01] [ 6.70300003e-01 4.02193222e-03 7.42079329e-01 3.10691565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000371743 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:54.02, Y:34.18, Z:31.05 [[-6.37304879e-01 -5.45614567e-01 5.44194115e-01 5.40153846e+01] [ 3.84650477e-01 -8.37151143e-01 -3.88872696e-01 3.41841959e+01] [ 6.67747333e-01 -3.85059402e-02 7.43391412e-01 3.10543635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030371743 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:54.03, Y:34.19, Z:31.04 [[-6.36582026e-01 -5.52456895e-01 5.38102875e-01 5.40262174e+01] [ 3.82585804e-01 -8.32051971e-01 -4.01643648e-01 3.41851227e+01] [ 6.69620361e-01 -4.98086062e-02 7.41031494e-01 3.10436999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060371743 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:54.02, Y:34.18, Z:31.05 [[-6.37464384e-01 -5.45206281e-01 5.44416449e-01 5.40209334e+01] [ 3.84766753e-01 -8.37442699e-01 -3.88129195e-01 3.41838488e+01] [ 6.67528056e-01 -3.79451891e-02 7.43617145e-01 3.10501687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090371743 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:54.03, Y:34.19, Z:31.04 [[-6.35110797e-01 -5.55432195e-01 5.36776819e-01 5.40309995e+01] [ 3.86816684e-01 -8.30215889e-01 -4.01390621e-01 3.41861116e+01] [ 6.68585917e-01 -4.72932878e-02 7.42129514e-01 3.10374645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120371743 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:54.03, Y:34.18, Z:31.04 [[-6.33062204e-01 -5.53966933e-01 5.40696665e-01 5.40318739e+01] [ 3.87618073e-01 -8.31458551e-01 -3.98031290e-01 3.41827409e+01] [ 6.70063038e-01 -4.23947661e-02 7.41092577e-01 3.10383802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150371743 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:54.04, Y:34.18, Z:31.03 [[-6.28981420e-01 -5.56678428e-01 5.42670711e-01 5.40378888e+01] [ 3.93897714e-01 -8.30006444e-01 -3.94884660e-01 3.41772332e+01] [ 6.70243959e-01 -3.46183615e-02 7.41332992e-01 3.10325052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180371743 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:54.04, Y:34.19, Z:31.04 [[-0.62498149 -0.57119483 0.53210395 54.03583745] [ 0.36917924 -0.81685006 -0.4432411 34.18865949] [ 0.68782616 -0.08057575 0.72138943 31.04030847] [ 0. 0. 0. 1. ]] SLAMing on 171.21037174299997 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:54.04, Y:34.15, Z:31.05 [[-6.19810283e-01 -5.33906866e-01 5.75133612e-01 5.40354923e+01] [ 3.72724769e-01 -8.45230452e-01 -3.82964397e-01 3.41519804e+01] [ 6.90587764e-01 -2.29987282e-02 7.22882839e-01 3.10543567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24037174299997 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:54.04, Y:34.15, Z:31.05 [[-6.17634378e-01 -5.36277428e-01 5.75268890e-01 5.40377581e+01] [ 3.76290879e-01 -8.43808415e-01 -3.82612771e-01 3.41497291e+01] [ 6.90603323e-01 -1.98463650e-02 7.22961390e-01 3.10517637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27037174299997 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:54.04, Y:34.15, Z:31.05 [[-6.10450321e-01 -5.43595982e-01 5.76067543e-01 5.40449760e+01] [ 3.86211982e-01 -8.39273131e-01 -3.82702125e-01 3.41451443e+01] [ 6.91513348e-01 -1.11364477e-02 7.22277834e-01 3.10452798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30037174299997 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:54.05, Y:34.14, Z:31.04 [[-6.07671542e-01 -5.46418314e-01 5.76335252e-01 5.40496232e+01] [ 3.90343066e-01 -8.37479449e-01 -3.82440143e-01 3.41411181e+01] [ 6.91641228e-01 -7.42952204e-03 7.22203029e-01 3.10403543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33037174299997 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:54.06, Y:34.14, Z:31.04 [[-6.00983247e-01 -5.52859329e-01 5.77205075e-01 5.40558442e+01] [ 3.99107785e-01 -8.33274484e-01 -3.82578894e-01 3.41381898e+01] [ 6.92482572e-01 4.43533096e-04 7.21434467e-01 3.10357763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36037174299997 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:54.06, Y:34.14, Z:31.03 [[-5.98673607e-01 -5.55261087e-01 5.77299782e-01 5.40605982e+01] [ 4.02799645e-01 -8.31667776e-01 -3.82205647e-01 3.41368357e+01] [ 6.92345549e-01 3.71971391e-03 7.21556515e-01 3.10312648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39037174299997 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:54.06, Y:34.14, Z:31.03 [[-5.96495386e-01 -5.57366309e-01 5.77525802e-01 5.40640505e+01] [ 4.06002648e-01 -8.30239966e-01 -3.81920736e-01 3.41369688e+01] [ 6.92354753e-01 6.66304836e-03 7.21526506e-01 3.10285533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42037174299998 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:54.07, Y:34.14, Z:31.02 [[-5.93471015e-01 -5.60688283e-01 5.77426016e-01 5.40737974e+01] [ 4.11108598e-01 -8.27953600e-01 -3.81421757e-01 3.41372124e+01] [ 6.91940659e-01 1.10220422e-02 7.21870237e-01 3.10212012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45037174299998 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:54.08, Y:34.14, Z:31.02 [[-5.92559895e-01 -5.61414904e-01 5.77655673e-01 5.40785800e+01] [ 4.12396352e-01 -8.27441959e-01 -3.81141776e-01 3.41383841e+01] [ 6.91955215e-01 1.23737614e-02 7.21834379e-01 3.10184551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48037174299998 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:54.09, Y:34.14, Z:31.02 [[-5.93110265e-01 -5.61026597e-01 5.77468070e-01 5.40860531e+01] [ 4.12379734e-01 -8.27704821e-01 -3.80588603e-01 3.41436645e+01] [ 6.91493434e-01 1.24051221e-02 7.22276224e-01 3.10157958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51037174299998 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:53.90, Y:34.27, Z:31.22 [[-5.93992531e-01 -5.58670451e-01 5.78843848e-01 5.39033889e+01] [ 4.21289517e-01 -8.29000895e-01 -3.67794315e-01 3.42705855e+01] [ 6.85337884e-01 2.53937691e-02 7.27782345e-01 3.12214049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54037174299998 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:54.09, Y:34.16, Z:31.01 [[-5.95210210e-01 -5.73081336e-01 5.63296182e-01 5.40935248e+01] [ 4.08782298e-01 -8.19450639e-01 -4.01743305e-01 3.41642676e+01] [ 6.91825006e-01 -8.85620897e-03 7.22010892e-01 3.10098588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57037174299998 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:54.10, Y:34.16, Z:31.02 [[-5.97850230e-01 -5.54932383e-01 5.78467935e-01 5.40964713e+01] [ 4.04286437e-01 -8.31869519e-01 -3.80191505e-01 3.41638762e+01] [ 6.92190421e-01 6.56916194e-03 7.21685020e-01 3.10163348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60037174299998 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:54.10, Y:34.17, Z:31.01 [[-5.99625771e-01 -5.52660700e-01 5.78804878e-01 5.41004670e+01] [ 4.01331915e-01 -8.33394496e-01 -3.79981985e-01 3.41685172e+01] [ 6.92373909e-01 4.44587948e-03 7.21525193e-01 3.10148395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63037174299998 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:54.11, Y:34.18, Z:31.01 [[-6.02739195e-01 -5.49962306e-01 5.78140922e-01 5.41058226e+01] [ 3.98413346e-01 -8.35187469e-01 -3.79115677e-01 3.41797961e+01] [ 6.91355385e-01 1.83118159e-03 7.22512545e-01 3.10148711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66037174299998 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:54.11, Y:34.18, Z:31.01 [[-6.03521870e-01 -5.49236917e-01 5.78013981e-01 5.41124499e+01] [ 3.97900174e-01 -8.35665343e-01 -3.78601222e-01 3.41831315e+01] [ 6.90968020e-01 1.49774585e-03 7.22883775e-01 3.10120954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690371743 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:54.11, Y:34.19, Z:31.01 [[-6.05078120e-01 -5.48103204e-01 5.77462853e-01 5.41145611e+01] [ 3.97086136e-01 -8.36410420e-01 -3.77809754e-01 3.41882578e+01] [ 6.90074684e-01 6.98077775e-04 7.23737827e-01 3.10129920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720371743 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:54.12, Y:34.20, Z:31.01 [[-6.05987081e-01 -5.47340221e-01 5.77233349e-01 5.41194503e+01] [ 3.96585007e-01 -8.36910136e-01 -3.77229050e-01 3.41990404e+01] [ 6.89565072e-01 3.26161339e-04 7.24223656e-01 3.10148419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750371743 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:54.13, Y:34.20, Z:31.01 [[-6.06450073e-01 -5.46397386e-01 5.77640204e-01 5.41284473e+01] [ 3.95441584e-01 -8.37526021e-01 -3.77062486e-01 3.42001318e+01] [ 6.89814658e-01 -2.46614371e-04 7.23985964e-01 3.10084797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780371743 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:54.13, Y:34.21, Z:31.01 [[-6.09647365e-01 -5.43224053e-01 5.77267459e-01 5.41305745e+01] [ 3.91708438e-01 -8.39581115e-01 -3.76388164e-01 3.42114532e+01] [ 6.89125961e-01 -3.34351751e-03 7.24633860e-01 3.10109333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810371743 meters Centerline goodness : 0.990630 Centerline is valid? [True, True] Translation: X:54.14, Y:34.22, Z:31.01 [[-6.11185543e-01 -5.41418879e-01 5.77336842e-01 5.41355087e+01] [ 3.89590319e-01 -8.40738819e-01 -3.76002157e-01 3.42151668e+01] [ 6.88964161e-01 -4.88223817e-03 7.24778965e-01 3.10085107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840371743 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:54.14, Y:34.22, Z:31.01 [[-6.12656921e-01 -5.39378933e-01 5.77686649e-01 5.41399955e+01] [ 3.86976175e-01 -8.42036633e-01 -3.75797483e-01 3.42191704e+01] [ 6.89130566e-01 -6.68395949e-03 7.24606367e-01 3.10073621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870371743 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:54.14, Y:34.23, Z:31.01 [[-6.16400563e-01 -5.34841198e-01 5.77923211e-01 5.41435448e+01] [ 3.81008777e-01 -8.44877350e-01 -3.75519075e-01 3.42288021e+01] [ 6.89117303e-01 -1.12763536e-02 7.24562065e-01 3.10094555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900371743 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:54.14, Y:34.23, Z:31.01 [[-6.26060266e-01 -5.22946124e-01 5.78425358e-01 5.41373537e+01] [ 3.83643113e-01 -8.52365543e-01 -3.55374370e-01 3.42305292e+01] [ 6.78871494e-01 -5.76867710e-04 7.34256877e-01 3.10073947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930371743 meters Centerline goodness : 0.988888 Centerline is valid? [True, True] Translation: X:54.15, Y:34.25, Z:31.01 [[-6.21889248e-01 -5.36486640e-01 5.70469849e-01 5.41507621e+01] [ 3.73356309e-01 -8.43470524e-01 -3.86215667e-01 3.42473164e+01] [ 6.88374048e-01 -2.71948535e-02 7.24845921e-01 3.10107897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96037174299997 meters Centerline goodness : 0.987284 Centerline is valid? [True, True] Translation: X:54.17, Y:34.23, Z:30.98 [[-6.26635672e-01 -5.21906962e-01 5.78740752e-01 5.41693192e+01] [ 3.97882503e-01 -8.52805824e-01 -3.38248045e-01 3.42320718e+01] [ 6.70087494e-01 1.83125276e-02 7.42056199e-01 3.09805311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99037174299997 meters Centerline goodness : 0.987454 Centerline is valid? [True, True] Translation: X:54.18, Y:34.26, Z:30.97 [[-6.26408150e-01 -5.52384968e-01 5.49985160e-01 5.41778051e+01] [ 3.94957193e-01 -8.33208060e-01 -3.87005355e-01 3.42594029e+01] [ 6.72028009e-01 -2.52027134e-02 7.40096736e-01 3.09734406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02037174299997 meters Centerline goodness : 0.987995 Centerline is valid? [True, True] Translation: X:54.18, Y:34.26, Z:30.97 [[-6.28115817e-01 -5.51771582e-01 5.48651658e-01 5.41811011e+01] [ 3.92917827e-01 -8.33511552e-01 -3.88425119e-01 3.42621007e+01] [ 6.71629438e-01 -2.84009438e-02 7.40342681e-01 3.09732454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05037174299997 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:54.18, Y:34.27, Z:30.98 [[-6.24406619e-01 -5.53737009e-01 5.50900807e-01 5.41834038e+01] [ 3.81366308e-01 -8.31633970e-01 -4.03664068e-01 3.42712944e+01] [ 6.81671559e-01 -4.19555089e-02 7.30454394e-01 3.09815515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08037174299997 meters Centerline goodness : 0.987170 Centerline is valid? [True, True] Translation: X:54.16, Y:34.27, Z:31.01 [[-6.30007441e-01 -5.36654913e-01 5.61330677e-01 5.41644081e+01] [ 3.61940036e-01 -8.42417855e-01 -3.99163585e-01 3.42748392e+01] [ 6.87088084e-01 -4.83079827e-02 7.24966416e-01 3.10097084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11037174299997 meters Centerline goodness : 0.988094 Centerline is valid? [True, True] Translation: X:54.15, Y:34.26, Z:31.02 [[-6.34715056e-01 -5.12130212e-01 5.78670411e-01 5.41534279e+01] [ 3.59862749e-01 -8.58585736e-01 -3.65142897e-01 3.42643702e+01] [ 6.83838870e-01 -2.35197697e-02 7.29253879e-01 3.10165887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14037174299997 meters Centerline goodness : 0.987725 Centerline is valid? [True, True] Translation: X:54.19, Y:34.25, Z:30.98 [[-6.32295876e-01 -5.16442934e-01 5.77484737e-01 5.41856199e+01] [ 3.81878292e-01 -8.56321329e-01 -3.47681970e-01 3.42530557e+01] [ 6.74070394e-01 6.91008947e-04 7.38666790e-01 3.09790615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17037174299998 meters Centerline goodness : 0.988246 Centerline is valid? [True, True] Translation: X:54.16, Y:34.29, Z:31.02 [[-0.63993191 -0.53538379 0.55122713 54.15790996] [ 0.35764959 -0.84242131 -0.40300509 34.29093202] [ 0.68012788 -0.06074966 0.73057207 31.01580623] [ 0. 0. 0. 1. ]] SLAMing on 172.20037174299998 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:54.19, Y:34.26, Z:30.98 [[-6.32151585e-01 -5.16806096e-01 5.77317791e-01 5.41902441e+01] [ 3.70818749e-01 -8.55993784e-01 -3.60233392e-01 3.42603738e+01] [ 6.80351254e-01 -1.36418486e-02 7.32759218e-01 3.09830470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23037174299998 meters Centerline goodness : 0.987758 Centerline is valid? [True, True] Translation: X:54.17, Y:34.29, Z:31.01 [[-0.63789518 -0.53015851 0.55858903 54.17092254] [ 0.35192084 -0.84583277 -0.40089729 34.28517192] [ 0.68501202 -0.05915133 0.72612648 31.01354402] [ 0. 0. 0. 1. ]] SLAMing on 172.26037174299998 meters Centerline goodness : 0.986919 Centerline is valid? [True, True] Translation: X:54.18, Y:34.27, Z:31.00 [[-6.33539225e-01 -5.15304159e-01 5.77139215e-01 5.41831169e+01] [ 3.63300368e-01 -8.56717711e-01 -3.66125123e-01 3.42651648e+01] [ 6.83111186e-01 -2.22797372e-02 7.29974466e-01 3.09967143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29037174299998 meters Centerline goodness : 0.987538 Centerline is valid? [True, True] Translation: X:54.17, Y:34.28, Z:31.01 [[-6.37427687e-01 -5.23196276e-01 5.65642644e-01 5.41721551e+01] [ 3.51139337e-01 -8.50701663e-01 -3.91162174e-01 3.42782206e+01] [ 6.85847731e-01 -5.07182166e-02 7.25975587e-01 3.10120208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32037174299998 meters Centerline goodness : 0.987054 Centerline is valid? [True, True] Translation: X:54.16, Y:34.27, Z:31.02 [[-6.36529997e-01 -5.08258973e-01 5.80088251e-01 5.41634919e+01] [ 3.50478929e-01 -8.60614407e-01 -3.69469029e-01 3.42704199e+01] [ 6.87018256e-01 -3.18694109e-02 7.25940946e-01 3.10204286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35037174299998 meters Centerline goodness : 0.988053 Centerline is valid? [True, True] Translation: X:54.19, Y:34.25, Z:30.98 [[-6.35809366e-01 -5.10133722e-01 5.79232281e-01 5.41919332e+01] [ 3.70959659e-01 -8.60059452e-01 -3.50266569e-01 3.42527038e+01] [ 6.76856987e-01 -7.83095581e-03 7.36072887e-01 3.09808963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38037174299998 meters Centerline goodness : 0.988472 Centerline is valid? [True, True] Translation: X:54.18, Y:34.28, Z:31.00 [[-0.63714971 -0.53691654 0.55295648 54.177583 ] [ 0.35531954 -0.84127015 -0.40744638 34.27995172] [ 0.68395049 -0.0631281 0.72679197 31.00434151] [ 0. 0. 0. 1. ]] SLAMing on 172.41037174299998 meters Centerline goodness : 0.987540 Centerline is valid? [True, True] Translation: X:54.19, Y:34.25, Z:30.98 [[-6.33911527e-01 -5.12248605e-01 5.79445893e-01 5.41920404e+01] [ 3.74195027e-01 -8.58822931e-01 -3.49858908e-01 3.42469500e+01] [ 6.76856158e-01 -4.95382313e-03 7.36098636e-01 3.09790540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440371743 meters Centerline goodness : 0.987320 Centerline is valid? [True, True] Translation: X:54.19, Y:34.27, Z:30.98 [[-6.32445894e-01 -5.38538988e-01 5.56765614e-01 5.41916664e+01] [ 3.73156243e-01 -8.41694814e-01 -3.90261781e-01 3.42671582e+01] [ 6.78797915e-01 -3.90588964e-02 7.33285615e-01 3.09816708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470371743 meters Centerline goodness : 0.986231 Centerline is valid? [True, True] Translation: X:54.20, Y:34.25, Z:30.97 [[-6.30782758e-01 -5.34832095e-01 5.62199024e-01 5.41973271e+01] [ 3.82772975e-01 -8.44702528e-01 -3.74115608e-01 3.42522351e+01] [ 6.74979971e-01 -2.07910818e-02 7.37543063e-01 3.09682919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500371743 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:54.20, Y:34.26, Z:30.97 [[-6.28405995e-01 -5.46409113e-01 5.53663242e-01 5.42000347e+01] [ 3.82836994e-01 -8.36829540e-01 -3.91346595e-01 3.42570159e+01] [ 6.77157102e-01 -3.39617751e-02 7.35054322e-01 3.09671862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530371743 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:54.20, Y:34.25, Z:30.96 [[-6.26552189e-01 -5.42651073e-01 5.59430216e-01 5.42010160e+01] [ 3.86486352e-01 -8.39646459e-01 -3.81604669e-01 3.42491840e+01] [ 6.76801783e-01 -2.28830974e-02 7.35809561e-01 3.09641506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560371743 meters Centerline goodness : 0.987976 Centerline is valid? [True, True] Translation: X:54.19, Y:34.26, Z:30.98 [[-6.24737208e-01 -5.49942370e-01 5.54316525e-01 5.41894010e+01] [ 3.71977603e-01 -8.33782714e-01 -4.07969422e-01 3.42556870e+01] [ 6.86539207e-01 -4.86803449e-02 7.25461330e-01 3.09843723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590371743 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:54.19, Y:34.23, Z:30.99 [[-6.23631771e-01 -5.25901063e-01 5.78369680e-01 5.41850656e+01] [ 3.73586857e-01 -8.50414371e-01 -3.70443328e-01 3.42348776e+01] [ 6.86670427e-01 -1.49489178e-02 7.26815145e-01 3.09882773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620371743 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:54.19, Y:34.23, Z:30.99 [[-6.21513367e-01 -5.28865413e-01 5.77946805e-01 5.41860014e+01] [ 3.78304409e-01 -8.48632334e-01 -3.69741715e-01 3.42330724e+01] [ 6.86007951e-01 -1.11595938e-02 7.27508457e-01 3.09888422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650371743 meters Centerline goodness : 0.988908 Centerline is valid? [True, True] Translation: X:54.19, Y:34.23, Z:30.98 [[-6.22113687e-01 -5.28986733e-01 5.77189394e-01 5.41908064e+01] [ 3.79346347e-01 -8.48565161e-01 -3.68827217e-01 3.42281488e+01] [ 6.84887516e-01 -1.04977715e-02 7.28573186e-01 3.09824345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680371743 meters Centerline goodness : 0.987547 Centerline is valid? [True, True] Translation: X:54.21, Y:34.22, Z:30.96 [[-6.18085435e-01 -5.32242513e-01 5.78522517e-01 5.42108134e+01] [ 3.97508770e-01 -8.46519177e-01 -3.54107414e-01 3.42185572e+01] [ 6.78201424e-01 1.10991390e-02 7.34792241e-01 3.09574551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71037174299997 meters Centerline goodness : 0.987547 Centerline is valid? [True, True] Translation: X:54.22, Y:34.23, Z:30.95 [[-6.18015510e-01 -5.52795192e-01 5.58994012e-01 5.42162266e+01] [ 3.97574300e-01 -8.33176423e-01 -3.84384865e-01 3.42329034e+01] [ 6.78226736e-01 -1.53141552e-02 7.34693113e-01 3.09515908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74037174299997 meters Centerline goodness : 0.989475 Centerline is valid? [True, True] Translation: X:54.20, Y:34.24, Z:30.97 [[-6.21605621e-01 -5.49866279e-01 5.57901001e-01 5.42000211e+01] [ 3.81798692e-01 -8.34565859e-01 -3.97151842e-01 3.42379475e+01] [ 6.83985534e-01 -3.38659442e-02 7.28709055e-01 3.09721272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77037174299997 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:54.21, Y:34.21, Z:30.95 [[-6.18211349e-01 -5.30635305e-01 5.79862830e-01 5.42149756e+01] [ 4.01625670e-01 -8.47404891e-01 -3.47277659e-01 3.42149961e+01] [ 6.75656384e-01 1.81968075e-02 7.36992080e-01 3.09513695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80037174299997 meters Centerline goodness : 0.988058 Centerline is valid? [True, True] Translation: X:54.23, Y:34.23, Z:30.94 [[-6.16987643e-01 -5.56780657e-01 5.56166835e-01 5.42257167e+01] [ 4.02058782e-01 -8.30538301e-01 -3.85428161e-01 3.42320967e+01] [ 6.76516803e-01 -1.41926522e-02 7.36290421e-01 3.09401717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83037174299997 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:54.21, Y:34.24, Z:30.97 [[-6.20954364e-01 -5.54008156e-01 5.54518387e-01 5.42078015e+01] [ 3.82923321e-01 -8.31672888e-01 -4.02106874e-01 3.42437085e+01] [ 6.83948396e-01 -3.73519959e-02 7.28573552e-01 3.09662737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86037174299997 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:54.20, Y:34.23, Z:30.97 [[-6.21208166e-01 -5.30225456e-01 5.77028058e-01 5.42027883e+01] [ 3.82691950e-01 -8.47826112e-01 -3.67066419e-01 3.42287142e+01] [ 6.83847414e-01 -7.20066461e-03 7.29589518e-01 3.09735383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89037174299997 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:54.21, Y:34.23, Z:30.97 [[-6.22284183e-01 -5.29355725e-01 5.76667072e-01 5.42050057e+01] [ 3.82124238e-01 -8.48365453e-01 -3.66411142e-01 3.42286907e+01] [ 6.83186258e-01 -7.65339219e-03 7.30204056e-01 3.09727285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92037174299998 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:54.21, Y:34.23, Z:30.97 [[-6.23719703e-01 -5.28372618e-01 5.76017456e-01 5.42105953e+01] [ 3.81577796e-01 -8.48972800e-01 -3.65572933e-01 3.42284775e+01] [ 6.82181880e-01 -8.21956980e-03 7.31136322e-01 3.09699031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95037174299998 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:54.23, Y:34.23, Z:30.95 [[-6.18935701e-01 -5.34695248e-01 5.75343019e-01 5.42307863e+01] [ 3.90930268e-01 -8.45044523e-01 -3.64792105e-01 3.42254162e+01] [ 6.81243072e-01 -8.63856682e-04 7.32056781e-01 3.09504792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98037174299998 meters Centerline goodness : 0.987249 Centerline is valid? [True, True] Translation: X:54.23, Y:34.23, Z:30.95 [[-6.23264794e-01 -5.37948490e-01 5.67584724e-01 5.42329621e+01] [ 3.91629080e-01 -8.42943198e-01 -3.68881320e-01 3.42343302e+01] [ 6.76880832e-01 -7.62805647e-03 7.36053091e-01 3.09462328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01037174299998 meters Centerline goodness : 0.988266 Centerline is valid? [True, True] Translation: X:54.22, Y:34.25, Z:30.97 [[-6.27877935e-01 -5.40363089e-01 5.60158042e-01 5.42164343e+01] [ 3.73638710e-01 -8.40622523e-01 -3.92106986e-01 3.42498239e+01] [ 6.82761608e-01 -3.68985961e-02 7.29708901e-01 3.09692309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04037174299998 meters Centerline goodness : 0.988223 Centerline is valid? [True, True] Translation: X:54.21, Y:34.24, Z:30.97 [[-6.29670015e-01 -5.19478386e-01 5.77631265e-01 5.42143935e+01] [ 3.69732161e-01 -8.54325541e-01 -3.65275239e-01 3.42380269e+01] [ 6.83237734e-01 -1.64340096e-02 7.30011043e-01 3.09713770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07037174299998 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:54.21, Y:34.24, Z:30.97 [[-6.33267389e-01 -5.13914885e-01 5.78674265e-01 5.42141438e+01] [ 3.61938502e-01 -8.57558573e-01 -3.65504876e-01 3.42444893e+01] [ 6.84085474e-01 -2.20178216e-02 7.29069462e-01 3.09745823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10037174299998 meters Centerline goodness : 0.988649 Centerline is valid? [True, True] Translation: X:54.22, Y:34.25, Z:30.98 [[-6.35126498e-01 -5.10611672e-01 5.79560223e-01 5.42151036e+01] [ 3.57307797e-01 -8.59443778e-01 -3.65633054e-01 3.42471116e+01] [ 6.84795933e-01 -2.51418540e-02 7.28301049e-01 3.09755456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13037174299998 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:54.21, Y:34.25, Z:30.98 [[-6.40787172e-01 -5.02847622e-01 5.80117289e-01 5.42108623e+01] [ 3.46868824e-01 -8.63744297e-01 -3.65551375e-01 3.42536108e+01] [ 6.84889640e-01 -3.30160299e-02 7.27898429e-01 3.09808078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16037174299998 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:54.21, Y:34.25, Z:30.98 [[-6.43417860e-01 -4.99244644e-01 5.80317364e-01 5.42129703e+01] [ 3.42294618e-01 -8.65697667e-01 -3.65242307e-01 3.42544655e+01] [ 6.84724654e-01 -3.63639134e-02 7.27894095e-01 3.09802790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190371743 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:54.21, Y:34.26, Z:30.99 [[-6.45108362e-01 -4.96584049e-01 5.80723242e-01 5.42107362e+01] [ 3.38859520e-01 -8.67124584e-01 -3.65060517e-01 3.42588426e+01] [ 6.84842629e-01 -3.87199932e-02 7.27661553e-01 3.09860555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220371743 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:54.23, Y:34.26, Z:30.97 [[-6.46187603e-01 -4.96881885e-01 5.79266756e-01 5.42281579e+01] [ 3.43239561e-01 -8.67136394e-01 -3.60916996e-01 3.42569372e+01] [ 6.81636403e-01 -3.43928212e-02 7.30882308e-01 3.09699929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250371743 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:54.21, Y:34.27, Z:30.99 [[-0.65382508 -0.49799698 0.56965934 54.21367816] [ 0.32846321 -0.86504213 -0.3792282 34.26889379] [ 0.68163383 -0.06083678 0.72915993 30.98714375] [ 0. 0. 0. 1. ]] SLAMing on 173.280371743 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:54.21, Y:34.26, Z:30.99 [[-6.54954609e-01 -4.84851017e-01 5.79615347e-01 5.42108439e+01] [ 3.24852192e-01 -8.73184297e-01 -3.63345891e-01 3.42618863e+01] [ 6.82279645e-01 -4.96857500e-02 7.29400996e-01 3.09903844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310371743 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:54.21, Y:34.26, Z:30.99 [[-6.55555834e-01 -4.83432013e-01 5.80120709e-01 5.42131992e+01] [ 3.23031594e-01 -8.73911661e-01 -3.63220317e-01 3.42615936e+01] [ 6.82566582e-01 -5.07138806e-02 7.29061701e-01 3.09903649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340371743 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:54.21, Y:34.26, Z:30.99 [[-6.58875556e-01 -4.80161022e-01 5.79075465e-01 5.42127051e+01] [ 3.19800561e-01 -8.75553040e-01 -3.62124944e-01 3.42587844e+01] [ 6.80889567e-01 -5.34066155e-02 7.30436261e-01 3.09885785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370371743 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:54.21, Y:34.26, Z:30.99 [[-0.65924251 -0.47895374 0.57965734 54.21189473] [ 0.31821246 -0.87616395 -0.36204635 34.25547382] [ 0.68127832 -0.05422216 0.73001357 30.98758473] [ 0. 0. 0. 1. ]] SLAMing on 173.400371743 meters Centerline goodness : 0.990608 Centerline is valid? [True, True] Translation: X:54.21, Y:34.25, Z:30.99 [[-0.65935683 -0.47822696 0.58012717 54.21159371] [ 0.31733928 -0.87654224 -0.36189705 34.25277674] [ 0.6815749 -0.05452216 0.72971432 30.98541784] [ 0. 0. 0. 1. ]] SLAMing on 173.430371743 meters Centerline goodness : 0.990181 Centerline is valid? [True, True] Translation: X:54.21, Y:34.25, Z:30.99 [[-0.65919429 -0.47743773 0.58096136 54.20873383] [ 0.31613465 -0.87694573 -0.36197385 34.25152857] [ 0.68229156 -0.05494908 0.72901223 30.98657925] [ 0. 0. 0. 1. ]] SLAMing on 173.46037174299997 meters Centerline goodness : 0.989576 Centerline is valid? [True, True] Translation: X:54.07, Y:34.35, Z:31.15 [[-0.65352818 -0.48709726 0.57934203 54.06567501] [ 0.31501286 -0.87100966 -0.37697358 34.34719718] [ 0.68823529 -0.06386267 0.72267125 31.14940521] [ 0. 0. 0. 1. ]] SLAMing on 173.49037174299997 meters Centerline goodness : 0.989081 Centerline is valid? [True, True] Translation: X:54.21, Y:34.24, Z:30.98 [[-6.57881181e-01 -4.70432452e-01 5.88120447e-01 5.42082033e+01] [ 3.13078685e-01 -8.81067860e-01 -3.54543598e-01 3.42407734e+01] [ 6.84962838e-01 -4.91195852e-02 7.26920338e-01 3.09823776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52037174299997 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:54.22, Y:34.24, Z:30.97 [[-6.54310655e-01 -4.82351664e-01 5.82421187e-01 5.42197955e+01] [ 3.23750555e-01 -8.74691776e-01 -3.60693602e-01 3.42425416e+01] [ 6.83420181e-01 -4.74464847e-02 7.28481768e-01 3.09686634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55037174299997 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:54.21, Y:34.24, Z:30.98 [[-0.6606171 -0.48437293 0.57355724 54.21008021] [ 0.3106285 -0.87190111 -0.37854774 34.24204221] [ 0.68344347 -0.07191188 0.72645282 30.97526776] [ 0. 0. 0. 1. ]] SLAMing on 173.58037174299997 meters Centerline goodness : 0.988324 Centerline is valid? [True, True] Translation: X:54.21, Y:34.23, Z:30.98 [[-0.66044623 -0.47242834 0.58362851 54.20757967] [ 0.30898867 -0.87940072 -0.3621883 34.2304684 ] [ 0.68435135 -0.0588713 0.7267719 30.97636898] [ 0. 0. 0. 1. ]] SLAMing on 173.61037174299997 meters Centerline goodness : 0.987365 Centerline is valid? [True, True] Translation: X:54.21, Y:34.23, Z:30.97 [[-6.58277649e-01 -4.75781701e-01 5.83354361e-01 5.42107302e+01] [ 3.20942408e-01 -8.78362010e-01 -3.54226129e-01 3.42255024e+01] [ 6.80930619e-01 -4.59559898e-02 7.30904603e-01 3.09672969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64037174299997 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:54.20, Y:34.23, Z:30.97 [[-0.66335968 -0.48482718 0.56999697 54.20462905] [ 0.30784598 -0.87109158 -0.38266214 34.23060746] [ 0.68204457 -0.07837136 0.72709913 30.97235513] [ 0. 0. 0. 1. ]] SLAMing on 173.67037174299998 meters Centerline goodness : 0.984027 Centerline is valid? [True, True] Translation: X:53.83, Y:34.45, Z:31.39 [[-0.66096878 -0.47226657 0.58316769 53.82508904] [ 0.31001597 -0.87956097 -0.3609191 34.45053926] [ 0.68338157 -0.05776496 0.72777252 31.38663034] [ 0. 0. 0. 1. ]] SLAMing on 173.70037174299998 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:54.20, Y:34.21, Z:30.97 [[-0.66047343 -0.47573487 0.58090549 54.19762046] [ 0.30989814 -0.87741127 -0.36621388 34.21075755] [ 0.68391373 -0.061853 0.72693618 30.97390129] [ 0. 0. 0. 1. ]] SLAMing on 173.73037174299998 meters Centerline goodness : 0.987018 Centerline is valid? [True, True] Translation: X:54.21, Y:34.20, Z:30.96 [[-6.56111091e-01 -4.77869990e-01 5.84087757e-01 5.42104202e+01] [ 3.26110358e-01 -8.77509430e-01 -3.51609493e-01 3.42004175e+01] [ 6.80566140e-01 -4.02178206e-02 7.31582023e-01 3.09571393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76037174299998 meters Centerline goodness : 0.987078 Centerline is valid? [True, True] Translation: X:54.21, Y:34.21, Z:30.95 [[-0.65589406 -0.49517761 0.56973864 54.21430851] [ 0.32817612 -0.86676342 -0.37552845 34.20593211] [ 0.67978189 -0.05933226 0.73101044 30.95116366] [ 0. 0. 0. 1. ]] SLAMing on 173.79037174299998 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:54.22, Y:34.19, Z:30.95 [[-0.65183776 -0.50080573 0.56947445 54.21676051] [ 0.3326504 -0.86365128 -0.37874818 34.19299066] [ 0.6815066 -0.05744646 0.72955374 30.94799131] [ 0. 0. 0. 1. ]] SLAMing on 173.82037174299998 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:54.22, Y:34.18, Z:30.94 [[-6.50674406e-01 -5.01048695e-01 5.70590065e-01 5.42220088e+01] [ 3.37673507e-01 -8.63949633e-01 -3.73587519e-01 3.41816057e+01] [ 6.80146616e-01 -5.04106886e-02 7.31340785e-01 3.09393642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85037174299998 meters Centerline goodness : 0.989256 Centerline is valid? [True, True] Translation: X:54.22, Y:34.17, Z:30.94 [[-6.47347380e-01 -5.07257622e-01 5.68885819e-01 5.42208144e+01] [ 3.43744958e-01 -8.60461674e-01 -3.76091893e-01 3.41728347e+01] [ 6.80279923e-01 -4.79104701e-02 7.31384860e-01 3.09382185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88037174299998 meters Centerline goodness : 0.989380 Centerline is valid? [True, True] Translation: X:54.22, Y:34.16, Z:30.93 [[-6.45074128e-01 -5.08909153e-01 5.69991967e-01 5.42246544e+01] [ 3.47832735e-01 -8.59747025e-01 -3.73961818e-01 3.41647476e+01] [ 6.80361490e-01 -4.29712289e-02 7.31615825e-01 3.09319089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91037174299998 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:54.22, Y:34.16, Z:30.93 [[-6.43432286e-01 -5.11779637e-01 5.69277170e-01 5.42239961e+01] [ 3.50747867e-01 -8.58108248e-01 -3.75001558e-01 3.41617186e+01] [ 6.80419596e-01 -4.16153571e-02 7.31640168e-01 3.09305619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940371743 meters Centerline goodness : 0.990275 Centerline is valid? [True, True] Translation: X:54.22, Y:34.16, Z:30.93 [[-6.41301789e-01 -5.13160859e-01 5.70436629e-01 5.42249130e+01] [ 3.54134791e-01 -8.57479104e-01 -3.73253448e-01 3.41563539e+01] [ 6.80676549e-01 -3.73566471e-02 7.31630997e-01 3.09273115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970371743 meters Centerline goodness : 0.991003 Centerline is valid? [True, True] Translation: X:54.22, Y:34.15, Z:30.92 [[-6.36943263e-01 -5.18244213e-01 5.70724290e-01 5.42236871e+01] [ 3.60070861e-01 -8.54602547e-01 -3.74170364e-01 3.41496830e+01] [ 6.81654058e-01 -3.28241059e-02 7.30937975e-01 3.09242188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000371743 meters Centerline goodness : 0.991509 Centerline is valid? [True, True] Translation: X:54.22, Y:34.14, Z:30.92 [[-6.34507068e-01 -5.16023921e-01 5.75430354e-01 5.42236273e+01] [ 3.69462400e-01 -8.56420759e-01 -3.60612006e-01 3.41367728e+01] [ 6.78894922e-01 -1.62109870e-02 7.34056461e-01 3.09176185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030371743 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:54.23, Y:34.14, Z:30.91 [[-6.33079958e-01 -5.27135551e-01 5.66866720e-01 5.42272574e+01] [ 3.72096292e-01 -8.49382543e-01 -3.74290856e-01 3.41405010e+01] [ 6.78788713e-01 -2.60270347e-02 7.33872248e-01 3.09097303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060371743 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:54.21, Y:34.14, Z:30.93 [[-6.34314199e-01 -5.24217516e-01 5.68191422e-01 5.42127546e+01] [ 3.58456364e-01 -8.50630204e-01 -3.84626172e-01 3.41420155e+01] [ 6.84948562e-01 -4.03020112e-02 7.27475921e-01 3.09264315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090371743 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:54.21, Y:34.13, Z:30.93 [[-6.32864404e-01 -5.08140253e-01 5.84188436e-01 5.42131626e+01] [ 3.59908401e-01 -8.61106243e-01 -3.59112770e-01 3.41254511e+01] [ 6.85527963e-01 -1.70153634e-02 7.27847435e-01 3.09274597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120371743 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:54.21, Y:34.12, Z:30.93 [[-6.33233709e-01 -5.06698053e-01 5.85040301e-01 5.42137118e+01] [ 3.59754874e-01 -8.61980680e-01 -3.57163462e-01 3.41230495e+01] [ 6.85267467e-01 -1.56968439e-02 7.28122317e-01 3.09269737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150371743 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:54.22, Y:34.12, Z:30.92 [[-6.34601987e-01 -5.07260160e-01 5.83067276e-01 5.42151818e+01] [ 3.58670476e-01 -8.61587494e-01 -3.59196995e-01 3.41227591e+01] [ 6.84569797e-01 -1.88181096e-02 7.28704379e-01 3.09248070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180371743 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:54.22, Y:34.12, Z:30.92 [[-6.35419019e-01 -5.05433627e-01 5.83763238e-01 5.42159735e+01] [ 3.57391458e-01 -8.62661096e-01 -3.57892693e-01 3.41228141e+01] [ 6.84480837e-01 -1.87798291e-02 7.28788928e-01 3.09241655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21037174299997 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:54.24, Y:34.12, Z:30.90 [[-6.31524983e-01 -5.11689732e-01 5.82537393e-01 5.42370528e+01] [ 3.69298357e-01 -8.59127156e-01 -3.54286965e-01 3.41189108e+01] [ 6.81758695e-01 -8.61096758e-03 7.31526440e-01 3.09016691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24037174299997 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:54.22, Y:34.14, Z:30.92 [[-6.40370417e-01 -5.13985889e-01 5.70740076e-01 5.42190603e+01] [ 3.51669359e-01 -8.56830515e-01 -3.77054545e-01 3.41356375e+01] [ 6.82828229e-01 -4.07427801e-02 7.29442003e-01 3.09183982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27037174299997 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:54.22, Y:34.13, Z:30.92 [[-6.41241945e-01 -4.98387451e-01 5.83454126e-01 5.42181093e+01] [ 3.48886378e-01 -8.66587068e-01 -3.56798472e-01 3.41268945e+01] [ 6.83437681e-01 -2.52349492e-02 7.29572569e-01 3.09219904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30037174299997 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:54.23, Y:34.12, Z:30.90 [[-6.40132953e-01 -4.98416779e-01 5.84645634e-01 5.42336827e+01] [ 3.65182951e-01 -8.66929879e-01 -3.39225584e-01 3.41240825e+01] [ 6.75922492e-01 -3.64685740e-03 7.36963694e-01 3.09030475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33037174299997 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:54.22, Y:34.15, Z:30.92 [[-0.64585094 -0.51430257 0.56424235 54.22069506] [ 0.34260179 -0.85570193 -0.3878121 34.14959947] [ 0.68227603 -0.05715837 0.72885687 30.91866746] [ 0. 0. 0. 1. ]] SLAMing on 174.36037174299997 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:54.23, Y:34.13, Z:30.90 [[-6.45623149e-01 -4.91165634e-01 5.84745302e-01 5.42348287e+01] [ 3.58647005e-01 -8.71038150e-01 -3.35655876e-01 3.41272535e+01] [ 6.74198098e-01 -6.99005298e-03 7.38517477e-01 3.09028962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39037174299997 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:54.22, Y:34.16, Z:30.92 [[-0.65060833 -0.51174107 0.56109703 54.22220638] [ 0.3366942 -0.8566472 -0.39088694 34.15687825] [ 0.6806951 -0.06539618 0.72964205 30.91995378] [ 0. 0. 0. 1. ]] SLAMing on 174.42037174299998 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:54.22, Y:34.14, Z:30.92 [[-6.50157916e-01 -4.86729616e-01 5.83428629e-01 5.42229412e+01] [ 3.34615073e-01 -8.72820517e-01 -3.55270458e-01 3.41385570e+01] [ 6.82149131e-01 -3.57578873e-02 7.30338234e-01 3.09238609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45037174299998 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:54.22, Y:34.14, Z:30.93 [[-6.51430386e-01 -4.84621354e-01 5.83764162e-01 5.42205454e+01] [ 3.31974231e-01 -8.73920181e-01 -3.55044542e-01 3.41398271e+01] [ 6.82225448e-01 -3.74921441e-02 7.30179962e-01 3.09266546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48037174299998 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:54.22, Y:34.14, Z:30.92 [[-6.51085194e-01 -4.84426832e-01 5.84310461e-01 5.42246832e+01] [ 3.31768064e-01 -8.74038617e-01 -3.54945698e-01 3.41399762e+01] [ 6.82655127e-01 -3.72443382e-02 7.29790955e-01 3.09237683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51037174299998 meters Centerline goodness : 0.990517 Centerline is valid? [True, True] Translation: X:54.24, Y:34.14, Z:30.91 [[-6.50675528e-01 -4.83919555e-01 5.85186484e-01 5.42356286e+01] [ 3.48483323e-01 -8.74988061e-01 -3.36088184e-01 3.41350680e+01] [ 6.74670831e-01 -1.47566255e-02 7.37971213e-01 3.09068557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54037174299998 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:54.23, Y:34.15, Z:30.91 [[-0.65058332 -0.50774564 0.56474393 54.23242181] [ 0.3359216 -0.8593327 -0.38562157 34.15259507] [ 0.68110059 -0.06116928 0.72963025 30.91208283] [ 0. 0. 0. 1. ]] SLAMing on 174.57037174299998 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:54.25, Y:34.13, Z:30.90 [[-6.44702902e-01 -4.93312813e-01 5.83952599e-01 5.42483454e+01] [ 3.50085895e-01 -8.69621799e-01 -3.48134735e-01 3.41316843e+01] [ 6.79557235e-01 -2.00099061e-02 7.33349554e-01 3.08980422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60037174299998 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:54.25, Y:34.14, Z:30.89 [[-6.45304651e-01 -5.05584768e-01 5.72683115e-01 5.42516596e+01] [ 3.50098671e-01 -8.62024355e-01 -3.66530943e-01 3.41401058e+01] [ 6.78979254e-01 -3.60285252e-02 7.33272881e-01 3.08925738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63037174299998 meters Centerline goodness : 0.990390 Centerline is valid? [True, True] Translation: X:54.24, Y:34.14, Z:30.91 [[-6.46793694e-01 -5.02541551e-01 5.73681015e-01 5.42385613e+01] [ 3.41200433e-01 -8.63399824e-01 -3.71649039e-01 3.41421680e+01] [ 6.82085172e-01 -4.46400440e-02 7.29908956e-01 3.09084789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66037174299998 meters Centerline goodness : 0.990178 Centerline is valid? [True, True] Translation: X:54.26, Y:34.13, Z:30.89 [[-6.42976843e-01 -4.95632699e-01 5.83891263e-01 5.42565097e+01] [ 3.57389767e-01 -8.68445650e-01 -3.43620003e-01 3.41251392e+01] [ 6.77387138e-01 -1.22629423e-02 7.35524497e-01 3.08875049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690371743 meters Centerline goodness : 0.990260 Centerline is valid? [True, True] Translation: X:54.26, Y:34.14, Z:30.88 [[-6.40454689e-01 -5.16047547e-01 5.68781787e-01 5.42606992e+01] [ 3.61786983e-01 -8.56008822e-01 -3.69268298e-01 3.41372536e+01] [ 6.77442226e-01 -3.07217665e-02 7.34934149e-01 3.08820176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720371743 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:54.25, Y:34.14, Z:30.90 [[-6.41414682e-01 -5.12675863e-01 5.70745709e-01 5.42501695e+01] [ 3.50450633e-01 -8.57580424e-01 -3.76483956e-01 3.41398643e+01] [ 6.82474585e-01 -4.14641418e-02 7.29732256e-01 3.08967910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750371743 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:54.25, Y:34.13, Z:30.90 [[-6.41041478e-01 -4.96342974e-01 5.85413935e-01 5.42491849e+01] [ 3.49423979e-01 -8.67851611e-01 -3.53180499e-01 3.41270444e+01] [ 6.83351086e-01 -2.18456828e-02 7.29763016e-01 3.09000601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780371743 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:54.27, Y:34.12, Z:30.88 [[-6.37325297e-01 -5.01956711e-01 5.84684467e-01 5.42672788e+01] [ 3.62661848e-01 -8.64843677e-01 -3.47162495e-01 3.41239783e+01] [ 6.79921209e-01 -9.21269059e-03 7.33227302e-01 3.08795394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810371743 meters Centerline goodness : 0.989247 Centerline is valid? [True, True] Translation: X:54.27, Y:34.13, Z:30.88 [[-6.39995833e-01 -5.09802374e-01 5.74897272e-01 5.42664766e+01] [ 3.65915475e-01 -8.60121998e-01 -3.55381504e-01 3.41346823e+01] [ 6.75656125e-01 -1.70788734e-02 7.37019072e-01 3.08768040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840371743 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:54.26, Y:34.14, Z:30.89 [[-6.41986535e-01 -5.16072132e-01 5.67029844e-01 5.42573127e+01] [ 3.49105017e-01 -8.55199895e-01 -3.83091146e-01 3.41449830e+01] [ 6.82626528e-01 -4.79863937e-02 7.29190188e-01 3.08897649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870371743 meters Centerline goodness : 0.990103 Centerline is valid? [True, True] Translation: X:54.26, Y:34.13, Z:30.90 [[-6.41983947e-01 -4.94268142e-01 5.86136175e-01 5.42564448e+01] [ 3.47450804e-01 -8.69018540e-01 -3.52256607e-01 3.41313032e+01] [ 6.83472421e-01 -2.24896017e-02 7.29629815e-01 3.08957122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900371743 meters Centerline goodness : 0.989615 Centerline is valid? [True, True] Translation: X:54.26, Y:34.13, Z:30.89 [[-6.42085376e-01 -4.93623249e-01 5.86568375e-01 5.42609327e+01] [ 3.46714527e-01 -8.69379524e-01 -3.52091295e-01 3.41311294e+01] [ 6.83750983e-01 -2.27008950e-02 7.29362230e-01 3.08923900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930371743 meters Centerline goodness : 0.988085 Centerline is valid? [True, True] Translation: X:54.27, Y:34.12, Z:30.87 [[-6.44351750e-01 -4.88231906e-01 5.88591903e-01 5.42738426e+01] [ 3.64748109e-01 -8.72696370e-01 -3.24591841e-01 3.41239657e+01] [ 6.72138110e-01 5.53646323e-03 7.40405097e-01 3.08715898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96037174299997 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:54.26, Y:34.16, Z:30.89 [[-0.64478594 -0.51679249 0.56318435 54.26392374] [ 0.3433287 -0.85410657 -0.39067552 34.15801481] [ 0.68291763 -0.05854473 0.72814561 30.88930393] [ 0. 0. 0. 1. ]] SLAMing on 174.99037174299997 meters Centerline goodness : 0.988852 Centerline is valid? [True, True] Translation: X:54.26, Y:34.14, Z:30.89 [[-6.44883279e-01 -4.89003606e-01 5.87367882e-01 5.42647661e+01] [ 3.40914535e-01 -8.71879716e-01 -3.51572241e-01 3.41372032e+01] [ 6.84034236e-01 -2.64808114e-02 7.28969088e-01 3.08916270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02037174299997 meters Centerline goodness : 0.988286 Centerline is valid? [True, True] Translation: X:54.27, Y:34.13, Z:30.87 [[-6.52515155e-01 -4.74214690e-01 5.91053636e-01 5.42728048e+01] [ 3.61943475e-01 -8.80301087e-01 -3.06703306e-01 3.41280244e+01] [ 6.65748370e-01 1.37994520e-02 7.46048713e-01 3.08707490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05037174299997 meters Centerline goodness : 0.987160 Centerline is valid? [True, True] Translation: X:54.29, Y:34.16, Z:30.85 [[-6.54839533e-01 -5.11223844e-01 5.56628572e-01 5.42850283e+01] [ 3.63608100e-01 -8.58775708e-01 -3.60961816e-01 3.41553097e+01] [ 6.62551383e-01 -3.39774098e-02 7.48245414e-01 3.08522665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08037174299997 meters Centerline goodness : 0.988899 Centerline is valid? [True, True] Translation: X:54.27, Y:34.17, Z:30.89 [[-0.65104221 -0.51920525 0.55368759 54.26884322] [ 0.3326806 -0.85084385 -0.40667967 34.17330104] [ 0.68225191 -0.08056451 0.72666478 30.88594339] [ 0. 0. 0. 1. ]] SLAMing on 175.11037174299997 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:54.27, Y:34.14, Z:30.88 [[-6.55190927e-01 -4.70946012e-01 5.90706952e-01 5.42729941e+01] [ 3.47798044e-01 -8.82158189e-01 -3.17542832e-01 3.41392415e+01] [ 6.70642505e-01 -2.60445982e-03 7.41776144e-01 3.08764638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14037174299997 meters Centerline goodness : 0.987521 Centerline is valid? [True, True] Translation: X:54.29, Y:34.16, Z:30.86 [[-6.58066159e-01 -4.99053925e-01 5.63820991e-01 5.42853960e+01] [ 3.51046648e-01 -8.65791489e-01 -3.56610920e-01 3.41568664e+01] [ 6.66119495e-01 -3.67461093e-02 7.44939287e-01 3.08582682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17037174299998 meters Centerline goodness : 0.988793 Centerline is valid? [True, True] Translation: X:54.27, Y:34.18, Z:30.89 [[-0.65756745 -0.51141208 0.55322937 54.27020305] [ 0.32124125 -0.85454124 -0.40812171 34.17865128] [ 0.68147568 -0.09064746 0.72620516 30.88800963] [ 0. 0. 0. 1. ]] SLAMing on 175.20037174299998 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:54.26, Y:34.15, Z:30.90 [[-6.54946796e-01 -4.72380072e-01 5.89831977e-01 5.42625984e+01] [ 3.18425799e-01 -8.80375051e-01 -3.51489375e-01 3.41515947e+01] [ 6.85309933e-01 -4.23891216e-02 7.27016821e-01 3.09004899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23037174299998 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:54.27, Y:34.15, Z:30.90 [[-6.55994965e-01 -4.71106275e-01 5.89685920e-01 5.42653452e+01] [ 3.17215365e-01 -8.81019084e-01 -3.50969779e-01 3.41493304e+01] [ 6.84868614e-01 -4.31769734e-02 7.27386232e-01 3.08970699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26037174299998 meters Centerline goodness : 0.987682 Centerline is valid? [True, True] Translation: X:54.28, Y:34.14, Z:30.88 [[-6.52906593e-01 -4.77329467e-01 5.88106760e-01 5.42842196e+01] [ 3.29963002e-01 -8.78137185e-01 -3.46409443e-01 3.41431016e+01] [ 6.81789849e-01 -3.21195374e-02 7.30842621e-01 3.08762062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29037174299998 meters Centerline goodness : 0.988245 Centerline is valid? [True, True] Translation: X:54.27, Y:34.15, Z:30.89 [[-0.65686104 -0.48317027 0.57886101 54.26935826] [ 0.31852295 -0.87365551 -0.3677896 34.15440097] [ 0.6834301 -0.05720614 0.72777108 30.89188055] [ 0. 0. 0. 1. ]] SLAMing on 175.32037174299998 meters Centerline goodness : 0.988318 Centerline is valid? [True, True] Translation: X:54.28, Y:34.14, Z:30.88 [[-6.51649085e-01 -4.79503423e-01 5.87732879e-01 5.42800874e+01] [ 3.30402209e-01 -8.76908016e-01 -3.49094130e-01 3.41429190e+01] [ 6.82779503e-01 -3.32986289e-02 7.29865297e-01 3.08825141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35037174299998 meters Centerline goodness : 0.988730 Centerline is valid? [True, True] Translation: X:54.28, Y:34.15, Z:30.88 [[-6.51880086e-01 -4.89758291e-01 5.78955241e-01 5.42833876e+01] [ 3.31586272e-01 -8.70706756e-01 -3.63208327e-01 3.41471588e+01] [ 6.81984529e-01 -4.47946654e-02 7.29993521e-01 3.08773759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38037174299998 meters Centerline goodness : 0.989430 Centerline is valid? [True, True] Translation: X:54.27, Y:34.14, Z:30.89 [[-6.55064275e-01 -4.82524036e-01 5.81430435e-01 5.42747453e+01] [ 3.23565332e-01 -8.74539020e-01 -3.61229814e-01 3.41431198e+01] [ 6.82785670e-01 -4.84980144e-02 7.29007319e-01 3.08859063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41037174299998 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:54.29, Y:34.13, Z:30.88 [[-6.49657702e-01 -4.82905521e-01 5.87151708e-01 5.42850944e+01] [ 3.31468662e-01 -8.74987443e-01 -3.52881708e-01 3.41334098e+01] [ 6.84158897e-01 -3.46299281e-02 7.28510379e-01 3.08767450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440371743 meters Centerline goodness : 0.988118 Centerline is valid? [True, True] Translation: X:54.29, Y:34.13, Z:30.87 [[-6.49474236e-01 -4.87723050e-01 5.83360475e-01 5.42884531e+01] [ 3.31504786e-01 -8.72061439e-01 -3.60018643e-01 3.41336347e+01] [ 6.84315566e-01 -4.04360436e-02 7.28063962e-01 3.08725781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470371743 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:54.29, Y:34.13, Z:30.87 [[-6.49167508e-01 -4.88312247e-01 5.83208964e-01 5.42894077e+01] [ 3.30106836e-01 -8.71623254e-01 -3.62356703e-01 3.41310750e+01] [ 6.85281711e-01 -4.27089319e-02 7.27024707e-01 3.08709714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500371743 meters Centerline goodness : 0.989237 Centerline is valid? [True, True] Translation: X:54.29, Y:34.13, Z:30.87 [[-6.47072464e-01 -4.88470321e-01 5.85400693e-01 5.42886609e+01] [ 3.27437788e-01 -8.71438073e-01 -3.65212514e-01 3.41282137e+01] [ 6.88535926e-01 -4.46366533e-02 7.23827223e-01 3.08732960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530371743 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:54.29, Y:34.12, Z:30.87 [[-6.46449927e-01 -4.83038051e-01 5.90573225e-01 5.42883374e+01] [ 3.27714604e-01 -8.74812434e-01 -3.56800145e-01 3.41224611e+01] [ 6.88988847e-01 -3.71139570e-02 7.23821057e-01 3.08733113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560371743 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:54.29, Y:34.12, Z:30.87 [[-6.45204412e-01 -4.85187458e-01 5.90173193e-01 5.42933106e+01] [ 3.29373917e-01 -8.73640194e-01 -3.58141919e-01 3.41152153e+01] [ 6.89364990e-01 -3.66870905e-02 7.23484601e-01 3.08659348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590371743 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:54.29, Y:34.11, Z:30.87 [[-6.45412494e-01 -4.85186982e-01 5.89946019e-01 5.42932656e+01] [ 3.30221208e-01 -8.73678399e-01 -3.57267420e-01 3.41122589e+01] [ 6.88764594e-01 -3.57721695e-02 7.24101986e-01 3.08651336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620371743 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:54.28, Y:34.11, Z:30.87 [[-6.51632005e-01 -4.76333601e-01 5.90323667e-01 5.42792640e+01] [ 3.28040519e-01 -8.78667687e-01 -3.46889773e-01 3.41101067e+01] [ 6.83933585e-01 -3.23943960e-02 7.28824708e-01 3.08732837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650371743 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:54.29, Y:34.11, Z:30.87 [[-6.44635190e-01 -4.89209076e-01 5.87469107e-01 5.42878850e+01] [ 3.32605048e-01 -8.71377153e-01 -3.60660144e-01 3.41117414e+01] [ 6.88345374e-01 -3.70990302e-02 7.24433785e-01 3.08694143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680371743 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:54.30, Y:34.09, Z:30.85 [[-6.48809906e-01 -4.79783822e-01 5.90637951e-01 5.43002719e+01] [ 3.40774108e-01 -8.77198590e-01 -3.38224245e-01 3.40948203e+01] [ 6.80381300e-01 -1.81691197e-02 7.32633039e-01 3.08502012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71037174299997 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:54.28, Y:34.11, Z:30.86 [[-6.51495771e-01 -4.91305769e-01 5.78076034e-01 5.42840264e+01] [ 3.30081085e-01 -8.69643834e-01 -3.67104998e-01 3.41106769e+01] [ 6.83081062e-01 -4.83553896e-02 7.28740022e-01 3.08632148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74037174299997 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:54.28, Y:34.10, Z:30.87 [[-6.50863758e-01 -4.76917757e-01 5.90699435e-01 5.42817848e+01] [ 3.28502891e-01 -8.78367338e-01 -3.47212715e-01 3.40990525e+01] [ 6.84443000e-01 -3.19417010e-02 7.28366328e-01 3.08676404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77037174299997 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:54.29, Y:34.09, Z:30.86 [[-6.50080631e-01 -4.76361997e-01 5.92008801e-01 5.42896385e+01] [ 3.37787784e-01 -8.79049964e-01 -3.36408344e-01 3.40936637e+01] [ 6.80657466e-01 -1.87192076e-02 7.32362619e-01 3.08577520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80037174299997 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:54.28, Y:34.10, Z:30.86 [[-6.52194687e-01 -4.88987540e-01 5.79252342e-01 5.42846345e+01] [ 3.26949548e-01 -8.70857192e-01 -3.67030985e-01 3.41031596e+01] [ 6.83919647e-01 -4.99893667e-02 7.27842689e-01 3.08605700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83037174299997 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:54.29, Y:34.08, Z:30.85 [[-6.52427325e-01 -4.72694373e-01 5.92366960e-01 5.42933585e+01] [ 3.37810125e-01 -8.81083693e-01 -3.31022424e-01 3.40844525e+01] [ 6.78397306e-01 -1.58605179e-02 7.34524022e-01 3.08513663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86037174299997 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:54.30, Y:34.09, Z:30.84 [[-6.52923953e-01 -4.90303762e-01 5.77314933e-01 5.43008754e+01] [ 3.36920399e-01 -8.70656469e-01 -3.58387998e-01 3.40926599e+01] [ 6.78361965e-01 -3.94909313e-02 7.33665803e-01 3.08398013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89037174299997 meters Centerline goodness : 0.990792 Centerline is valid? [True, True] Translation: X:54.30, Y:34.09, Z:30.84 [[-6.55943198e-01 -4.89293576e-01 5.74743697e-01 5.43014585e+01] [ 3.37160109e-01 -8.71187275e-01 -3.56869433e-01 3.40908348e+01] [ 6.75323317e-01 -4.03054293e-02 7.36419643e-01 3.08357600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92037174299998 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:54.29, Y:34.09, Z:30.86 [[-6.54551087e-01 -4.86209672e-01 5.78932664e-01 5.42886674e+01] [ 3.22610501e-01 -8.72176208e-01 -3.67737852e-01 3.40938047e+01] [ 6.83728996e-01 -5.39334538e-02 7.27740231e-01 3.08562046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95037174299998 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:54.29, Y:34.08, Z:30.86 [[-6.50572250e-01 -4.77432998e-01 5.90604335e-01 5.42926559e+01] [ 3.27345192e-01 -8.78016247e-01 -3.49188482e-01 3.40810070e+01] [ 6.85274305e-01 -3.38408469e-02 7.27498402e-01 3.08558951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98037174299998 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:54.29, Y:34.08, Z:30.86 [[-6.54361056e-01 -4.75048656e-01 5.88336963e-01 5.42852190e+01] [ 3.22669768e-01 -8.79059747e-01 -3.50910505e-01 3.40801883e+01] [ 6.83882906e-01 -3.97836174e-02 7.28506304e-01 3.08601654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01037174299998 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:54.29, Y:34.07, Z:30.86 [[-6.53451671e-01 -4.71786685e-01 5.91961347e-01 5.42882423e+01] [ 3.23225472e-01 -8.81043248e-01 -3.45381079e-01 3.40734657e+01] [ 6.84489742e-01 -3.43528575e-02 7.28212657e-01 3.08576509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04037174299998 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:54.30, Y:34.06, Z:30.84 [[-6.51004388e-01 -4.72587380e-01 5.94015535e-01 5.43014421e+01] [ 3.36707264e-01 -8.81136245e-01 -3.32004724e-01 3.40618121e+01] [ 6.80309860e-01 -1.61271862e-02 7.32747165e-01 3.08407804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07037174299998 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:54.29, Y:34.08, Z:30.85 [[-6.50587071e-01 -4.89708835e-01 5.80449584e-01 5.42925340e+01] [ 3.26638918e-01 -8.70451598e-01 -3.68267610e-01 3.40782943e+01] [ 6.85597170e-01 -4.99927211e-02 7.26262520e-01 3.08485917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10037174299998 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:54.30, Y:34.06, Z:30.84 [[-6.49329798e-01 -4.73569907e-01 5.95065002e-01 5.42988550e+01] [ 3.38586242e-01 -8.80649728e-01 -3.31384088e-01 3.40593001e+01] [ 6.80977364e-01 -1.36967399e-02 7.32176365e-01 3.08418917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13037174299998 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:54.32, Y:34.06, Z:30.82 [[-6.52793112e-01 -4.83210937e-01 5.83410956e-01 5.43152692e+01] [ 3.47423936e-01 -8.75342402e-01 -3.36262230e-01 3.40554160e+01] [ 6.73169935e-01 -1.68187369e-02 7.39296536e-01 3.08158763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16037174299998 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:54.32, Y:34.06, Z:30.81 [[-6.52489762e-01 -4.98583585e-01 5.70676370e-01 5.43184034e+01] [ 3.46904714e-01 -8.66054520e-01 -3.60009288e-01 3.40647803e+01] [ 6.73731571e-01 -3.69320517e-02 7.38052704e-01 3.08091363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190371743 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:54.31, Y:34.06, Z:30.81 [[-6.53686814e-01 -4.94414255e-01 5.72929397e-01 5.43127659e+01] [ 3.48964062e-01 -8.68713831e-01 -3.51511542e-01 3.40633945e+01] [ 6.71504008e-01 -2.98466906e-02 7.40399583e-01 3.08141001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220371743 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:54.31, Y:34.07, Z:30.82 [[-6.52503770e-01 -5.00124658e-01 5.69310246e-01 5.43107282e+01] [ 3.47547893e-01 -8.65114298e-01 -3.61645839e-01 3.40668802e+01] [ 6.73386436e-01 -3.81126971e-02 7.38307613e-01 3.08164212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250371743 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:54.31, Y:34.06, Z:30.81 [[-6.52236692e-01 -4.95381422e-01 5.73746063e-01 5.43149230e+01] [ 3.48037028e-01 -8.68117267e-01 -3.53896365e-01 3.40586982e+01] [ 6.73392549e-01 -3.11393195e-02 7.38629012e-01 3.08130318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280371743 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:54.31, Y:34.06, Z:30.81 [[-6.51445587e-01 -4.97880327e-01 5.72480417e-01 5.43144019e+01] [ 3.47760811e-01 -8.66575828e-01 -3.57922830e-01 3.40600121e+01] [ 6.74300427e-01 -3.40809936e-02 7.37670265e-01 3.08127252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310371743 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:54.30, Y:34.07, Z:30.83 [[-0.64872869 -0.50242325 0.57159598 54.30159394] [ 0.33091047 -0.86260049 -0.3826469 34.07008874] [ 0.68530967 -0.05908693 0.72585081 30.83212402] [ 0. 0. 0. 1. ]] SLAMing on 176.340371743 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:54.30, Y:34.05, Z:30.84 [[-6.47516360e-01 -4.76583967e-01 5.94634582e-01 5.43020228e+01] [ 3.30749081e-01 -8.78739922e-01 -3.44123807e-01 3.40493604e+01] [ 6.86533035e-01 -2.61509534e-02 7.26628185e-01 3.08385364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370371743 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:54.32, Y:34.04, Z:30.82 [[-6.48358839e-01 -4.73233402e-01 5.96389942e-01 5.43181108e+01] [ 3.45176784e-01 -8.80927769e-01 -3.23758018e-01 3.40380896e+01] [ 6.78589569e-01 -4.05141015e-03 7.34506489e-01 3.08179382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400371743 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:54.32, Y:34.05, Z:30.81 [[-6.48178003e-01 -4.94284499e-01 5.79265146e-01 5.43215743e+01] [ 3.42259922e-01 -8.68637545e-01 -3.58227527e-01 3.40533329e+01] [ 6.80237769e-01 -3.39359594e-02 7.32205524e-01 3.08101359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430371743 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:54.32, Y:34.06, Z:30.81 [[-6.48275174e-01 -4.94073795e-01 5.79336157e-01 5.43181076e+01] [ 3.38546690e-01 -8.68567899e-01 -3.61905987e-01 3.40572700e+01] [ 6.82001054e-01 -3.84823286e-02 7.30338054e-01 3.08145948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46037174299997 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:54.32, Y:34.05, Z:30.81 [[-6.49368997e-01 -4.85408355e-01 5.85404676e-01 5.43195427e+01] [ 3.38296043e-01 -8.73813743e-01 -3.49292614e-01 3.40515641e+01] [ 6.81084204e-01 -2.87797085e-02 7.31639279e-01 3.08132860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49037174299997 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:54.31, Y:34.06, Z:30.82 [[-6.51660697e-01 -4.85749224e-01 5.82568474e-01 5.43107728e+01] [ 3.33621333e-01 -8.73315864e-01 -3.54987616e-01 3.40610961e+01] [ 6.81201250e-01 -3.69742060e-02 7.31161928e-01 3.08217794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52037174299997 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:54.31, Y:34.06, Z:30.82 [[-6.51847151e-01 -4.85285282e-01 5.82746503e-01 5.43124632e+01] [ 3.33319566e-01 -8.73575855e-01 -3.54631207e-01 3.40600319e+01] [ 6.81170579e-01 -3.69245304e-02 7.31193012e-01 3.08200644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55037174299997 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:54.31, Y:34.06, Z:30.83 [[-0.65234793 -0.48576123 0.5817888 54.30635616] [ 0.31751183 -0.87216049 -0.37218586 34.06437181] [ 0.68820666 -0.05806985 0.72318703 30.83092241] [ 0. 0. 0. 1. ]] SLAMing on 176.58037174299997 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:54.30, Y:34.05, Z:30.84 [[-6.53409612e-01 -4.64561620e-01 5.97694220e-01 5.43041020e+01] [ 3.15011557e-01 -8.84806115e-01 -3.43345101e-01 3.40519712e+01] [ 6.88348456e-01 -3.60644023e-02 7.24483099e-01 3.08395817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61037174299997 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:54.31, Y:34.05, Z:30.84 [[-6.54794629e-01 -4.63070036e-01 5.97335865e-01 5.43066324e+01] [ 3.13618373e-01 -8.85546112e-01 -3.42712124e-01 3.40496372e+01] [ 6.87668168e-01 -3.70705555e-02 7.25078109e-01 3.08372972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64037174299997 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:54.31, Y:34.05, Z:30.83 [[-6.54999344e-01 -4.62574895e-01 5.97495042e-01 5.43104120e+01] [ 3.13257020e-01 -8.85804200e-01 -3.42375464e-01 3.40479520e+01] [ 6.87637912e-01 -3.70861882e-02 7.25106003e-01 3.08348498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67037174299998 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:54.31, Y:34.05, Z:30.83 [[-6.55909837e-01 -4.61696187e-01 5.97175784e-01 5.43127367e+01] [ 3.12668993e-01 -8.86247248e-01 -3.41765879e-01 3.40470260e+01] [ 6.87037398e-01 -3.74492511e-02 7.25656370e-01 3.08336299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70037174299998 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:54.31, Y:34.05, Z:30.83 [[-6.57243702e-01 -4.60252174e-01 5.96823803e-01 5.43119184e+01] [ 3.11337263e-01 -8.86957469e-01 -3.41138619e-01 3.40470122e+01] [ 6.86367121e-01 -3.83977199e-02 7.26240863e-01 3.08345409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73037174299998 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:54.32, Y:34.04, Z:30.82 [[-6.61286937e-01 -4.54180228e-01 5.97009134e-01 5.43247305e+01] [ 3.28228084e-01 -8.90831911e-01 -3.14141419e-01 3.40393786e+01] [ 6.74511609e-01 -1.17824523e-02 7.38170212e-01 3.08154076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76037174299998 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:54.32, Y:34.07, Z:30.82 [[-0.66042063 -0.48290556 0.57501896 54.3165094 ] [ 0.3102946 -0.87284461 -0.37664247 34.06559771] [ 0.68378495 -0.07031718 0.72628758 30.82376903] [ 0. 0. 0. 1. ]] SLAMing on 176.79037174299998 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:54.32, Y:34.04, Z:30.82 [[-6.61199360e-01 -4.53531004e-01 5.97599393e-01 5.43234376e+01] [ 3.25102609e-01 -8.91113528e-01 -3.16583280e-01 3.40417568e+01] [ 6.76109237e-01 -1.50435404e-02 7.36647807e-01 3.08181706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82037174299998 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:54.34, Y:34.04, Z:30.78 [[-6.67077729e-01 -4.67096951e-01 5.80368626e-01 5.43445074e+01] [ 3.36242981e-01 -8.83941824e-01 -3.24942318e-01 3.40405572e+01] [ 6.64791667e-01 -2.16169069e-02 7.46715976e-01 3.07827730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85037174299998 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:54.32, Y:34.08, Z:30.81 [[-0.66244889 -0.50148674 0.55648227 54.32266428] [ 0.30820279 -0.85953207 -0.40769554 34.0826899 ] [ 0.68276827 -0.09856807 0.72395568 30.81332002] [ 0. 0. 0. 1. ]] SLAMing on 176.88037174299998 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:54.35, Y:34.02, Z:30.78 [[-6.64812965e-01 -4.43633928e-01 6.01009700e-01 5.43542859e+01] [ 3.33058174e-01 -8.96192357e-01 -2.93106657e-01 3.40189672e+01] [ 6.68652357e-01 5.31008774e-03 7.43556204e-01 3.07794237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91037174299998 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:54.34, Y:34.07, Z:30.79 [[-0.66321991 -0.49623902 0.56025547 54.33926113] [ 0.32454363 -0.86522533 -0.38217347 34.0723412 ] [ 0.67439661 -0.07163771 0.73488587 30.78965731] [ 0. 0. 0. 1. ]] SLAMing on 176.940371743 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:54.35, Y:34.05, Z:30.78 [[-6.62696766e-01 -4.75394333e-01 5.78647754e-01 5.43498042e+01] [ 3.29198490e-01 -8.78943094e-01 -3.45090411e-01 3.40473728e+01] [ 6.72652474e-01 -3.82003327e-02 7.38971843e-01 3.07810819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970371743 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:54.35, Y:34.05, Z:30.78 [[-6.62238064e-01 -4.85048749e-01 5.71111598e-01 5.43548384e+01] [ 3.28687475e-01 -8.73004669e-01 -3.60315684e-01 3.40515249e+01] [ 6.73353763e-01 -5.08975318e-02 7.37566371e-01 3.07754223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000371743 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:54.32, Y:34.07, Z:30.82 [[-0.66163745 -0.48550302 0.57142165 54.32297022] [ 0.30850328 -0.87084449 -0.38269517 34.06916912] [ 0.68341906 -0.07692 0.72596261 30.81624378] [ 0. 0. 0. 1. ]] SLAMing on 177.030371743 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:54.33, Y:34.04, Z:30.82 [[-6.60280305e-01 -4.56393481e-01 5.96435168e-01 5.43267451e+01] [ 3.08327629e-01 -8.88885901e-01 -3.38844992e-01 3.40422159e+01] [ 6.84809457e-01 -3.98352334e-02 7.27632574e-01 3.08196139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060371743 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:54.33, Y:34.04, Z:30.82 [[-6.60893039e-01 -4.55864673e-01 5.96160876e-01 5.43268215e+01] [ 3.08182116e-01 -8.89157427e-01 -3.38264473e-01 3.40421761e+01] [ 6.84283694e-01 -3.98305151e-02 7.28127294e-01 3.08189300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090371743 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:54.33, Y:34.04, Z:30.82 [[-6.62461041e-01 -4.53694612e-01 5.96075976e-01 5.43282054e+01] [ 3.05713943e-01 -8.90188269e-01 -3.37792585e-01 3.40414638e+01] [ 6.83874517e-01 -4.15456901e-02 7.28415816e-01 3.08171488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120371743 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:54.35, Y:34.03, Z:30.79 [[-6.63574718e-01 -4.50736069e-01 5.97080890e-01 5.43479921e+01] [ 3.21199530e-01 -8.92467457e-01 -3.16753373e-01 3.40295763e+01] [ 6.75647434e-01 -1.84074287e-02 7.36995055e-01 3.07924178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150371743 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:54.35, Y:34.05, Z:30.78 [[-6.65638720e-01 -4.75596406e-01 5.75094039e-01 5.43527406e+01] [ 3.19712456e-01 -8.78055564e-01 -3.56093206e-01 3.40476105e+01] [ 6.74321170e-01 -5.31646979e-02 7.36521877e-01 3.07809071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180371743 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:54.35, Y:34.05, Z:30.79 [[-0.66331487 -0.47779148 0.57595892 54.34644199] [ 0.30954648 -0.87589805 -0.37011292 34.05440037] [ 0.6813181 -0.06721535 0.72889488 30.79307832] [ 0. 0. 0. 1. ]] SLAMing on 177.21037174299997 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:54.33, Y:34.05, Z:30.82 [[-0.66833656 -0.45300026 0.59001441 54.32857805] [ 0.29350298 -0.88941948 -0.35041261 34.04830973] [ 0.68350731 -0.06102257 0.72738848 30.81542829] [ 0. 0. 0. 1. ]] SLAMing on 177.24037174299997 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:54.33, Y:34.04, Z:30.82 [[-0.67092568 -0.43875022 0.59779343 54.32554376] [ 0.28600361 -0.89690431 -0.33729009 34.04156618] [ 0.6841496 -0.0553255 0.72724028 30.8194359 ] [ 0. 0. 0. 1. ]] SLAMing on 177.27037174299997 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:54.33, Y:34.04, Z:30.81 [[-6.68629184e-01 -4.42580327e-01 5.97543026e-01 5.43344275e+01] [ 2.92431038e-01 -8.95340952e-01 -3.35929558e-01 3.40412055e+01] [ 6.83680555e-01 -4.98721783e-02 7.28075315e-01 3.08115166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30037174299997 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:54.33, Y:34.05, Z:30.81 [[-0.66908753 -0.45149809 0.59031462 54.33093603] [ 0.28871692 -0.88982935 -0.35333593 34.04965585] [ 0.68480977 -0.06597885 0.72572886 30.81353411] [ 0. 0. 0. 1. ]] SLAMing on 177.33037174299997 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:54.33, Y:34.04, Z:30.81 [[-0.66861646 -0.44776788 0.59368001 54.33342837] [ 0.28600828 -0.89181566 -0.35051974 34.04468147] [ 0.68640461 -0.06456587 0.72434795 30.81163895] [ 0. 0. 0. 1. ]] SLAMing on 177.36037174299997 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:54.35, Y:34.03, Z:30.79 [[-6.72518197e-01 -4.37438485e-01 5.96964695e-01 5.43472259e+01] [ 2.93157148e-01 -8.98097814e-01 -3.27840209e-01 3.40252780e+01] [ 6.79542612e-01 -4.54740391e-02 7.32225341e-01 3.07904988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39037174299997 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:54.34, Y:34.05, Z:30.80 [[-0.67206842 -0.45967395 0.58053759 54.33616848] [ 0.28693377 -0.88440308 -0.36810352 34.04632782] [ 0.68263683 -0.08081491 0.72627537 30.80038467] [ 0. 0. 0. 1. ]] SLAMing on 177.42037174299998 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:54.34, Y:34.03, Z:30.80 [[-0.67100776 -0.4458663 0.59241187 54.33632808] [ 0.28731819 -0.89292445 -0.34660378 34.03278958] [ 0.68351799 -0.06236312 0.72726474 30.80416455] [ 0. 0. 0. 1. ]] SLAMing on 177.45037174299998 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:54.32, Y:34.03, Z:30.81 [[-0.6744607 -0.43934404 0.59336293 54.32471961] [ 0.28150719 -0.89599312 -0.34343854 34.03016087] [ 0.68253678 -0.06459987 0.72799066 30.81482772] [ 0. 0. 0. 1. ]] SLAMing on 177.48037174299998 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:54.34, Y:34.01, Z:30.79 [[-6.75292788e-01 -4.30789829e-01 5.98664992e-01 5.43418827e+01] [ 2.99828416e-01 -9.01940275e-01 -3.10816120e-01 3.40104007e+01] [ 6.73856491e-01 -3.03951084e-02 7.38236796e-01 3.07941511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51037174299998 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:54.34, Y:34.04, Z:30.80 [[-0.6717376 -0.4677966 0.57439963 54.33543029] [ 0.2929003 -0.87992605 -0.37408497 34.03572461] [ 0.68042488 -0.08304512 0.72809717 30.79688149] [ 0. 0. 0. 1. ]] SLAMing on 177.54037174299998 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:54.33, Y:34.01, Z:30.81 [[-0.67285055 -0.44197874 0.5932343 54.33069421] [ 0.28628076 -0.8949932 -0.34209721 34.01416106] [ 0.68214036 -0.06034873 0.72872667 30.80556372] [ 0. 0. 0. 1. ]] SLAMing on 177.57037174299998 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:54.35, Y:33.99, Z:30.78 [[-6.75732126e-01 -4.28684781e-01 5.99679458e-01 5.43479508e+01] [ 3.07976818e-01 -9.03291408e-01 -2.98688653e-01 3.39905269e+01] [ 6.69728582e-01 -1.71461469e-02 7.42407998e-01 3.07828592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60037174299998 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:54.33, Y:34.03, Z:30.79 [[-0.67371641 -0.47042736 0.56991604 54.3337535 ] [ 0.29010582 -0.87766206 -0.38150742 34.0288583 ] [ 0.67966522 -0.09169185 0.72776905 30.79086232] [ 0. 0. 0. 1. ]] SLAMing on 177.63037174299998 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:54.33, Y:34.00, Z:30.80 [[-6.71055372e-01 -4.38955639e-01 5.97496975e-01 5.43320735e+01] [ 2.89306737e-01 -8.97041009e-01 -3.34094359e-01 3.40030351e+01] [ 6.82631892e-01 -5.13359141e-02 7.28957011e-01 3.08017110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66037174299998 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:54.35, Y:33.99, Z:30.78 [[-6.71622773e-01 -4.34165034e-01 6.00352875e-01 5.43450834e+01] [ 3.06499878e-01 -9.00537158e-01 -3.08367721e-01 3.39870299e+01] [ 6.74522554e-01 -2.30987012e-02 7.37892793e-01 3.07827947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690371743 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:54.34, Y:34.01, Z:30.78 [[-0.66936539 -0.46937341 0.57588069 54.34103193] [ 0.30212153 -0.88013041 -0.36618717 34.01446734] [ 0.67872863 -0.07112706 0.73093665 30.77880742] [ 0. 0. 0. 1. ]] SLAMing on 177.720371743 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:54.34, Y:34.00, Z:30.78 [[-6.65380700e-01 -4.57443097e-01 5.89927400e-01 5.43436062e+01] [ 3.03295723e-01 -8.87746755e-01 -3.46290924e-01 3.39954984e+01] [ 6.82114528e-01 -5.14928402e-02 7.29430092e-01 3.07780613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750371743 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:54.35, Y:33.98, Z:30.77 [[-6.68206214e-01 -4.49696676e-01 5.92683182e-01 5.43475279e+01] [ 3.13446355e-01 -8.92654763e-01 -3.23911803e-01 3.39838409e+01] [ 6.74723527e-01 -3.06654969e-02 7.37433244e-01 3.07681088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780371743 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:54.34, Y:34.00, Z:30.77 [[-0.66180469 -0.47589699 0.57925522 54.34115907] [ 0.30950156 -0.87719513 -0.36706606 34.0010213 ] [ 0.68280549 -0.06364565 0.72782271 30.77248931] [ 0. 0. 0. 1. ]] SLAMing on 177.810371743 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:54.33, Y:33.99, Z:30.79 [[-6.60859384e-01 -4.60493428e-01 5.92630304e-01 5.43317478e+01] [ 3.03513847e-01 -8.86167242e-01 -3.50124211e-01 3.39890804e+01] [ 6.86399461e-01 -5.15113667e-02 7.25398070e-01 3.07881768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840371743 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:54.35, Y:33.97, Z:30.77 [[-6.58217783e-01 -4.54323870e-01 6.00282576e-01 5.43499036e+01] [ 3.16075010e-01 -8.90464498e-01 -3.27367630e-01 3.39694735e+01] [ 6.83261251e-01 -2.57448746e-02 7.29719990e-01 3.07718525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870371743 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:54.35, Y:33.97, Z:30.77 [[-6.57293726e-01 -4.70312681e-01 5.88872601e-01 5.43450631e+01] [ 3.14867665e-01 -8.81288881e-01 -3.52403550e-01 3.39736828e+01] [ 6.84706734e-01 -4.62157019e-02 7.27351908e-01 3.07723699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:54.37, Y:33.94, Z:30.75 [[-6.58553611e-01 -4.55656990e-01 5.98902203e-01 5.43685748e+01] [ 3.38491550e-01 -8.90153544e-01 -3.05041209e-01 3.39444823e+01] [ 6.72109077e-01 1.83734521e-03 7.40449872e-01 3.07482524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930371743 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:54.35, Y:33.98, Z:30.76 [[-0.65532358 -0.49002577 0.57482671 54.34918775] [ 0.32427304 -0.86982512 -0.37182155 33.97620463] [ 0.68220085 -0.05726263 0.72891906 30.76105622] [ 0. 0. 0. 1. ]] SLAMing on 177.96037174299997 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:54.35, Y:33.95, Z:30.77 [[-6.52458339e-01 -4.66452910e-01 5.97260243e-01 5.43533513e+01] [ 3.28592545e-01 -8.84316451e-01 -3.31679596e-01 3.39510543e+01] [ 6.82879971e-01 -2.01518550e-02 7.30252592e-01 3.07670901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99037174299997 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:54.36, Y:33.95, Z:30.76 [[-6.47830958e-01 -4.72827398e-01 5.97284942e-01 5.43569818e+01] [ 3.37619208e-01 -8.81059768e-01 -3.31280781e-01 3.39460447e+01] [ 6.82882362e-01 -1.29590767e-02 7.30413405e-01 3.07613481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02037174299997 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:54.35, Y:33.95, Z:30.76 [[-6.45611621e-01 -4.75361801e-01 5.97676161e-01 5.43542480e+01] [ 3.41242791e-01 -8.79735817e-01 -3.31086470e-01 3.39461646e+01] [ 6.83182986e-01 -9.80059164e-03 7.30181454e-01 3.07632910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05037174299997 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:54.37, Y:33.93, Z:30.74 [[-6.48386709e-01 -4.66724074e-01 6.01467634e-01 5.43729814e+01] [ 3.71263841e-01 -8.83575507e-01 -2.85407577e-01 3.39264782e+01] [ 6.64648657e-01 3.82487044e-02 7.46176387e-01 3.07384703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08037174299997 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:54.36, Y:33.97, Z:30.73 [[-6.40030552e-01 -5.20132923e-01 5.65528634e-01 5.43645788e+01] [ 3.50365870e-01 -8.52622193e-01 -3.87658553e-01 3.39695530e+01] [ 6.83816240e-01 -4.99713862e-02 7.27941076e-01 3.07348981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11037174299997 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:54.38, Y:33.92, Z:30.73 [[-6.46511900e-01 -4.66227627e-01 6.03866015e-01 5.43775390e+01] [ 3.77140263e-01 -8.83369772e-01 -2.78250009e-01 3.39221037e+01] [ 6.63164825e-01 4.78502459e-02 7.46942279e-01 3.07334075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14037174299997 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:54.38, Y:33.95, Z:30.71 [[-6.44332341e-01 -5.10094825e-01 5.69771097e-01 5.43823868e+01] [ 3.85009623e-01 -8.60109982e-01 -3.34631750e-01 3.39531214e+01] [ 6.60759733e-01 3.75329619e-03 7.50588095e-01 3.07101738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17037174299998 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:54.39, Y:33.96, Z:30.70 [[-6.42037276e-01 -5.21451202e-01 5.62029163e-01 5.43866402e+01] [ 3.86375897e-01 -8.53246110e-01 -3.50263819e-01 3.39610058e+01] [ 6.62194686e-01 -7.72790695e-03 7.49291984e-01 3.07038152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20037174299998 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:54.38, Y:33.98, Z:30.72 [[-6.34020864e-01 -5.35691321e-01 5.57720676e-01 5.43768972e+01] [ 3.59018900e-01 -8.42674469e-01 -4.01254493e-01 3.39780126e+01] [ 6.84925524e-01 -5.41714568e-02 7.26596504e-01 3.07206908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23037174299998 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:54.40, Y:33.93, Z:30.72 [[-0.63939967 -0.4756307 0.60410553 54.39587063] [ 0.38800802 -0.87792257 -0.28053828 33.92669276] [ 0.6637905 0.05502171 0.74589194 30.71705692] [ 0. 0. 0. 1. ]] SLAMing on 178.26037174299998 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:54.40, Y:33.97, Z:30.70 [[-6.31850032e-01 -5.28508659e-01 5.66960435e-01 5.44005333e+01] [ 3.84514557e-01 -8.48853947e-01 -3.62760985e-01 3.39675680e+01] [ 6.72988925e-01 -1.12059998e-02 7.39567666e-01 3.06990820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29037174299998 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:54.40, Y:33.96, Z:30.70 [[-6.33751289e-01 -5.15167794e-01 5.77028117e-01 5.44025173e+01] [ 3.89510919e-01 -8.57019163e-01 -3.37341663e-01 3.39584524e+01] [ 6.68311714e-01 1.09680385e-02 7.43800481e-01 3.07006817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32037174299998 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:54.41, Y:33.97, Z:30.69 [[-6.29410993e-01 -5.25998097e-01 5.71985842e-01 5.44122172e+01] [ 3.90083191e-01 -8.50485123e-01 -3.52859971e-01 3.39682228e+01] [ 6.72069123e-01 1.02811792e-03 7.40487702e-01 3.06949034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35037174299998 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:54.41, Y:33.97, Z:30.70 [[-6.26097296e-01 -5.25100101e-01 5.76430447e-01 5.44143960e+01] [ 3.87290640e-01 -8.51039575e-01 -3.54594982e-01 3.39701261e+01] [ 6.76762984e-01 1.23515716e-03 7.36199931e-01 3.06997961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38037174299998 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:54.42, Y:33.96, Z:30.69 [[-6.27993996e-01 -5.16830909e-01 5.81815566e-01 5.44235773e+01] [ 3.93563381e-01 -8.55892043e-01 -3.35494673e-01 3.39636310e+01] [ 6.71365330e-01 1.82926612e-02 7.40900784e-01 3.06910626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41037174299998 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:54.43, Y:33.97, Z:30.69 [[-6.28015027e-01 -5.20592446e-01 5.78429452e-01 5.44254803e+01] [ 3.93238367e-01 -8.53705428e-01 -3.41395122e-01 3.39658449e+01] [ 6.71536085e-01 1.30593867e-02 7.40856761e-01 3.06878190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440371743 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:54.41, Y:33.98, Z:30.71 [[-6.26091038e-01 -5.23772722e-01 5.77643617e-01 5.44143463e+01] [ 3.75532189e-01 -8.51776394e-01 -3.65311580e-01 3.39831102e+01] [ 6.83363437e-01 -1.17945340e-02 7.29983083e-01 3.07085086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470371743 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:54.42, Y:33.97, Z:30.71 [[-6.26701874e-01 -4.99629383e-01 5.98009399e-01 5.44190143e+01] [ 3.76776820e-01 -8.66023781e-01 -3.28697489e-01 3.39685480e+01] [ 6.82117284e-01 1.93207473e-02 7.30987496e-01 3.07147481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500371743 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:54.42, Y:33.97, Z:30.71 [[-6.27634671e-01 -4.99251758e-01 5.97346133e-01 5.44215703e+01] [ 3.76940471e-01 -8.66241108e-01 -3.27936312e-01 3.39735481e+01] [ 6.81168556e-01 1.93397333e-02 7.31871145e-01 3.07143019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530371743 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:54.43, Y:33.98, Z:30.71 [[-6.27654969e-01 -4.99315066e-01 5.97271886e-01 5.44310160e+01] [ 3.77432242e-01 -8.66192536e-01 -3.27498691e-01 3.39830566e+01] [ 6.80877480e-01 1.98734864e-02 7.32127654e-01 3.07109775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560371743 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:54.45, Y:33.98, Z:30.69 [[-6.28214424e-01 -4.96258720e-01 5.99227770e-01 5.44498666e+01] [ 3.95217717e-01 -8.66951292e-01 -3.03641916e-01 3.39792732e+01] [ 6.70186238e-01 4.60731998e-02 7.40761545e-01 3.06924067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590371743 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:54.46, Y:34.01, Z:30.68 [[-6.26181321e-01 -5.25208894e-01 5.76240030e-01 5.44575003e+01] [ 3.93258477e-01 -8.50930331e-01 -3.48231736e-01 3.40054781e+01] [ 6.73234524e-01 8.55506815e-03 7.39379528e-01 3.06810198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620371743 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:54.46, Y:34.01, Z:30.68 [[-6.27160061e-01 -5.21170963e-01 5.78835975e-01 5.44624576e+01] [ 3.93506243e-01 -8.53348651e-01 -3.41977948e-01 3.40084328e+01] [ 6.72177874e-01 1.33006589e-02 7.40270219e-01 3.06793432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650371743 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:54.45, Y:34.03, Z:30.70 [[-6.29341618e-01 -5.21112191e-01 5.76516446e-01 5.44537166e+01] [ 3.75028168e-01 -8.53409162e-01 -3.62003696e-01 3.40287470e+01] [ 6.80648956e-01 -1.16140851e-02 7.32517653e-01 3.06979749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680371743 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:54.46, Y:34.02, Z:30.70 [[-6.30619857e-01 -4.96503568e-01 5.96492081e-01 5.44576380e+01] [ 3.75029873e-01 -8.67843979e-01 -3.25882528e-01 3.40166683e+01] [ 6.79463899e-01 1.81943559e-02 7.33483316e-01 3.07022309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71037174299997 meters Centerline goodness : 0.988697 Centerline is valid? [True, True] Translation: X:54.46, Y:34.03, Z:30.70 [[-6.31066319e-01 -4.95624844e-01 5.96750630e-01 5.44649871e+01] [ 3.74064633e-01 -8.68355722e-01 -3.25628609e-01 3.40290211e+01] [ 6.79581453e-01 1.77300577e-02 7.33385774e-01 3.07015231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74037174299997 meters Centerline goodness : 0.987774 Centerline is valid? [True, True] Translation: X:54.47, Y:34.03, Z:30.70 [[-6.31443071e-01 -4.94558825e-01 5.97236316e-01 5.44706506e+01] [ 3.72734450e-01 -8.68976379e-01 -3.25498208e-01 3.40337391e+01] [ 6.79962262e-01 1.70769615e-02 7.33048224e-01 3.06995614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77037174299997 meters Centerline goodness : 0.987133 Centerline is valid? [True, True] Translation: X:54.47, Y:34.04, Z:30.70 [[-6.31539467e-01 -4.93823343e-01 5.97742760e-01 5.44730110e+01] [ 3.71849295e-01 -8.69400316e-01 -3.25378537e-01 3.40413417e+01] [ 6.80357262e-01 1.67808356e-02 7.32688474e-01 3.07019227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80037174299997 meters Centerline goodness : 0.986392 Centerline is valid? [True, True] Translation: X:54.49, Y:34.04, Z:30.68 [[-6.35735761e-01 -4.86573062e-01 5.99238432e-01 5.44861039e+01] [ 3.92602271e-01 -8.72218869e-01 -2.91715105e-01 3.40409426e+01] [ 6.64607779e-01 4.98086453e-02 7.45530415e-01 3.06816022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83037174299997 meters Centerline goodness : 0.986545 Centerline is valid? [True, True] Translation: X:54.49, Y:34.09, Z:30.70 [[-6.35267452e-01 -5.21402600e-01 5.69714484e-01 5.44883569e+01] [ 3.65695759e-01 -8.52836444e-01 -3.72742017e-01 3.40854458e+01] [ 6.80221932e-01 -2.84487006e-02 7.32453954e-01 3.06972922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86037174299997 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:54.49, Y:34.07, Z:30.70 [[-6.38187231e-01 -4.86622047e-01 5.96586995e-01 5.44888184e+01] [ 3.63164171e-01 -8.73557040e-01 -3.24052285e-01 3.40692865e+01] [ 6.78843755e-01 9.85299064e-03 7.34216640e-01 3.07025542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89037174299997 meters Centerline goodness : 0.987849 Centerline is valid? [True, True] Translation: X:54.49, Y:34.09, Z:30.71 [[-6.41968595e-01 -4.81783845e-01 5.96456747e-01 5.44929547e+01] [ 3.56980993e-01 -8.76274709e-01 -3.23584926e-01 3.40864916e+01] [ 6.78557952e-01 5.19236152e-03 7.34528519e-01 3.07088787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92037174299998 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:54.50, Y:34.09, Z:30.71 [[-6.44310089e-01 -4.78300431e-01 5.96735457e-01 5.44977273e+01] [ 3.52459996e-01 -8.78194007e-01 -3.23337651e-01 3.40926149e+01] [ 6.78702041e-01 1.99566566e-03 7.34411027e-01 3.07086904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95037174299998 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:54.50, Y:34.10, Z:30.71 [[-6.47308802e-01 -4.74408523e-01 5.96596905e-01 5.44973423e+01] [ 3.47599578e-01 -8.80303325e-01 -3.22863113e-01 3.41008296e+01] [ 6.78355252e-01 -1.61530266e-03 7.34732293e-01 3.07130435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98037174299998 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:54.50, Y:34.11, Z:30.71 [[-6.50141252e-01 -4.70566263e-01 5.96559926e-01 5.45024615e+01] [ 3.42768367e-01 -8.82349624e-01 -3.22442225e-01 3.41055594e+01] [ 6.78104859e-01 -5.15112062e-03 7.34947118e-01 3.07111357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01037174299998 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:54.50, Y:34.12, Z:30.72 [[-6.54428398e-01 -4.63626739e-01 5.97305382e-01 5.45036187e+01] [ 3.33350312e-01 -8.85950650e-01 -3.22442265e-01 3.41200841e+01] [ 6.78675947e-01 -1.19034394e-02 7.34341383e-01 3.07185851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04037174299998 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:54.51, Y:34.12, Z:30.72 [[-6.56995416e-01 -4.60105111e-01 5.97210441e-01 5.45086565e+01] [ 3.29009922e-01 -8.87736786e-01 -3.21987375e-01 3.41242068e+01] [ 6.78313715e-01 -1.50560688e-02 7.34618145e-01 3.07173441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07037174299998 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:54.51, Y:34.13, Z:30.72 [[-6.59172171e-01 -4.57085589e-01 5.97130482e-01 5.45104974e+01] [ 3.25349316e-01 -8.89247101e-01 -3.21539137e-01 3.41294126e+01] [ 6.77967456e-01 -1.76736576e-02 7.34879426e-01 3.07189802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10037174299998 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:54.51, Y:34.14, Z:30.72 [[-6.61203162e-01 -4.53208202e-01 5.97840032e-01 5.45128515e+01] [ 3.20118294e-01 -8.91152394e-01 -3.21514680e-01 3.41382921e+01] [ 6.78479665e-01 -2.12069919e-02 7.34313017e-01 3.07227448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13037174299998 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:54.52, Y:34.14, Z:30.72 [[-6.61863905e-01 -4.51491599e-01 5.98407476e-01 5.45159740e+01] [ 3.17877285e-01 -8.91991373e-01 -3.21411609e-01 3.41402136e+01] [ 6.78888947e-01 -2.25105992e-02 7.33895817e-01 3.07211498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16037174299998 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:54.52, Y:34.14, Z:30.72 [[-6.61996763e-01 -4.50031571e-01 5.99359550e-01 5.45190187e+01] [ 3.15774838e-01 -8.92701332e-01 -3.21512960e-01 3.41446989e+01] [ 6.79740051e-01 -2.35778740e-02 7.33074039e-01 3.07210326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190371743 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:54.52, Y:34.15, Z:30.72 [[-6.62189576e-01 -4.49617618e-01 5.99457224e-01 5.45219142e+01] [ 3.15543541e-01 -8.92911654e-01 -3.21155806e-01 3.41458845e+01] [ 6.79659650e-01 -2.35111716e-02 7.33150725e-01 3.07194032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220371743 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:54.53, Y:34.15, Z:30.72 [[-6.62339382e-01 -4.49187634e-01 5.99614052e-01 5.45255674e+01] [ 3.15258912e-01 -8.93129260e-01 -3.20830084e-01 3.41465029e+01] [ 6.79645761e-01 -2.34647260e-02 7.33165088e-01 3.07165115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250371743 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:54.53, Y:34.15, Z:30.72 [[-6.61486256e-01 -4.49149696e-01 6.00583453e-01 5.45273501e+01] [ 3.15065847e-01 -8.93158549e-01 -3.20938185e-01 3.41513717e+01] [ 6.80565533e-01 -2.30728637e-02 7.32323834e-01 3.07172221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280371743 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:54.53, Y:34.15, Z:30.71 [[-6.62750024e-01 -4.48232249e-01 5.99875200e-01 5.45299815e+01] [ 3.14589180e-01 -8.93609096e-01 -3.20150639e-01 3.41511538e+01] [ 6.79555776e-01 -2.34655966e-02 7.33248466e-01 3.07144461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310371743 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:54.53, Y:34.15, Z:30.71 [[-6.62322798e-01 -4.47721258e-01 6.00728048e-01 5.45335248e+01] [ 3.13821779e-01 -8.93862981e-01 -3.20195037e-01 3.41511454e+01] [ 6.80326688e-01 -2.35509282e-02 7.32530512e-01 3.07117535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340371743 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:54.54, Y:34.15, Z:30.71 [[-6.62264567e-01 -4.47030723e-01 6.01306224e-01 5.45356518e+01] [ 3.12959254e-01 -8.94201881e-01 -3.20092959e-01 3.41528037e+01] [ 6.80780544e-01 -2.38018777e-02 7.32100623e-01 3.07097268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370371743 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:54.54, Y:34.15, Z:30.71 [[-6.62879955e-01 -4.46305597e-01 6.01166765e-01 5.45358386e+01] [ 3.12436009e-01 -8.94557745e-01 -3.19609419e-01 3.41531946e+01] [ 6.80421859e-01 -2.40365324e-02 7.32426337e-01 3.07093596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400371743 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:54.54, Y:34.15, Z:30.71 [[-6.62067454e-01 -4.46491381e-01 6.01923694e-01 5.45359811e+01] [ 3.12661441e-01 -8.94481931e-01 -3.19601156e-01 3.41543484e+01] [ 6.81109030e-01 -2.33991944e-02 7.31808013e-01 3.07095319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430371743 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:54.54, Y:34.15, Z:30.70 [[-6.60887243e-01 -4.48139940e-01 6.01995553e-01 5.45431671e+01] [ 3.15233571e-01 -8.93711894e-01 -3.19228519e-01 3.41523516e+01] [ 6.81069635e-01 -2.12048482e-02 7.31911543e-01 3.07033147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46037174299997 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:54.54, Y:34.15, Z:30.70 [[-6.59869554e-01 -4.49369749e-01 6.02195151e-01 5.45443214e+01] [ 3.17173071e-01 -8.93134140e-01 -3.18924208e-01 3.41523599e+01] [ 6.81155940e-01 -1.94482894e-02 7.31880010e-01 3.07021100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49037174299997 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:54.55, Y:34.15, Z:30.70 [[-6.58514191e-01 -4.52048108e-01 6.01673971e-01 5.45489447e+01] [ 3.21452642e-01 -8.91847238e-01 -3.18240009e-01 3.41498165e+01] [ 6.80461063e-01 -1.61558746e-02 7.32606121e-01 3.06979442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52037174299997 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:54.55, Y:34.15, Z:30.69 [[-6.58240900e-01 -4.52941334e-01 6.01301144e-01 5.45544510e+01] [ 3.23233990e-01 -8.91418801e-01 -3.17635497e-01 3.41466709e+01] [ 6.79881390e-01 -1.47197077e-02 7.33174349e-01 3.06919157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55037174299997 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:54.56, Y:34.15, Z:30.69 [[-6.57990671e-01 -4.53647883e-01 6.01042323e-01 5.45566606e+01] [ 3.24700040e-01 -8.91078968e-01 -3.17093295e-01 3.41457778e+01] [ 6.79424875e-01 -1.34859634e-02 7.33621134e-01 3.06896923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58037174299997 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:54.55, Y:34.15, Z:30.70 [[-6.57478173e-01 -4.54550184e-01 6.00921445e-01 5.45458727e+01] [ 3.26358268e-01 -8.90639502e-01 -3.16625266e-01 3.41517219e+01] [ 6.79126449e-01 -1.20585198e-02 7.33922243e-01 3.07005117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61037174299997 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:54.55, Y:34.15, Z:30.69 [[-6.57515794e-01 -4.54487559e-01 6.00927649e-01 5.45549229e+01] [ 3.26646598e-01 -8.90677162e-01 -3.16221748e-01 3.41474063e+01] [ 6.78951383e-01 -1.16298219e-02 7.34091116e-01 3.06912162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64037174299997 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:54.56, Y:34.14, Z:30.68 [[-6.58587720e-01 -4.53776494e-01 6.00290853e-01 5.45642188e+01] [ 3.26383181e-01 -8.91036790e-01 -3.15479728e-01 3.41423613e+01] [ 6.78038519e-01 -1.18462372e-02 7.34930903e-01 3.06820860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67037174299998 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:54.56, Y:34.15, Z:30.69 [[-6.57871059e-01 -4.53953528e-01 6.00942481e-01 5.45606276e+01] [ 3.26666281e-01 -8.90955012e-01 -3.15417672e-01 3.41453423e+01] [ 6.78597680e-01 -1.11965128e-02 7.34424827e-01 3.06853312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70037174299998 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:54.57, Y:34.15, Z:30.68 [[-6.57723212e-01 -4.53831887e-01 6.01196137e-01 5.45654698e+01] [ 3.26746474e-01 -8.91021378e-01 -3.15147022e-01 3.41450360e+01] [ 6.78702378e-01 -1.08407938e-02 7.34333412e-01 3.06807959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73037174299998 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:54.57, Y:34.14, Z:30.68 [[-6.58043350e-01 -4.53434861e-01 6.01145386e-01 5.45708144e+01] [ 3.26607488e-01 -8.91224484e-01 -3.14716487e-01 3.41432912e+01] [ 6.78458914e-01 -1.07585071e-02 7.34559567e-01 3.06762379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76037174299998 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:54.56, Y:34.15, Z:30.69 [[-6.57882710e-01 -4.53536053e-01 6.01244866e-01 5.45624654e+01] [ 3.27066411e-01 -8.91179916e-01 -3.14365903e-01 3.41503105e+01] [ 6.78393620e-01 -1.01688917e-02 7.34628267e-01 3.06874302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79037174299998 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:54.57, Y:34.15, Z:30.68 [[-6.57973066e-01 -4.53377426e-01 6.01265626e-01 5.45693568e+01] [ 3.27214467e-01 -8.91264289e-01 -3.13972387e-01 3.41477012e+01] [ 6.78234574e-01 -9.84256271e-03 7.34779550e-01 3.06811851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82037174299998 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:54.57, Y:34.15, Z:30.68 [[-6.58253607e-01 -4.53260354e-01 6.01046787e-01 5.45706623e+01] [ 3.27539279e-01 -8.91327924e-01 -3.13452633e-01 3.41482068e+01] [ 6.77805436e-01 -9.46489512e-03 7.35180391e-01 3.06806574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85037174299998 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:54.57, Y:34.15, Z:30.68 [[-6.57972111e-01 -4.53557303e-01 6.01130996e-01 5.45717286e+01] [ 3.28272539e-01 -8.91184934e-01 -3.13091924e-01 3.41506801e+01] [ 6.77724016e-01 -8.67095531e-03 7.35265240e-01 3.06804837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88037174299998 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:54.58, Y:34.15, Z:30.67 [[-6.57553033e-01 -4.53489741e-01 6.01640311e-01 5.45783911e+01] [ 3.28302450e-01 -8.91223198e-01 -3.12951613e-01 3.41486203e+01] [ 6.78116148e-01 -8.26229393e-03 7.34908310e-01 3.06744177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91037174299998 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:54.58, Y:34.15, Z:30.67 [[-6.57629680e-01 -4.53252306e-01 6.01735450e-01 5.45827800e+01] [ 3.28306834e-01 -8.91346198e-01 -3.12596511e-01 3.41477991e+01] [ 6.78039695e-01 -8.01888280e-03 7.34981544e-01 3.06700124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940371743 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:54.59, Y:34.15, Z:30.66 [[-6.55839778e-01 -4.53627207e-01 6.03404129e-01 5.45915281e+01] [ 3.28365132e-01 -8.91162620e-01 -3.13058340e-01 3.41467119e+01] [ 6.79742985e-01 -7.17923605e-03 7.33415253e-01 3.06609206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970371743 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:54.59, Y:34.15, Z:30.66 [[-6.55421798e-01 -4.53531693e-01 6.03929855e-01 5.45898668e+01] [ 3.28348749e-01 -8.91214202e-01 -3.12928658e-01 3.41492714e+01] [ 6.80153928e-01 -6.80065071e-03 7.33037779e-01 3.06630188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000371743 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:54.60, Y:34.15, Z:30.66 [[-6.55555165e-01 -4.52878967e-01 6.04274828e-01 5.45961839e+01] [ 3.27663661e-01 -8.91544550e-01 -3.12705677e-01 3.41488718e+01] [ 6.80355753e-01 -6.99691908e-03 7.32848615e-01 3.06577115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030371743 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:54.59, Y:34.15, Z:30.66 [[-6.57825985e-01 -4.51535372e-01 6.02810734e-01 5.45948945e+01] [ 3.26930560e-01 -8.92218533e-01 -3.11548550e-01 3.41510877e+01] [ 6.78514099e-01 -7.86748114e-03 7.34545247e-01 3.06605113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060371743 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:54.59, Y:34.16, Z:30.66 [[-6.57391780e-01 -4.51089418e-01 6.03617747e-01 5.45928126e+01] [ 3.26299112e-01 -8.92444149e-01 -3.11564329e-01 3.41553426e+01] [ 6.79238498e-01 -7.85989390e-03 7.33875524e-01 3.06644893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090371743 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:54.61, Y:34.15, Z:30.65 [[-6.58138600e-01 -4.50001615e-01 6.03615879e-01 5.46054739e+01] [ 3.25196229e-01 -8.92987352e-01 -3.11160734e-01 3.41508938e+01] [ 6.79044178e-01 -8.49328186e-03 7.34048274e-01 3.06538568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120371743 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:54.60, Y:34.16, Z:30.66 [[-6.59565068e-01 -4.48631736e-01 6.03078342e-01 5.46028875e+01] [ 3.23974151e-01 -8.93667260e-01 -3.10482816e-01 3.41556813e+01] [ 6.78243814e-01 -9.40182562e-03 7.34776792e-01 3.06590106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150371743 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:54.62, Y:34.15, Z:30.64 [[-6.60334845e-01 -4.47285540e-01 6.03235889e-01 5.46204696e+01] [ 3.22442413e-01 -8.94331871e-01 -3.10163497e-01 3.41478532e+01] [ 6.78224729e-01 -1.03029288e-02 7.34782326e-01 3.06426598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180371743 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:54.61, Y:34.16, Z:30.66 [[-6.61443019e-01 -4.45087059e-01 6.03647781e-01 5.46088738e+01] [ 3.19629578e-01 -8.95405710e-01 -3.09976690e-01 3.41577584e+01] [ 6.78476283e-01 -1.20882321e-02 7.34522844e-01 3.06558875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21037174299997 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:54.61, Y:34.16, Z:30.65 [[-6.61972119e-01 -4.43641908e-01 6.04131419e-01 5.46114586e+01] [ 3.17801030e-01 -8.96108350e-01 -3.09826290e-01 3.41587196e+01] [ 6.78819136e-01 -1.31027786e-02 7.34188599e-01 3.06537727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24037174299997 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:54.63, Y:34.15, Z:30.64 [[-6.63120494e-01 -4.41769411e-01 6.04244154e-01 5.46288040e+01] [ 3.15582142e-01 -8.97010873e-01 -3.09482480e-01 3.41517487e+01] [ 6.78733469e-01 -1.45355106e-02 7.34240830e-01 3.06370658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27037174299997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:54.61, Y:34.16, Z:30.65 [[-6.64658809e-01 -4.38511906e-01 6.04926422e-01 5.46148291e+01] [ 3.11202725e-01 -8.98556682e-01 -3.09432955e-01 3.41628606e+01] [ 6.79250714e-01 -1.74125887e-02 7.33699714e-01 3.06526738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30037174299997 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.66795560e-01 -4.36016892e-01 6.04378152e-01 5.46101981e+01] [ 3.08478954e-01 -8.99728530e-01 -3.08754444e-01 3.41663609e+01] [ 6.78398419e-01 -1.94381518e-02 7.34437024e-01 3.06582835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33037174299997 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.66959619e-01 -4.35539052e-01 6.04541645e-01 5.46118292e+01] [ 3.08124258e-01 -8.99959918e-01 -3.08434090e-01 3.41654564e+01] [ 6.78398340e-01 -1.94391371e-02 7.34437072e-01 3.06565802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36037174299997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:54.65, Y:34.15, Z:30.62 [[-6.69178868e-01 -4.31193069e-01 6.05204247e-01 5.46514929e+01] [ 3.02299919e-01 -9.01956222e-01 -3.08366232e-01 3.41481393e+01] [ 6.78833118e-01 -2.33989711e-02 7.33919673e-01 3.06164718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39037174299997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.71063628e-01 -4.28329265e-01 6.05150929e-01 5.46140857e+01] [ 2.98837087e-01 -9.03254132e-01 -3.07942151e-01 3.41681500e+01] [ 6.78505713e-01 -2.58072364e-02 7.34141665e-01 3.06554593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42037174299998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.72634842e-01 -4.25431408e-01 6.05450647e-01 5.46076878e+01] [ 2.95150044e-01 -9.04549049e-01 -3.07697041e-01 3.41725696e+01] [ 6.78563792e-01 -2.82689651e-02 7.33997306e-01 3.06635669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45037174299998 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.73987182e-01 -4.22450343e-01 6.06033816e-01 5.46113490e+01] [ 2.91214882e-01 -9.05861865e-01 -3.07584418e-01 3.41715475e+01] [ 6.78922066e-01 -3.08218889e-02 7.33563112e-01 3.06599566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48037174299998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:54.60, Y:34.18, Z:30.68 [[-6.78102507e-01 -4.16496924e-01 6.05563624e-01 5.45979011e+01] [ 2.83854395e-01 -9.08414445e-01 -3.06936279e-01 3.41785584e+01] [ 6.77940759e-01 -3.62423638e-02 7.34222594e-01 3.06768884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51037174299998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.78901965e-01 -4.13711977e-01 6.06576064e-01 5.46104203e+01] [ 2.79962966e-01 -9.09587981e-01 -3.07034920e-01 3.41718410e+01] [ 6.78758321e-01 -3.86277762e-02 7.33345100e-01 3.06623892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54037174299998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.81312814e-01 -4.09099833e-01 6.07000969e-01 5.46066323e+01] [ 2.73941968e-01 -9.11486851e-01 -3.06834675e-01 3.41712675e+01] [ 6.78799417e-01 -4.27673558e-02 7.33077285e-01 3.06644400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57037174299998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.83067966e-01 -4.06788378e-01 6.06581708e-01 5.46073265e+01] [ 2.71462918e-01 -9.12438022e-01 -3.06210288e-01 3.41689912e+01] [ 6.78031001e-01 -4.44979982e-02 7.33685144e-01 3.06642837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60037174299998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:54.61, Y:34.17, Z:30.66 [[-6.84368220e-01 -4.04902501e-01 6.06377855e-01 5.46068045e+01] [ 2.69438672e-01 -9.13210806e-01 -3.05694005e-01 3.41674338e+01] [ 6.77527078e-01 -4.58256182e-02 7.34068847e-01 3.06642107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63037174299998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:54.61, Y:34.16, Z:30.66 [[-6.85349056e-01 -4.02447278e-01 6.06904325e-01 5.46054812e+01] [ 2.66255848e-01 -9.14193684e-01 -3.05544974e-01 3.41636794e+01] [ 6.77793844e-01 -4.78131343e-02 7.33695720e-01 3.06631639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66037174299998 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:54.61, Y:34.16, Z:30.66 [[-6.85743931e-01 -4.01565069e-01 6.07042631e-01 5.46050026e+01] [ 2.65385843e-01 -9.14561844e-01 -3.05199914e-01 3.41607412e+01] [ 6.77735653e-01 -4.81884683e-02 7.33724919e-01 3.06614863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690371743 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:54.61, Y:34.16, Z:30.66 [[-6.87191946e-01 -4.00240120e-01 6.06279701e-01 5.46059174e+01] [ 2.64422676e-01 -9.15106372e-01 -3.04402656e-01 3.41561519e+01] [ 6.76644573e-01 -4.88689522e-02 7.34686292e-01 3.06602905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720371743 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:54.60, Y:34.15, Z:30.66 [[-6.87033948e-01 -3.99833221e-01 6.06727081e-01 5.46046779e+01] [ 2.64016254e-01 -9.15286920e-01 -3.04212542e-01 3.41534256e+01] [ 6.76963642e-01 -4.88185327e-02 7.34395656e-01 3.06584918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750371743 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:54.60, Y:34.15, Z:30.65 [[-6.87471991e-01 -3.98638583e-01 6.07016921e-01 5.46043389e+01] [ 2.62647342e-01 -9.15770140e-01 -3.03943125e-01 3.41463988e+01] [ 6.77051428e-01 -4.95210045e-02 7.34267686e-01 3.06549212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780371743 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:54.60, Y:34.14, Z:30.65 [[-6.87979412e-01 -3.97716923e-01 6.07046603e-01 5.46029715e+01] [ 2.61785285e-01 -9.16149356e-01 -3.03543774e-01 3.41436069e+01] [ 6.76869850e-01 -4.99159990e-02 7.34408333e-01 3.06539653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810371743 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:54.60, Y:34.14, Z:30.65 [[-6.88631839e-01 -3.96532664e-01 6.07081574e-01 5.46020087e+01] [ 2.60570792e-01 -9.16626757e-01 -3.03147244e-01 3.41401539e+01] [ 6.76674998e-01 -5.05691177e-02 7.34543199e-01 3.06529026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840371743 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:54.60, Y:34.13, Z:30.65 [[-6.90055179e-01 -3.93642373e-01 6.07346303e-01 5.45981539e+01] [ 2.56960528e-01 -9.17738610e-01 -3.02864872e-01 3.41342955e+01] [ 6.76605599e-01 -5.29294468e-02 7.34440833e-01 3.06523414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870371743 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:54.60, Y:34.13, Z:30.65 [[-6.92412933e-01 -3.91346818e-01 6.06145195e-01 5.45973330e+01] [ 2.54958216e-01 -9.18630081e-01 -3.01852749e-01 3.41298317e+01] [ 6.74952323e-01 -5.44650493e-02 7.35848436e-01 3.06511124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900371743 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:54.60, Y:34.13, Z:30.65 [[-0.69230721 -0.38954194 0.6074272 54.59527968] [ 0.25223068 -0.91930973 -0.302075 34.12678009] [ 0.67608461 -0.05591693 0.73469918 30.65031471] [ 0. 0. 0. 1. ]] SLAMing on 180.930371743 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:54.59, Y:34.12, Z:30.65 [[-0.69391919 -0.38554262 0.608139 54.58839672] [ 0.24690539 -0.92077479 -0.30201244 34.12130649] [ 0.67639773 -0.05941943 0.73413585 30.65164803] [ 0. 0. 0. 1. ]] SLAMing on 180.96037174299997 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:54.59, Y:34.12, Z:30.65 [[-0.69559966 -0.383159 0.60772551 54.5899205 ] [ 0.24436221 -0.92165657 -0.30139058 34.11570182] [ 0.67559472 -0.06114204 0.73473357 30.64772696] [ 0. 0. 0. 1. ]] SLAMing on 180.99037174299997 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:54.58, Y:34.11, Z:30.65 [[-0.69697405 -0.37939666 0.60851076 54.58199713] [ 0.23931602 -0.9229891 -0.30136185 34.10894655] [ 0.67598448 -0.06441502 0.73409515 30.65024767] [ 0. 0. 0. 1. ]] SLAMing on 181.02037174299997 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:54.58, Y:34.10, Z:30.65 [[-0.69687249 -0.37812443 0.60941829 54.58297301] [ 0.23749676 -0.9234491 -0.30139185 34.10285947] [ 0.67673039 -0.06529682 0.7333296 30.64707707] [ 0. 0. 0. 1. ]] SLAMing on 181.05037174299997 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:54.58, Y:34.10, Z:30.65 [[-0.6983491 -0.3765137 0.60872487 54.57884368] [ 0.23614782 -0.92404303 -0.30063047 34.09771565] [ 0.67567947 -0.06619597 0.73421751 30.64802525] [ 0. 0. 0. 1. ]] SLAMing on 181.08037174299997 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:54.58, Y:34.08, Z:30.64 [[-0.69895876 -0.37599125 0.60834795 54.57905571] [ 0.23605761 -0.92426257 -0.30002584 34.08496852] [ 0.67508033 -0.06610053 0.73477702 30.64216211] [ 0. 0. 0. 1. ]] SLAMing on 181.11037174299997 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:54.58, Y:34.08, Z:30.64 [[-0.69890255 -0.37610851 0.60834005 54.5764384 ] [ 0.23660133 -0.92426046 -0.29960374 34.08075827] [ 0.67494817 -0.06545976 0.73495577 30.64224297] [ 0. 0. 0. 1. ]] SLAMing on 181.14037174299997 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:54.58, Y:34.07, Z:30.64 [[-0.69887313 -0.37610945 0.60837326 54.57872492] [ 0.23696715 -0.92429674 -0.29920244 34.074067 ] [ 0.67485029 -0.06494007 0.73509174 30.63743898] [ 0. 0. 0. 1. ]] SLAMing on 181.17037174299998 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:54.58, Y:34.07, Z:30.62 [[-7.00245977e-01 -3.75109940e-01 6.07410985e-01 5.45833833e+01] [ 2.50029697e-01 -9.25806062e-01 -2.83493008e-01 3.40670906e+01] [ 6.68685817e-01 -4.66440538e-02 7.42080595e-01 3.06246665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20037174299998 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:54.58, Y:34.07, Z:30.63 [[-0.69901752 -0.39331285 0.59722651 54.57786679] [ 0.24135323 -0.91591471 -0.32070058 34.06942209] [ 0.67314421 -0.08003278 0.73516776 30.63183424] [ 0. 0. 0. 1. ]] SLAMing on 181.23037174299998 meters Centerline goodness : 0.990656 Centerline is valid? [True, True] Translation: X:54.58, Y:34.05, Z:30.62 [[-6.99859577e-01 -3.76541568e-01 6.06970361e-01 5.45834031e+01] [ 2.54052280e-01 -9.25420956e-01 -2.81164531e-01 3.40501072e+01] [ 6.67573225e-01 -4.25734854e-02 7.43325963e-01 3.06177186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26037174299998 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:54.58, Y:34.06, Z:30.63 [[-0.69871505 -0.39513488 0.59637714 54.57664119] [ 0.24319588 -0.91517227 -0.32142725 34.05880738] [ 0.67279494 -0.0795496 0.73553982 30.62740509] [ 0. 0. 0. 1. ]] SLAMing on 181.29037174299998 meters Centerline goodness : 0.987779 Centerline is valid? [True, True] Translation: X:54.57, Y:34.04, Z:30.62 [[-0.69564876 -0.38068749 0.60922068 54.57411393] [ 0.24380339 -0.92282259 -0.2982589 34.03696368] [ 0.67574604 -0.05895336 0.73477329 30.6239274 ] [ 0. 0. 0. 1. ]] SLAMing on 181.32037174299998 meters Centerline goodness : 0.987299 Centerline is valid? [True, True] Translation: X:54.58, Y:34.03, Z:30.62 [[-0.69411767 -0.38199446 0.61014826 54.5750403 ] [ 0.24540571 -0.92238533 -0.2982974 34.03175836] [ 0.67673976 -0.05731963 0.73398757 30.62066677] [ 0. 0. 0. 1. ]] SLAMing on 181.35037174299998 meters Centerline goodness : 0.986504 Centerline is valid? [True, True] Translation: X:54.57, Y:34.03, Z:30.62 [[-0.69305672 -0.38282812 0.61083141 54.5738264 ] [ 0.24651833 -0.92211464 -0.29821686 34.02631879] [ 0.67742239 -0.05610006 0.7334519 30.61905507] [ 0. 0. 0. 1. ]] SLAMing on 181.38037174299998 meters Centerline goodness : 0.986544 Centerline is valid? [True, True] Translation: X:54.59, Y:34.01, Z:30.59 [[-6.89700066e-01 -3.88780125e-01 6.10871373e-01 5.45911052e+01] [ 2.65977734e-01 -9.20682976e-01 -2.85654868e-01 3.40091115e+01] [ 6.73475808e-01 -3.45379975e-02 7.38401965e-01 3.05940944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41037174299998 meters Centerline goodness : 0.986845 Centerline is valid? [True, True] Translation: X:54.58, Y:34.02, Z:30.61 [[-0.6901982 -0.4063431 0.59875849 54.57725919] [ 0.2558189 -0.91103356 -0.32337988 34.02001772] [ 0.67689226 -0.07002247 0.73274397 30.60794151] [ 0. 0. 0. 1. ]] SLAMing on 181.440371743 meters Centerline goodness : 0.987480 Centerline is valid? [True, True] Translation: X:54.58, Y:34.00, Z:30.61 [[-6.88450337e-01 -3.91034044e-01 6.10842459e-01 5.45774784e+01] [ 2.58174439e-01 -9.19171960e-01 -2.97437165e-01 3.40008264e+01] [ 6.77777317e-01 -4.70668072e-02 7.33759241e-01 3.06061224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470371743 meters Centerline goodness : 0.986711 Centerline is valid? [True, True] Translation: X:54.58, Y:33.99, Z:30.60 [[-6.85038059e-01 -3.96924625e-01 6.10879448e-01 5.45811870e+01] [ 2.66408175e-01 -9.16946434e-01 -2.97045318e-01 3.39896195e+01] [ 6.78048333e-01 -4.07440687e-02 7.33887171e-01 3.05998889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500371743 meters Centerline goodness : 0.984539 Centerline is valid? [True, True] Translation: X:54.60, Y:33.97, Z:30.57 [[-6.84760767e-01 -3.98898464e-01 6.09903850e-01 5.46040652e+01] [ 2.87679453e-01 -9.16888088e-01 -2.76688935e-01 3.39742147e+01] [ 6.69584366e-01 -1.40089215e-02 7.42603883e-01 3.05685142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530371743 meters Centerline goodness : 0.986532 Centerline is valid? [True, True] Translation: X:54.59, Y:33.99, Z:30.58 [[-0.68180495 -0.42750871 0.59361462 54.58650507] [ 0.27834215 -0.90203634 -0.32993347 33.98969037] [ 0.67651139 -0.05972231 0.73400653 30.58457948] [ 0. 0. 0. 1. ]] SLAMing on 181.560371743 meters Centerline goodness : 0.987038 Centerline is valid? [True, True] Translation: X:54.59, Y:33.97, Z:30.59 [[-6.79265582e-01 -4.07296930e-01 6.10497731e-01 5.45868214e+01] [ 2.81217406e-01 -9.12820937e-01 -2.96099152e-01 3.39693903e+01] [ 6.77875387e-01 -2.94473744e-02 7.34586831e-01 3.05860544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590371743 meters Centerline goodness : 0.986488 Centerline is valid? [True, True] Translation: X:54.61, Y:33.96, Z:30.56 [[-6.78252692e-01 -4.09441378e-01 6.10189351e-01 5.46095523e+01] [ 3.01355588e-01 -9.12327067e-01 -2.77207742e-01 3.39562060e+01] [ 6.70192580e-01 -4.13292660e-03 7.42175737e-01 3.05553054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620371743 meters Centerline goodness : 0.987414 Centerline is valid? [True, True] Translation: X:54.59, Y:33.98, Z:30.57 [[-6.77690716e-01 -4.34064713e-01 5.93568125e-01 5.45928196e+01] [ 2.86484060e-01 -8.99264899e-01 -3.30529158e-01 3.39765341e+01] [ 6.77246024e-01 -5.39487356e-02 7.33776095e-01 3.05728036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650371743 meters Centerline goodness : 0.987786 Centerline is valid? [True, True] Translation: X:54.59, Y:33.95, Z:30.58 [[-6.74626135e-01 -4.13053720e-01 6.11772999e-01 5.45917899e+01] [ 2.89054876e-01 -9.10420872e-01 -2.95941067e-01 3.39542228e+01] [ 6.79210465e-01 -2.28136105e-02 7.33588906e-01 3.05767756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680371743 meters Centerline goodness : 0.986903 Centerline is valid? [True, True] Translation: X:54.62, Y:33.95, Z:30.55 [[-6.73079086e-01 -4.17355621e-01 6.10556164e-01 5.46150509e+01] [ 3.06152295e-01 -9.08734381e-01 -2.83676925e-01 3.39453180e+01] [ 6.73227537e-01 -4.01383483e-03 7.39424487e-01 3.05494022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71037174299997 meters Centerline goodness : 0.987802 Centerline is valid? [True, True] Translation: X:54.59, Y:33.96, Z:30.57 [[-6.75018930e-01 -4.32248502e-01 5.97921965e-01 5.45925359e+01] [ 2.90367300e-01 -9.00650471e-01 -3.23288663e-01 3.39638320e+01] [ 6.78259740e-01 -4.46089810e-02 7.33466948e-01 3.05711025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74037174299997 meters Centerline goodness : 0.989275 Centerline is valid? [True, True] Translation: X:54.60, Y:33.95, Z:30.57 [[-6.75119455e-01 -4.13027847e-01 6.11246038e-01 5.45959739e+01] [ 2.90067231e-01 -9.10458777e-01 -2.94831845e-01 3.39468462e+01] [ 6.78288082e-01 -2.17442692e-02 7.34474277e-01 3.05701738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77037174299997 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:54.62, Y:33.94, Z:30.55 [[-6.69997598e-01 -4.22705141e-01 6.10265174e-01 5.46196719e+01] [ 3.06035278e-01 -9.06225648e-01 -2.91714729e-01 3.39429948e+01] [ 6.76347269e-01 -8.68549519e-03 7.36531693e-01 3.05463541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80037174299997 meters Centerline goodness : 0.987190 Centerline is valid? [True, True] Translation: X:54.60, Y:33.96, Z:30.56 [[-6.73476477e-01 -4.29065966e-01 6.01940056e-01 5.46005292e+01] [ 2.93713170e-01 -9.02587847e-01 -3.14750303e-01 3.39550915e+01] [ 6.78352422e-01 -3.51792031e-02 7.33894008e-01 3.05639546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83037174299997 meters Centerline goodness : 0.987376 Centerline is valid? [True, True] Translation: X:54.63, Y:33.94, Z:30.54 [[-6.67854534e-01 -4.25902590e-01 6.10391109e-01 5.46257561e+01] [ 3.08124694e-01 -9.04730301e-01 -2.94146657e-01 3.39414238e+01] [ 6.77517155e-01 -8.37060485e-03 7.35459338e-01 3.05409118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86037174299997 meters Centerline goodness : 0.986743 Centerline is valid? [True, True] Translation: X:54.63, Y:33.95, Z:30.54 [[-6.66443080e-01 -4.41247747e-01 6.00960937e-01 5.46270702e+01] [ 3.11910353e-01 -8.97138925e-01 -3.12815729e-01 3.39502438e+01] [ 6.77174684e-01 -2.10279394e-02 7.35521769e-01 3.05361896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89037174299997 meters Centerline goodness : 0.987557 Centerline is valid? [True, True] Translation: X:54.61, Y:33.95, Z:30.56 [[-6.68945395e-01 -4.33309237e-01 6.03949636e-01 5.46071876e+01] [ 3.01635635e-01 -9.00850029e-01 -3.12226150e-01 3.39519275e+01] [ 6.79358522e-01 -2.66895130e-02 7.33320986e-01 3.05572829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92037174299998 meters Centerline goodness : 0.987439 Centerline is valid? [True, True] Translation: X:54.63, Y:33.94, Z:30.54 [[-6.60907924e-01 -4.34149299e-01 6.12139774e-01 5.46327481e+01] [ 3.16794063e-01 -9.00838042e-01 -2.96870920e-01 3.39411861e+01] [ 6.80325097e-01 -2.28209707e-03 7.32906921e-01 3.05365482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95037174299998 meters Centerline goodness : 0.987099 Centerline is valid? [True, True] Translation: X:54.64, Y:33.95, Z:30.53 [[-6.60014663e-01 -4.44516398e-01 6.05628448e-01 5.46357501e+01] [ 3.19152022e-01 -8.95702427e-01 -3.09611286e-01 3.39473162e+01] [ 6.80090164e-01 -1.10604453e-02 7.33045043e-01 3.05323183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98037174299998 meters Centerline goodness : 0.986307 Centerline is valid? [True, True] Translation: X:54.64, Y:33.95, Z:30.53 [[-6.58228302e-01 -4.47293839e-01 6.05527641e-01 5.46397734e+01] [ 3.20497251e-01 -8.94313831e-01 -3.12224732e-01 3.39480607e+01] [ 6.81187943e-01 -1.14452110e-02 7.32019121e-01 3.05308116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01037174299998 meters Centerline goodness : 0.987805 Centerline is valid? [True, True] Translation: X:54.63, Y:33.95, Z:30.54 [[-6.63047051e-01 -4.37466472e-01 6.07446865e-01 5.46282010e+01] [ 3.14278384e-01 -8.99167468e-01 -3.04511020e-01 3.39484082e+01] [ 6.79409822e-01 -1.09977148e-02 7.33676594e-01 3.05427750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04037174299998 meters Centerline goodness : 0.985943 Centerline is valid? [True, True] Translation: X:54.65, Y:33.95, Z:30.53 [[-6.56579710e-01 -4.41025275e-01 6.11882171e-01 5.46484430e+01] [ 3.23336413e-01 -8.97494216e-01 -2.99929486e-01 3.39454546e+01] [ 6.81437193e-01 9.16171444e-04 7.31876023e-01 3.05294471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07037174299998 meters Centerline goodness : 0.986495 Centerline is valid? [True, True] Translation: X:54.65, Y:33.95, Z:30.53 [[-6.56353725e-01 -4.47519206e-01 6.07393076e-01 5.46502897e+01] [ 3.23360991e-01 -8.94249237e-01 -3.09444616e-01 3.39526086e+01] [ 6.81643204e-01 -6.69789926e-03 7.31654072e-01 3.05288701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10037174299998 meters Centerline goodness : 0.984872 Centerline is valid? [True, True] Translation: X:54.66, Y:33.95, Z:30.53 [[-6.56479364e-01 -4.45941358e-01 6.08416922e-01 5.46559084e+01] [ 3.23806395e-01 -8.95051864e-01 -3.06645690e-01 3.39529203e+01] [ 6.81310695e-01 -4.29727722e-03 7.31981742e-01 3.05256775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13037174299998 meters Centerline goodness : 0.985355 Centerline is valid? [True, True] Translation: X:54.66, Y:33.95, Z:30.52 [[-6.61808899e-01 -4.38416979e-01 6.08111448e-01 5.46608379e+01] [ 3.31250917e-01 -8.98701621e-01 -2.87416469e-01 3.39547062e+01] [ 6.72519004e-01 1.12226979e-02 7.39994757e-01 3.05172455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16037174299998 meters Centerline goodness : 0.986374 Centerline is valid? [True, True] Translation: X:54.65, Y:33.97, Z:30.53 [[-6.62969096e-01 -4.49279800e-01 5.98848595e-01 5.46481649e+01] [ 3.15708376e-01 -8.93083822e-01 -3.20514443e-01 3.39723385e+01] [ 6.78822656e-01 -2.34296528e-02 7.33928370e-01 3.05321840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190371743 meters Centerline goodness : 0.986204 Centerline is valid? [True, True] Translation: X:54.65, Y:33.97, Z:30.54 [[-6.63791580e-01 -4.28015537e-01 6.13337948e-01 5.46506783e+01] [ 3.12757514e-01 -9.03768847e-01 -2.92206449e-01 3.39668436e+01] [ 6.79384630e-01 -2.13812916e-03 7.33779226e-01 3.05354259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220371743 meters Centerline goodness : 0.986204 Centerline is valid? [True, True] Translation: X:54.65, Y:33.97, Z:30.53 [[-6.63953885e-01 -4.27546403e-01 6.13489455e-01 5.46524086e+01] [ 3.12412915e-01 -9.03990875e-01 -2.91888110e-01 3.39659493e+01] [ 6.79384581e-01 -2.13821538e-03 7.33779272e-01 3.05337234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250371743 meters Centerline goodness : 0.984959 Centerline is valid? [True, True] Translation: X:54.66, Y:33.96, Z:30.52 [[-6.67157935e-01 -4.21713088e-01 6.14050781e-01 5.46648562e+01] [ 3.26935737e-01 -9.06452257e-01 -2.67315040e-01 3.39638681e+01] [ 6.69337967e-01 2.24137943e-02 7.42619895e-01 3.05166240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280371743 meters Centerline goodness : 0.986543 Centerline is valid? [True, True] Translation: X:54.66, Y:33.99, Z:30.53 [[-6.66379887e-01 -4.47866045e-01 5.96115636e-01 5.46563723e+01] [ 3.05593858e-01 -8.93316838e-01 -3.29541228e-01 3.39919467e+01] [ 6.80110461e-01 -3.74303691e-02 7.32153487e-01 3.05309179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310371743 meters Centerline goodness : 0.987537 Centerline is valid? [True, True] Translation: X:54.65, Y:33.98, Z:30.54 [[-6.69775337e-01 -4.15909070e-01 6.15159040e-01 5.46537562e+01] [ 2.96482553e-01 -9.09310738e-01 -2.91979586e-01 3.39844414e+01] [ 6.80807678e-01 -1.31768030e-02 7.32343688e-01 3.05396578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340371743 meters Centerline goodness : 0.987447 Centerline is valid? [True, True] Translation: X:54.65, Y:33.99, Z:30.54 [[-6.71562856e-01 -4.12134547e-01 6.15750311e-01 5.46543045e+01] [ 2.91450400e-01 -9.10972762e-01 -2.91865194e-01 3.39893375e+01] [ 6.81219491e-01 -1.65451484e-02 7.31892249e-01 3.05427771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370371743 meters Centerline goodness : 0.987043 Centerline is valid? [True, True] Translation: X:54.66, Y:33.98, Z:30.53 [[-6.80799751e-01 -3.97061188e-01 6.15511261e-01 5.46632798e+01] [ 3.05081651e-01 -9.17677787e-01 -2.54544036e-01 3.39830465e+01] [ 6.65910569e-01 1.44876754e-02 7.45890891e-01 3.05250244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400371743 meters Centerline goodness : 0.987726 Centerline is valid? [True, True] Translation: X:54.66, Y:34.02, Z:30.54 [[-0.67990448 -0.43227756 0.59233944 54.65940067] [ 0.27741132 -0.89936371 -0.33791697 34.02328484] [ 0.67880252 -0.06542959 0.7314001 30.5445875 ] [ 0. 0. 0. 1. ]] SLAMing on 182.430371743 meters Centerline goodness : 0.989116 Centerline is valid? [True, True] Translation: X:54.66, Y:34.01, Z:30.55 [[-6.80825776e-01 -3.97080599e-01 6.15469951e-01 5.46550906e+01] [ 2.72114859e-01 -9.17276940e-01 -2.90786035e-01 3.40058570e+01] [ 6.80021887e-01 -3.04961085e-02 7.32557316e-01 3.05516017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46037174299997 meters Centerline goodness : 0.989895 Centerline is valid? [True, True] Translation: X:54.65, Y:34.01, Z:30.55 [[-6.83299974e-01 -3.93531994e-01 6.15007086e-01 5.46534490e+01] [ 2.67939806e-01 -9.18700839e-01 -2.90167243e-01 3.40098500e+01] [ 6.79197620e-01 -3.34863901e-02 7.33191145e-01 3.05546930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49037174299997 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:54.66, Y:34.02, Z:30.56 [[-6.85203526e-01 -3.88924077e-01 6.15819934e-01 5.46560801e+01] [ 2.61712094e-01 -9.20500456e-01 -2.90147705e-01 3.40155391e+01] [ 6.79707958e-01 -3.76427057e-02 7.32516292e-01 3.05554523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52037174299997 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:54.66, Y:34.02, Z:30.56 [[-6.86232720e-01 -3.86761322e-01 6.16035985e-01 5.46564039e+01] [ 2.59072800e-01 -9.21341922e-01 -2.89845385e-01 3.40180424e+01] [ 6.79680763e-01 -3.93032198e-02 7.32454311e-01 3.05560594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55037174299997 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:54.66, Y:34.02, Z:30.56 [[-6.87483214e-01 -3.83660018e-01 6.16580749e-01 5.46582194e+01] [ 2.55008122e-01 -9.22522099e-01 -2.89696106e-01 3.40220859e+01] [ 6.79954180e-01 -4.19281112e-02 7.32054879e-01 3.05565521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58037174299997 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:54.66, Y:34.02, Z:30.56 [[-6.88190335e-01 -3.81988640e-01 6.16829589e-01 5.46595858e+01] [ 2.53015092e-01 -9.23161466e-01 -2.89406758e-01 3.40230291e+01] [ 6.79983401e-01 -4.30997384e-02 7.31959689e-01 3.05563534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61037174299997 meters Centerline goodness : 0.991464 Centerline is valid? [True, True] Translation: X:54.66, Y:34.02, Z:30.56 [[-6.88722168e-01 -3.80674727e-01 6.17048237e-01 5.46618017e+01] [ 2.51518101e-01 -9.23665768e-01 -2.89102394e-01 3.40231889e+01] [ 6.80000309e-01 -4.39124265e-02 7.31895675e-01 3.05555418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64037174299997 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:54.66, Y:34.02, Z:30.55 [[-6.90346355e-01 -3.78885084e-01 6.16334328e-01 5.46636206e+01] [ 2.49865005e-01 -9.24345636e-01 -2.88361966e-01 3.40243748e+01] [ 6.78961995e-01 -4.50692524e-02 7.32788764e-01 3.05541674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67037174299998 meters Centerline goodness : 0.991947 Centerline is valid? [True, True] Translation: X:54.67, Y:34.03, Z:30.55 [[-6.89478506e-01 -3.78963094e-01 6.17257129e-01 5.46653708e+01] [ 2.49871596e-01 -9.24336375e-01 -2.88385941e-01 3.40254722e+01] [ 6.79840845e-01 -4.46008834e-02 7.32002176e-01 3.05537822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70037174299998 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:54.67, Y:34.03, Z:30.55 [[-6.89667800e-01 -3.78587808e-01 6.17275949e-01 5.46674901e+01] [ 2.49736973e-01 -9.24496979e-01 -2.87987466e-01 3.40252044e+01] [ 6.79698294e-01 -4.44590550e-02 7.32143170e-01 3.05524452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73037174299998 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:54.67, Y:34.02, Z:30.55 [[-6.89473016e-01 -3.78858481e-01 6.17327475e-01 5.46724243e+01] [ 2.50451599e-01 -9.24423014e-01 -2.87604045e-01 3.40235247e+01] [ 6.79632957e-01 -4.36845755e-02 7.32250437e-01 3.05471990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76037174299998 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:54.68, Y:34.02, Z:30.54 [[-6.87808668e-01 -3.80864631e-01 6.17949325e-01 5.46757799e+01] [ 2.53204363e-01 -9.23709405e-01 -2.87486496e-01 3.40215809e+01] [ 6.80299042e-01 -4.12682382e-02 7.31771922e-01 3.05443785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79037174299998 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:54.68, Y:34.02, Z:30.54 [[-6.87318613e-01 -3.82100983e-01 6.17731303e-01 5.46785917e+01] [ 2.55351918e-01 -9.23275680e-01 -2.86979821e-01 3.40194735e+01] [ 6.79991560e-01 -3.95076994e-02 7.32154779e-01 3.05407807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82037174299998 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:54.68, Y:34.02, Z:30.54 [[-6.86506587e-01 -3.83671840e-01 6.17660606e-01 5.46811406e+01] [ 2.57873565e-01 -9.22710428e-01 -2.86542649e-01 3.40176171e+01] [ 6.79860228e-01 -3.74350735e-02 7.32385613e-01 3.05383617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85037174299998 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:54.69, Y:34.01, Z:30.53 [[-6.84868697e-01 -3.87735893e-01 6.16940633e-01 5.46861881e+01] [ 2.64067531e-01 -9.21185847e-01 -2.85805833e-01 3.40142623e+01] [ 6.79134160e-01 -3.28254791e-02 7.33279811e-01 3.05330076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88037174299998 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:54.69, Y:34.01, Z:30.53 [[-6.84402465e-01 -3.89240045e-01 6.16510708e-01 5.46891949e+01] [ 2.66671629e-01 -9.20621643e-01 -2.85205249e-01 3.40118136e+01] [ 6.78586405e-01 -3.07892605e-02 7.33874998e-01 3.05295718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91037174299998 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:54.69, Y:34.01, Z:30.53 [[-6.83320604e-01 -3.90913310e-01 6.16652039e-01 5.46924416e+01] [ 2.69225612e-01 -9.19981840e-01 -2.84870117e-01 3.40100608e+01] [ 6.78668198e-01 -2.86390981e-02 7.33886421e-01 3.05269361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940371743 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:54.70, Y:34.00, Z:30.50 [[-6.89435265e-01 -3.82114260e-01 6.15359820e-01 5.47016060e+01] [ 2.87650578e-01 -9.24108168e-01 -2.51557626e-01 3.39969918e+01] [ 6.64782792e-01 3.57590927e-03 7.47028147e-01 3.05037745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970371743 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:54.70, Y:34.02, Z:30.52 [[-0.6824679 -0.42022832 0.59803489 54.70410515] [ 0.27461222 -0.90567502 -0.32301839 34.02107548] [ 0.67736674 -0.05622199 0.73349396 30.51557528] [ 0. 0. 0. 1. ]] SLAMing on 183.000371743 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:54.70, Y:34.00, Z:30.52 [[-6.80265455e-01 -3.95320715e-01 6.17219931e-01 5.46994173e+01] [ 2.75690546e-01 -9.18249597e-01 -2.84275221e-01 3.40042685e+01] [ 6.79141837e-01 -2.32209125e-02 7.33639663e-01 3.05198739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030371743 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:54.70, Y:34.00, Z:30.52 [[-6.80006153e-01 -3.95441267e-01 6.17428406e-01 5.47026460e+01] [ 2.76123327e-01 -9.18212744e-01 -2.83974058e-01 3.40025869e+01] [ 6.79225692e-01 -2.26177207e-02 7.33580874e-01 3.05160712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060371743 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.79518790e-01 -3.95577077e-01 6.17877812e-01 5.47054501e+01] [ 2.76465167e-01 -9.18168910e-01 -2.83783127e-01 3.40010789e+01] [ 6.79574297e-01 -2.20142749e-02 7.33276309e-01 3.05142267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090371743 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.80751775e-01 -3.95001593e-01 6.16887965e-01 5.47060657e+01] [ 2.76514579e-01 -9.18416286e-01 -2.82933232e-01 3.39993720e+01] [ 6.78319031e-01 -2.20287841e-02 7.34437216e-01 3.05117140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120371743 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.80680906e-01 -3.95291654e-01 6.16780360e-01 5.47101356e+01] [ 2.77320834e-01 -9.18310098e-01 -2.82488439e-01 3.39973993e+01] [ 6.78060956e-01 -2.12384432e-02 7.34698761e-01 3.05086781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150371743 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.79925105e-01 -3.95337406e-01 6.17584154e-01 5.47106628e+01] [ 2.77377202e-01 -9.18301607e-01 -2.82460699e-01 3.39983997e+01] [ 6.78795801e-01 -2.07483559e-02 7.34033900e-01 3.05095612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180371743 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.80683021e-01 -3.93550295e-01 6.17890597e-01 5.47136793e+01] [ 2.75188218e-01 -9.19038463e-01 -2.82205153e-01 3.39984571e+01] [ 6.78927146e-01 -2.20560433e-02 7.33874282e-01 3.05064386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21037174299997 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.81134716e-01 -3.91983822e-01 6.18388375e-01 5.47132856e+01] [ 2.73208652e-01 -9.19680648e-01 -2.82036411e-01 3.39994657e+01] [ 6.79273532e-01 -2.31557363e-02 7.33519789e-01 3.05068342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24037174299997 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.81611332e-01 -3.90157057e-01 6.19018144e-01 5.47139417e+01] [ 2.70815807e-01 -9.20421649e-01 -2.81926919e-01 3.40000193e+01] [ 6.79753478e-01 -2.45246845e-02 7.33030524e-01 3.05060674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27037174299997 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.84892322e-01 -3.85043264e-01 6.18598571e-01 5.47132074e+01] [ 2.64484238e-01 -9.22440336e-01 -2.81339501e-01 3.40010156e+01] [ 6.78948153e-01 -2.90776923e-02 7.33610178e-01 3.05052952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30037174299997 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.85982914e-01 -3.82311634e-01 6.19084208e-01 5.47112648e+01] [ 2.60942845e-01 -9.23502260e-01 -2.81162598e-01 3.40026280e+01] [ 6.79217397e-01 -3.13271439e-02 7.33268257e-01 3.05071978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33037174299997 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.86497997e-01 -3.79987692e-01 6.19943427e-01 5.47124686e+01] [ 2.57771609e-01 -9.24395275e-01 -2.81153290e-01 3.40038755e+01] [ 6.79907565e-01 -3.32073561e-02 7.32545544e-01 3.05076574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36037174299997 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:54.71, Y:34.01, Z:30.51 [[-6.88583455e-01 -3.74889642e-01 6.20733906e-01 5.47112932e+01] [ 2.50898288e-01 -9.26297399e-01 -2.81110615e-01 3.40052157e+01] [ 6.80369660e-01 -3.78270444e-02 7.31892233e-01 3.05093622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39037174299997 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:54.71, Y:34.01, Z:30.51 [[-6.90044269e-01 -3.72205696e-01 6.20726854e-01 5.47087123e+01] [ 2.47666318e-01 -9.27289389e-01 -2.80705867e-01 3.40059044e+01] [ 6.80073748e-01 -3.99663403e-02 7.32053543e-01 3.05118536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42037174299998 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.90955482e-01 -3.69904325e-01 6.21088812e-01 5.47122006e+01] [ 2.44770025e-01 -9.28130606e-01 -2.80466064e-01 3.40040652e+01] [ 6.80197146e-01 -4.17656405e-02 7.31838421e-01 3.05084355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45037174299998 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.93389333e-01 -3.66080114e-01 6.20642073e-01 5.47094468e+01] [ 2.40235457e-01 -9.29496970e-01 -2.79861229e-01 3.40047629e+01] [ 6.79336557e-01 -4.49525591e-02 7.32448708e-01 3.05109167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48037174299998 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:54.71, Y:34.01, Z:30.51 [[-6.94241560e-01 -3.64320326e-01 6.20724864e-01 5.47087105e+01] [ 2.38209960e-01 -9.30128300e-01 -2.79494831e-01 3.40054302e+01] [ 6.79179410e-01 -4.61740827e-02 7.32518452e-01 3.05122164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51037174299998 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.96016508e-01 -3.61669340e-01 6.20287279e-01 5.47125345e+01] [ 2.35255962e-01 -9.31060258e-01 -2.78893219e-01 3.40031029e+01] [ 6.78391961e-01 -4.81880036e-02 7.33118179e-01 3.05088658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54037174299998 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.95991582e-01 -3.60832094e-01 6.20802640e-01 5.47139789e+01] [ 2.34251203e-01 -9.31365597e-01 -2.78719391e-01 3.40023588e+01] [ 6.78765123e-01 -4.85625847e-02 7.32747967e-01 3.05079606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57037174299998 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.97411292e-01 -3.59379545e-01 6.20051475e-01 5.47145651e+01] [ 2.33061324e-01 -9.31885399e-01 -2.77978456e-01 3.40008368e+01] [ 6.77716688e-01 -4.93552968e-02 7.33664873e-01 3.05065135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60037174299998 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:54.71, Y:34.00, Z:30.51 [[-6.97678162e-01 -3.58603299e-01 6.20200658e-01 5.47133461e+01] [ 2.32322392e-01 -9.32170462e-01 -2.77641020e-01 3.40006341e+01] [ 6.77695719e-01 -4.96175757e-02 7.33666551e-01 3.05072574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63037174299998 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:54.73, Y:34.00, Z:30.50 [[-6.95354978e-01 -3.64379910e-01 6.19442278e-01 5.47258608e+01] [ 2.36577663e-01 -9.29951363e-01 -2.81463091e-01 3.39988080e+01] [ 6.78610686e-01 -4.91705546e-02 7.32850458e-01 3.04974960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66037174299998 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:54.72, Y:34.00, Z:30.50 [[-6.97780525e-01 -3.60824096e-01 6.18795855e-01 5.47190710e+01] [ 2.31066933e-01 -9.31067197e-01 -2.82350751e-01 3.39988502e+01] [ 6.78019477e-01 -5.40355950e-02 7.33055075e-01 3.05024938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690371743 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:54.72, Y:33.99, Z:30.50 [[-6.98355955e-01 -3.56456676e-01 6.20675115e-01 5.47178565e+01] [ 2.30021987e-01 -9.32937318e-01 -2.76979866e-01 3.39944269e+01] [ 6.77782299e-01 -5.06616158e-02 7.33515205e-01 3.05011204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720371743 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:54.72, Y:33.99, Z:30.50 [[-6.98340016e-01 -3.56193734e-01 6.20843979e-01 5.47176979e+01] [ 2.29959411e-01 -9.33050435e-01 -2.76650600e-01 3.39931030e+01] [ 6.77819955e-01 -5.04272685e-02 7.33496557e-01 3.05008538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750371743 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:54.72, Y:33.99, Z:30.50 [[-6.97084901e-01 -3.56427807e-01 6.22118847e-01 5.47228017e+01] [ 2.30006167e-01 -9.32990974e-01 -2.76812221e-01 3.39898792e+01] [ 6.79094842e-01 -4.98704481e-02 7.32354514e-01 3.04973604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780371743 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:54.72, Y:33.99, Z:30.49 [[-6.97489871e-01 -3.56881416e-01 6.21404486e-01 5.47237414e+01] [ 2.31346100e-01 -9.32873613e-01 -2.76090210e-01 3.39851862e+01] [ 6.78223313e-01 -4.88106207e-02 7.33233020e-01 3.04940478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810371743 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:54.73, Y:33.98, Z:30.48 [[-6.97397747e-01 -3.58441810e-01 6.20609259e-01 5.47337964e+01] [ 2.42488645e-01 -9.32886953e-01 -2.66310325e-01 3.39805396e+01] [ 6.74415035e-01 -3.52335227e-02 7.37511328e-01 3.04814472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840371743 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:54.73, Y:33.99, Z:30.49 [[-0.69749508 -0.37138647 0.61283987 54.72757528] [ 0.23500877 -0.92647073 -0.29397767 33.9883919 ] [ 0.67695753 -0.06102524 0.73348785 30.48856086] [ 0. 0. 0. 1. ]] SLAMing on 183.870371743 meters Centerline goodness : 0.989107 Centerline is valid? [True, True] Translation: X:54.73, Y:33.98, Z:30.49 [[-6.94144093e-01 -3.62346565e-01 6.21987898e-01 5.47286876e+01] [ 2.39203908e-01 -9.31077394e-01 -2.75456670e-01 3.39751815e+01] [ 6.78929649e-01 -4.24246847e-02 7.32976587e-01 3.04863552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900371743 meters Centerline goodness : 0.988862 Centerline is valid? [True, True] Translation: X:54.74, Y:33.97, Z:30.48 [[-6.90426858e-01 -3.69505400e-01 6.21913590e-01 5.47401264e+01] [ 2.46010904e-01 -9.28398074e-01 -2.78488152e-01 3.39719476e+01] [ 6.80286255e-01 -3.92781749e-02 7.31893323e-01 3.04751594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930371743 meters Centerline goodness : 0.988098 Centerline is valid? [True, True] Translation: X:54.75, Y:33.97, Z:30.47 [[-6.87443129e-01 -3.77883516e-01 6.20182225e-01 5.47463328e+01] [ 2.52549530e-01 -9.25056241e-01 -2.83707044e-01 3.39675664e+01] [ 6.80911653e-01 -3.84057293e-02 7.31357861e-01 3.04658717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96037174299997 meters Centerline goodness : 0.988887 Centerline is valid? [True, True] Translation: X:54.74, Y:33.97, Z:30.47 [[-6.86314485e-01 -3.81139722e-01 6.19439214e-01 5.47437988e+01] [ 2.54514242e-01 -9.23699715e-01 -2.86358755e-01 3.39668225e+01] [ 6.81318522e-01 -3.88760598e-02 7.30953982e-01 3.04668073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99037174299997 meters Centerline goodness : 0.988207 Centerline is valid? [True, True] Translation: X:54.74, Y:33.96, Z:30.47 [[-6.89746416e-01 -3.73576943e-01 6.20233947e-01 5.47364640e+01] [ 2.50912969e-01 -9.26862045e-01 -2.79230069e-01 3.39612397e+01] [ 6.79185220e-01 -3.69731987e-02 7.33035074e-01 3.04693709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02037174299997 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:54.75, Y:33.95, Z:30.45 [[-6.91914402e-01 -3.67984570e-01 6.21161667e-01 5.47457703e+01] [ 2.67775845e-01 -9.29793881e-01 -2.52545908e-01 3.39502770e+01] [ 6.70485314e-01 -8.40806075e-03 7.41875156e-01 3.04546683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05037174299997 meters Centerline goodness : 0.986491 Centerline is valid? [True, True] Translation: X:54.74, Y:33.97, Z:30.46 [[-0.68957449 -0.39398297 0.60767132 54.74115737] [ 0.2556109 -0.91747999 -0.30478439 33.9676648 ] [ 0.67760614 -0.05484413 0.73337714 30.46346769] [ 0. 0. 0. 1. ]] SLAMing on 184.08037174299997 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] Translation: X:54.74, Y:33.95, Z:30.46 [[-6.88483403e-01 -3.73042282e-01 6.21956638e-01 5.47430094e+01] [ 2.55438411e-01 -9.27348569e-01 -2.73451732e-01 3.39504959e+01] [ 6.78779656e-01 -2.93953640e-02 7.33753426e-01 3.04626466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11037174299997 meters Centerline goodness : 0.986886 Centerline is valid? [True, True] Translation: X:54.75, Y:33.95, Z:30.46 [[-6.87496545e-01 -3.73766220e-01 6.22613294e-01 5.47450548e+01] [ 2.56479232e-01 -9.27093074e-01 -2.73343807e-01 3.39466903e+01] [ 6.79387154e-01 -2.82355436e-02 7.33236558e-01 3.04600493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14037174299997 meters Centerline goodness : 0.986886 Centerline is valid? [True, True] Translation: X:54.75, Y:33.95, Z:30.46 [[-6.87632981e-01 -3.73272709e-01 6.22758676e-01 5.47468023e+01] [ 2.56113342e-01 -9.27291887e-01 -2.73012293e-01 3.39458522e+01] [ 6.79387106e-01 -2.82354507e-02 7.33236606e-01 3.04583473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17037174299998 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:54.75, Y:33.94, Z:30.46 [[-6.88259956e-01 -3.72570256e-01 6.22486656e-01 5.47480366e+01] [ 2.55656314e-01 -9.27569102e-01 -2.72498458e-01 3.39431573e+01] [ 6.78924209e-01 -2.84071323e-02 7.33658608e-01 3.04550143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20037174299998 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:54.75, Y:33.94, Z:30.45 [[-6.87801071e-01 -3.72457812e-01 6.23060884e-01 5.47462513e+01] [ 2.55607886e-01 -9.27624622e-01 -2.72354860e-01 3.39416794e+01] [ 6.79407312e-01 -2.80666894e-02 7.33224362e-01 3.04546967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23037174299998 meters Centerline goodness : 0.987377 Centerline is valid? [True, True] Translation: X:54.75, Y:33.94, Z:30.45 [[-6.87746343e-01 -3.72120860e-01 6.23322576e-01 5.47473823e+01] [ 2.55400054e-01 -9.27764227e-01 -2.72074164e-01 3.39403437e+01] [ 6.79540860e-01 -2.79213921e-02 7.33106142e-01 3.04522682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26037174299998 meters Centerline goodness : 0.986960 Centerline is valid? [True, True] Translation: X:54.75, Y:33.94, Z:30.45 [[-6.86642461e-01 -3.72341187e-01 6.24407055e-01 5.47521753e+01] [ 2.55570997e-01 -9.27694610e-01 -2.72151015e-01 3.39390443e+01] [ 6.80592092e-01 -2.72901091e-02 7.32154119e-01 3.04486558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29037174299998 meters Centerline goodness : 0.986221 Centerline is valid? [True, True] Translation: X:54.76, Y:33.93, Z:30.43 [[-6.89665180e-01 -3.68408842e-01 6.23407463e-01 5.47647584e+01] [ 2.67008185e-01 -9.29623088e-01 -2.53983352e-01 3.39304567e+01] [ 6.73103684e-01 -8.70857901e-03 7.39496850e-01 3.04278133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32037174299998 meters Centerline goodness : 0.986107 Centerline is valid? [True, True] Translation: X:54.75, Y:33.95, Z:30.44 [[-6.88757717e-01 -3.88992394e-01 6.11798762e-01 5.47545491e+01] [ 2.53601400e-01 -9.19827108e-01 -2.99339977e-01 3.39476351e+01] [ 6.79190060e-01 -5.10196973e-02 7.32187034e-01 3.04426116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35037174299998 meters Centerline goodness : 0.985805 Centerline is valid? [True, True] Translation: X:54.75, Y:33.93, Z:30.45 [[-6.89122939e-01 -3.68468816e-01 6.23971399e-01 5.47508039e+01] [ 2.51292306e-01 -9.29153987e-01 -2.71155020e-01 3.39336896e+01] [ 6.79677682e-01 -3.00599327e-02 7.32894705e-01 3.04470847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38037174299998 meters Centerline goodness : 0.986925 Centerline is valid? [True, True] Translation: X:54.76, Y:33.92, Z:30.42 [[-6.96899586e-01 -3.56720531e-01 6.22158685e-01 5.47630143e+01] [ 2.68942260e-01 -9.34202653e-01 -2.34383157e-01 3.39211714e+01] [ 6.64831579e-01 3.98323837e-03 7.46982668e-01 3.04225067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41037174299998 meters Centerline goodness : 0.985910 Centerline is valid? [True, True] Translation: X:54.77, Y:33.94, Z:30.42 [[-6.96487685e-01 -3.91498160e-01 6.01360204e-01 5.47680309e+01] [ 2.66722709e-01 -9.19253237e-01 -2.89538395e-01 3.39430934e+01] [ 6.66156063e-01 -4.12635043e-02 7.44670009e-01 3.04169670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440371743 meters Centerline goodness : 0.986054 Centerline is valid? [True, True] Translation: X:54.75, Y:33.95, Z:30.44 [[-0.69282157 -0.3924503 0.60496366 54.75471892] [ 0.24954817 -0.91758314 -0.30946227 33.94653489] [ 0.67655302 -0.06343456 0.73365665 30.4406392 ] [ 0. 0. 0. 1. ]] SLAMing on 184.470371743 meters Centerline goodness : 0.986563 Centerline is valid? [True, True] Translation: X:54.75, Y:33.93, Z:30.44 [[-6.92025681e-01 -3.65494959e-01 6.22506138e-01 5.47548069e+01] [ 2.48865320e-01 -9.30276493e-01 -2.69539793e-01 3.39263833e+01] [ 6.77618262e-01 -3.16082691e-02 7.34734243e-01 3.04436190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500371743 meters Centerline goodness : 0.985775 Centerline is valid? [True, True] Translation: X:54.77, Y:33.92, Z:30.42 [[-6.96598310e-01 -3.61013230e-01 6.20016324e-01 5.47682918e+01] [ 2.63939908e-01 -9.32526210e-01 -2.46435778e-01 3.39164100e+01] [ 6.67148049e-01 -8.01969537e-03 7.44881981e-01 3.04201355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530371743 meters Centerline goodness : 0.986868 Centerline is valid? [True, True] Translation: X:54.76, Y:33.94, Z:30.44 [[-0.69408024 -0.38783813 0.60649337 54.75754255] [ 0.24947967 -0.91985007 -0.30271398 33.93671352] [ 0.67528699 -0.05880003 0.73520748 30.43672534] [ 0. 0. 0. 1. ]] SLAMing on 184.560371743 meters Centerline goodness : 0.985445 Centerline is valid? [True, True] Translation: X:54.77, Y:33.91, Z:30.41 [[-6.99455755e-01 -3.55463168e-01 6.20006115e-01 5.47740931e+01] [ 2.66683323e-01 -9.34689798e-01 -2.35021249e-01 3.39077064e+01] [ 6.63054788e-01 9.58325545e-04 7.48570257e-01 3.04110850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590371743 meters Centerline goodness : 0.985478 Centerline is valid? [True, True] Translation: X:54.76, Y:33.94, Z:30.43 [[-0.69531167 -0.39282243 0.6018573 54.75705756] [ 0.24700577 -0.91701589 -0.3131613 33.9404727 ] [ 0.6749295 -0.06908248 0.73464126 30.43448856] [ 0. 0. 0. 1. ]] SLAMing on 184.620371743 meters Centerline goodness : 0.985292 Centerline is valid? [True, True] Translation: X:54.76, Y:33.92, Z:30.44 [[-6.93811948e-01 -3.61925443e-01 6.22603369e-01 5.47561988e+01] [ 2.45323943e-01 -9.31611308e-01 -2.68172582e-01 3.39192912e+01] [ 6.77082819e-01 -3.33218282e-02 7.35152033e-01 3.04382234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650371743 meters Centerline goodness : 0.986101 Centerline is valid? [True, True] Translation: X:54.76, Y:33.92, Z:30.44 [[-6.93815000e-01 -3.61010225e-01 6.23131096e-01 5.47557003e+01] [ 2.44216751e-01 -9.31950326e-01 -2.68005165e-01 3.39185207e+01] [ 6.77479833e-01 -3.37669517e-02 7.34765860e-01 3.04377459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680371743 meters Centerline goodness : 0.984953 Centerline is valid? [True, True] Translation: X:54.77, Y:33.91, Z:30.42 [[-6.95604369e-01 -3.58302377e-01 6.22698939e-01 5.47672475e+01] [ 2.59007245e-01 -9.33539518e-01 -2.47829003e-01 3.39103448e+01] [ 6.70111789e-01 -1.11074003e-02 7.42177079e-01 3.04178761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71037174299997 meters Centerline goodness : 0.985813 Centerline is valid? [True, True] Translation: X:54.76, Y:33.93, Z:30.43 [[-0.69408141 -0.38252051 0.60985987 54.76044867] [ 0.24442298 -0.92204419 -0.30015315 33.92703962] [ 0.67713249 -0.05926695 0.73347053 30.42725527] [ 0. 0. 0. 1. ]] SLAMing on 184.74037174299997 meters Centerline goodness : 0.985316 Centerline is valid? [True, True] Translation: X:54.76, Y:33.91, Z:30.43 [[-6.91756981e-01 -3.62303629e-01 6.24666599e-01 5.47625911e+01] [ 2.46012233e-01 -9.31524026e-01 -2.67845048e-01 3.39110374e+01] [ 6.78933178e-01 -3.16080576e-02 7.33519373e-01 3.04291777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77037174299997 meters Centerline goodness : 0.986285 Centerline is valid? [True, True] Translation: X:54.76, Y:33.91, Z:30.43 [[-6.91433215e-01 -3.63881389e-01 6.24107719e-01 5.47623124e+01] [ 2.48753220e-01 -9.30977690e-01 -2.67212231e-01 3.39075418e+01] [ 6.78263920e-01 -2.95106067e-02 7.34225564e-01 3.04270540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80037174299997 meters Centerline goodness : 0.985889 Centerline is valid? [True, True] Translation: X:54.76, Y:33.91, Z:30.43 [[-6.90110831e-01 -3.65794794e-01 6.24452728e-01 5.47647444e+01] [ 2.51540199e-01 -9.30299103e-01 -2.66966490e-01 3.39057378e+01] [ 6.78582766e-01 -2.71615027e-02 7.34021582e-01 3.04250184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83037174299997 meters Centerline goodness : 0.985577 Centerline is valid? [True, True] Translation: X:54.77, Y:33.90, Z:30.42 [[-6.88066033e-01 -3.69518127e-01 6.24517004e-01 5.47698668e+01] [ 2.56898140e-01 -9.28938787e-01 -2.66600966e-01 3.39011019e+01] [ 6.78651958e-01 -2.30018127e-02 7.34099746e-01 3.04193038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86037174299997 meters Centerline goodness : 0.985935 Centerline is valid? [True, True] Translation: X:54.77, Y:33.90, Z:30.42 [[-6.87956154e-01 -3.70389070e-01 6.24121997e-01 5.47722449e+01] [ 2.58607298e-01 -9.28625017e-01 -2.66041055e-01 3.38978683e+01] [ 6.78113999e-01 -2.16220780e-02 7.34638612e-01 3.04152147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89037174299997 meters Centerline goodness : 0.985033 Centerline is valid? [True, True] Translation: X:54.79, Y:33.89, Z:30.39 [[-6.90279044e-01 -3.68636500e-01 6.22592942e-01 5.47926298e+01] [ 2.79755551e-01 -9.29536003e-01 -2.40207516e-01 3.38882572e+01] [ 6.67271813e-01 8.36361693e-03 7.44767331e-01 3.03881564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92037174299998 meters Centerline goodness : 0.985955 Centerline is valid? [True, True] Translation: X:54.78, Y:33.91, Z:30.40 [[-6.87328952e-01 -3.99504857e-01 6.06609250e-01 5.47793287e+01] [ 2.62821457e-01 -9.15353565e-01 -3.05045462e-01 3.39121304e+01] [ 6.77129082e-01 -5.02366508e-02 7.34147454e-01 3.04049097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95037174299998 meters Centerline goodness : 0.986009 Centerline is valid? [True, True] Translation: X:54.78, Y:33.89, Z:30.41 [[-6.87239326e-01 -3.72607485e-01 6.23591028e-01 5.47768900e+01] [ 2.62342998e-01 -9.27800579e-01 -2.65258811e-01 3.38941010e+01] [ 6.77405536e-01 -1.87015464e-02 7.35372010e-01 3.04111883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98037174299998 meters Centerline goodness : 0.985388 Centerline is valid? [True, True] Translation: X:54.80, Y:33.89, Z:30.38 [[-6.92458362e-01 -3.69258482e-01 6.19798024e-01 5.47981595e+01] [ 2.82816649e-01 -9.29264893e-01 -2.37658373e-01 3.38855193e+01] [ 6.63713914e-01 1.07206727e-02 7.47909692e-01 3.03783108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01037174299998 meters Centerline goodness : 0.986447 Centerline is valid? [True, True] Translation: X:54.78, Y:33.91, Z:30.40 [[-0.69048777 -0.39632399 0.60510655 54.77929698] [ 0.25729538 -0.91640007 -0.3066105 33.91342483] [ 0.67603678 -0.05601968 0.73473538 30.4041311 ] [ 0. 0. 0. 1. ]] SLAMing on 185.04037174299998 meters Centerline goodness : 0.985652 Centerline is valid? [True, True] Translation: X:54.78, Y:33.89, Z:30.41 [[-6.90297693e-01 -3.66161996e-01 6.24030839e-01 5.47785234e+01] [ 2.54042102e-01 -9.30234569e-01 -2.64813627e-01 3.38944642e+01] [ 6.77459745e-01 -2.42701298e-02 7.35159340e-01 3.04095957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07037174299998 meters Centerline goodness : 0.986689 Centerline is valid? [True, True] Translation: X:54.78, Y:33.89, Z:30.41 [[-6.91402077e-01 -3.63600490e-01 6.24305896e-01 5.47799654e+01] [ 2.50830220e-01 -9.31183395e-01 -2.64540516e-01 3.38941802e+01] [ 6.77530345e-01 -2.63090769e-02 7.35024125e-01 3.04090647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10037174299998 meters Centerline goodness : 0.985954 Centerline is valid? [True, True] Translation: X:54.78, Y:33.90, Z:30.41 [[-6.93845509e-01 -3.59121817e-01 6.24187416e-01 5.47773047e+01] [ 2.45215121e-01 -9.32802442e-01 -2.64100642e-01 3.38957659e+01] [ 6.77087849e-01 -3.01848518e-02 7.35282884e-01 3.04116561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13037174299998 meters Centerline goodness : 0.985864 Centerline is valid? [True, True] Translation: X:54.77, Y:33.90, Z:30.42 [[-6.95502972e-01 -3.55592025e-01 6.24363618e-01 5.47743463e+01] [ 2.40753287e-01 -9.34053377e-01 -2.63784275e-01 3.38982794e+01] [ 6.76988531e-01 -3.31451540e-02 7.35246849e-01 3.04155901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16037174299998 meters Centerline goodness : 0.986773 Centerline is valid? [True, True] Translation: X:54.78, Y:33.90, Z:30.41 [[-6.96661028e-01 -3.53780593e-01 6.24101518e-01 5.47789214e+01] [ 2.38800831e-01 -9.34696307e-01 -2.63281175e-01 3.38968599e+01] [ 6.76489154e-01 -3.43817723e-02 7.35649589e-01 3.04107899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190371743 meters Centerline goodness : 0.984669 Centerline is valid? [True, True] Translation: X:54.80, Y:33.89, Z:30.39 [[-6.97348146e-01 -3.54580157e-01 6.22879182e-01 5.48008094e+01] [ 2.52483762e-01 -9.34875870e-01 -2.49517649e-01 3.38906504e+01] [ 6.70788725e-01 -1.67337903e-02 7.41459687e-01 3.03860622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220371743 meters Centerline goodness : 0.986021 Centerline is valid? [True, True] Translation: X:54.78, Y:33.91, Z:30.41 [[-0.69893918 -0.36994632 0.61206514 54.78003256] [ 0.23645618 -0.92722473 -0.29041826 33.90890272] [ 0.6749611 -0.05825812 0.73554979 30.40679299] [ 0. 0. 0. 1. ]] SLAMing on 185.250371743 meters Centerline goodness : 0.985502 Centerline is valid? [True, True] Translation: X:54.80, Y:33.88, Z:30.38 [[-7.01169119e-01 -3.47484202e-01 6.22588625e-01 5.47999204e+01] [ 2.54465707e-01 -9.37655254e-01 -2.36748451e-01 3.38849363e+01] [ 6.66039842e-01 -7.57324809e-03 7.45877721e-01 3.03828894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280371743 meters Centerline goodness : 0.986147 Centerline is valid? [True, True] Translation: X:54.80, Y:33.90, Z:30.37 [[-7.01702016e-01 -3.77553539e-01 6.04208247e-01 5.48035347e+01] [ 2.55693696e-01 -9.25001527e-01 -2.81056770e-01 3.39031611e+01] [ 6.65007530e-01 -4.27258629e-02 7.45613496e-01 3.03742425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310371743 meters Centerline goodness : 0.986014 Centerline is valid? [True, True] Translation: X:54.78, Y:33.91, Z:30.40 [[-0.69899959 -0.37792386 0.60710224 54.78414004] [ 0.23769724 -0.92346541 -0.30118377 33.90813503] [ 0.67446245 -0.06622081 0.7353334 30.3993418 ] [ 0. 0. 0. 1. ]] SLAMing on 185.340371743 meters Centerline goodness : 0.985827 Centerline is valid? [True, True] Translation: X:54.79, Y:33.89, Z:30.40 [[-6.97042986e-01 -3.52329207e-01 6.24495961e-01 5.47851954e+01] [ 2.38147544e-01 -9.35265702e-01 -2.61846927e-01 3.38890088e+01] [ 6.76325974e-01 -3.37963848e-02 7.35826733e-01 3.04032720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370371743 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:54.81, Y:33.88, Z:30.38 [[-6.99435152e-01 -3.50638146e-01 6.22770711e-01 5.48059006e+01] [ 2.58429937e-01 -9.36498480e-01 -2.37032837e-01 3.38792086e+01] [ 6.66336579e-01 -4.84650249e-03 7.45635350e-01 3.03761929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400371743 meters Centerline goodness : 0.985444 Centerline is valid? [True, True] Translation: X:54.79, Y:33.90, Z:30.39 [[-0.69676499 -0.38271436 0.60666982 54.79122718] [ 0.24320447 -0.92171791 -0.30213852 33.90233155] [ 0.67481119 -0.06297473 0.73529861 30.39234675] [ 0. 0. 0. 1. ]] SLAMing on 185.430371743 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:54.79, Y:33.88, Z:30.40 [[-6.95414825e-01 -3.56349740e-01 6.24029715e-01 5.47911058e+01] [ 2.44278646e-01 -9.33898774e-01 -2.61076660e-01 3.38822444e+01] [ 6.75815186e-01 -2.91194462e-02 7.36495684e-01 3.03961170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46037174299997 meters Centerline goodness : 0.985771 Centerline is valid? [True, True] Translation: X:54.80, Y:33.88, Z:30.39 [[-6.94627423e-01 -3.57526373e-01 6.24233640e-01 5.47951322e+01] [ 2.46128520e-01 -9.33498139e-01 -2.60771886e-01 3.38799116e+01] [ 6.75953767e-01 -2.74976014e-02 7.36430843e-01 3.03914683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49037174299997 meters Centerline goodness : 0.986041 Centerline is valid? [True, True] Translation: X:54.80, Y:33.88, Z:30.39 [[-6.93981528e-01 -3.60167915e-01 6.23433005e-01 5.47963086e+01] [ 2.50378532e-01 -9.32568990e-01 -2.60049359e-01 3.38779418e+01] [ 6.75055724e-01 -2.43752108e-02 7.37363966e-01 3.03882571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52037174299997 meters Centerline goodness : 0.985100 Centerline is valid? [True, True] Translation: X:54.80, Y:33.88, Z:30.38 [[-6.93006224e-01 -3.61333983e-01 6.23843030e-01 5.48003023e+01] [ 2.52127500e-01 -9.32158219e-01 -2.59832213e-01 3.38758401e+01] [ 6.75406616e-01 -2.27773576e-02 7.37093681e-01 3.03848555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55037174299997 meters Centerline goodness : 0.987175 Centerline is valid? [True, True] Translation: X:54.80, Y:33.87, Z:30.38 [[-6.93675842e-01 -3.61307004e-01 6.23114015e-01 5.48010113e+01] [ 2.52752517e-01 -9.32181004e-01 -2.59142319e-01 3.38734200e+01] [ 6.74484983e-01 -2.22671310e-02 7.37952697e-01 3.03815693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58037174299997 meters Centerline goodness : 0.985961 Centerline is valid? [True, True] Translation: X:54.80, Y:33.88, Z:30.38 [[-6.91949797e-01 -3.63532073e-01 6.23738655e-01 5.47991236e+01] [ 2.55837486e-01 -9.31374424e-01 -2.59015178e-01 3.38751386e+01] [ 6.75094555e-01 -1.96497708e-02 7.37469476e-01 3.03843247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61037174299997 meters Centerline goodness : 0.986068 Centerline is valid? [True, True] Translation: X:54.81, Y:33.87, Z:30.38 [[-6.92064671e-01 -3.63057627e-01 6.23887531e-01 5.48073739e+01] [ 2.55491450e-01 -9.31559843e-01 -2.58689734e-01 3.38718756e+01] [ 6.75107851e-01 -1.96320957e-02 7.37457775e-01 3.03754735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64037174299997 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:54.81, Y:33.87, Z:30.38 [[-6.93438597e-01 -3.60725564e-01 6.23714662e-01 5.48059852e+01] [ 2.52779442e-01 -9.32426332e-01 -2.58231854e-01 3.38732559e+01] [ 6.74718806e-01 -2.14056903e-02 7.37764414e-01 3.03754408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67037174299998 meters Centerline goodness : 0.986510 Centerline is valid? [True, True] Translation: X:54.81, Y:33.87, Z:30.37 [[-6.94212980e-01 -3.58795460e-01 6.23966471e-01 5.48084662e+01] [ 2.50431798e-01 -9.33137424e-01 -2.57950506e-01 3.38732774e+01] [ 6.74797935e-01 -2.28115440e-02 7.37649904e-01 3.03734583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70037174299998 meters Centerline goodness : 0.986057 Centerline is valid? [True, True] Translation: X:54.83, Y:33.88, Z:30.36 [[-6.88672487e-01 -3.69895116e-01 6.23624734e-01 5.48320058e+01] [ 2.59904312e-01 -9.28865081e-01 -2.63930692e-01 3.38753009e+01] [ 6.76889913e-01 -1.96790487e-02 7.35821161e-01 3.03550424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73037174299998 meters Centerline goodness : 0.986568 Centerline is valid? [True, True] Translation: X:54.81, Y:33.88, Z:30.37 [[-6.98249079e-01 -3.59729819e-01 6.18904420e-01 5.48080168e+01] [ 2.40608407e-01 -9.32204022e-01 -2.70376137e-01 3.38834610e+01] [ 6.74207549e-01 -3.98762817e-02 7.37464619e-01 3.03742762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76037174299998 meters Centerline goodness : 0.987358 Centerline is valid? [True, True] Translation: X:54.80, Y:33.88, Z:30.38 [[-6.99620569e-01 -3.47440038e-01 6.24352848e-01 5.48047873e+01] [ 2.35809038e-01 -9.37129951e-01 -2.57257755e-01 3.38799902e+01] [ 6.74481398e-01 -3.27547721e-02 7.37564891e-01 3.03790333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79037174299998 meters Centerline goodness : 0.986123 Centerline is valid? [True, True] Translation: X:54.81, Y:33.88, Z:30.38 [[-7.01088390e-01 -3.43986291e-01 6.24618685e-01 5.48061938e+01] [ 2.31423931e-01 -9.38299081e-01 -2.56978207e-01 3.38811550e+01] [ 6.74476118e-01 -3.56127261e-02 7.37437252e-01 3.03783652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82037174299998 meters Centerline goodness : 0.985816 Centerline is valid? [True, True] Translation: X:54.83, Y:33.88, Z:30.35 [[-7.03737660e-01 -3.41197587e-01 6.23167324e-01 5.48263584e+01] [ 2.46232353e-01 -9.39901370e-01 -2.36548185e-01 3.38760080e+01] [ 6.66425491e-01 -1.30239100e-02 7.45457875e-01 3.03542556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85037174299998 meters Centerline goodness : 0.985120 Centerline is valid? [True, True] Translation: X:54.82, Y:33.90, Z:30.36 [[-0.70558099 -0.36516595 0.60729672 54.82423426] [ 0.23746871 -0.92929365 -0.28288147 33.89902991] [ 0.66765566 -0.05538182 0.74240741 30.35567885] [ 0. 0. 0. 1. ]] SLAMing on 185.88037174299998 meters Centerline goodness : 0.986713 Centerline is valid? [True, True] Translation: X:54.83, Y:33.89, Z:30.35 [[-7.08758072e-01 -3.52887433e-01 6.10845689e-01 5.48260645e+01] [ 2.36796509e-01 -9.34662424e-01 -2.65204764e-01 3.38925872e+01] [ 6.64521941e-01 -4.33198907e-02 7.46012049e-01 3.03510650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91037174299998 meters Centerline goodness : 0.986108 Centerline is valid? [True, True] Translation: X:54.80, Y:33.91, Z:30.38 [[-0.70753606 -0.35952952 0.60838413 54.80287228] [ 0.21526298 -0.92964489 -0.29903551 33.90667823] [ 0.67309329 -0.08061582 0.73515067 30.37933365] [ 0. 0. 0. 1. ]] SLAMing on 185.940371743 meters Centerline goodness : 0.986767 Centerline is valid? [True, True] Translation: X:54.80, Y:33.89, Z:30.38 [[-7.06257417e-01 -3.30064784e-01 6.26304798e-01 5.48033335e+01] [ 2.13172523e-01 -9.42756921e-01 -2.56450509e-01 3.38858741e+01] [ 6.75098464e-01 -4.76091000e-02 7.36189810e-01 3.03827204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970371743 meters Centerline goodness : 0.987267 Centerline is valid? [True, True] Translation: X:54.80, Y:33.89, Z:30.38 [[-7.06684481e-01 -3.29140026e-01 6.26309737e-01 5.48037763e+01] [ 2.12298448e-01 -9.43061019e-01 -2.56057188e-01 3.38851571e+01] [ 6.74926969e-01 -4.79870563e-02 7.36322504e-01 3.03819421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000371743 meters Centerline goodness : 0.986956 Centerline is valid? [True, True] Translation: X:54.81, Y:33.88, Z:30.38 [[-7.06819460e-01 -3.28735013e-01 6.26370132e-01 5.48070012e+01] [ 2.12092342e-01 -9.43207921e-01 -2.55686638e-01 3.38835939e+01] [ 6.74850420e-01 -4.78759829e-02 7.36399892e-01 3.03793306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030371743 meters Centerline goodness : 0.986956 Centerline is valid? [True, True] Translation: X:54.81, Y:33.88, Z:30.38 [[-7.06934015e-01 -3.28225048e-01 6.26508273e-01 5.48087871e+01] [ 2.11710326e-01 -9.43385513e-01 -2.55347824e-01 3.38827896e+01] [ 6.74850380e-01 -4.78757919e-02 7.36399941e-01 3.03776310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060371743 meters Centerline goodness : 0.986769 Centerline is valid? [True, True] Translation: X:54.81, Y:33.88, Z:30.38 [[-7.07698822e-01 -3.27345864e-01 6.26104674e-01 5.48081920e+01] [ 2.11084167e-01 -9.43676827e-01 -2.54789169e-01 3.38816035e+01] [ 6.74244653e-01 -4.81532112e-02 7.36936508e-01 3.03763621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090371743 meters Centerline goodness : 0.986636 Centerline is valid? [True, True] Translation: X:54.84, Y:33.87, Z:30.34 [[-7.10719393e-01 -3.24879843e-01 6.23963966e-01 5.48367796e+01] [ 2.34574362e-01 -9.45656381e-01 -2.25186318e-01 3.38680053e+01] [ 6.63214002e-01 -1.36783341e-02 7.48304811e-01 3.03417898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120371743 meters Centerline goodness : 0.986469 Centerline is valid? [True, True] Translation: X:54.84, Y:33.89, Z:30.34 [[-0.70966679 -0.36417826 0.60311462 54.83875631] [ 0.23351323 -0.92923875 -0.28633357 33.8935925 ] [ 0.66471394 -0.06236618 0.74449032 30.33672302] [ 0. 0. 0. 1. ]] SLAMing on 186.150371743 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:54.84, Y:33.88, Z:30.33 [[-7.12477240e-01 -3.50063447e-01 6.08137950e-01 5.48386358e+01] [ 2.37900386e-01 -9.35847551e-01 -2.59986091e-01 3.38832913e+01] [ 6.60136038e-01 -4.05579195e-02 7.50050309e-01 3.03338263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180371743 meters Centerline goodness : 0.985741 Centerline is valid? [True, True] Translation: X:54.84, Y:33.90, Z:30.34 [[-0.70893058 -0.36760292 0.60190159 54.83580879] [ 0.23212891 -0.92749118 -0.29304655 33.89540546] [ 0.66598318 -0.0680309 0.74285813 30.33935386] [ 0. 0. 0. 1. ]] SLAMing on 186.21037174299997 meters Centerline goodness : 0.985771 Centerline is valid? [True, True] Translation: X:54.81, Y:33.89, Z:30.37 [[-0.70759028 -0.35043423 0.61360561 54.81426098] [ 0.21169093 -0.93360753 -0.28907427 33.88935623] [ 0.67416834 -0.0746514 0.73479536 30.36512503] [ 0. 0. 0. 1. ]] SLAMing on 186.24037174299997 meters Centerline goodness : 0.985868 Centerline is valid? [True, True] Translation: X:54.83, Y:33.86, Z:30.34 [[-7.11610933e-01 -3.21147435e-01 6.24879352e-01 5.48344615e+01] [ 2.33564954e-01 -9.46964168e-01 -2.20694984e-01 3.38616065e+01] [ 6.62613984e-01 -1.10990467e-02 7.48878841e-01 3.03393856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27037174299997 meters Centerline goodness : 0.984879 Centerline is valid? [True, True] Translation: X:54.83, Y:33.89, Z:30.34 [[-0.71126904 -0.36020079 0.60361556 54.83309967] [ 0.22953676 -0.93067108 -0.28489336 33.88990401] [ 0.66438635 -0.06408387 0.74463685 30.33881831] [ 0. 0. 0. 1. ]] SLAMing on 186.30037174299997 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:54.81, Y:33.89, Z:30.36 [[-0.70988136 -0.35090418 0.61068381 54.81201347] [ 0.20669125 -0.93266714 -0.29565305 33.88939715] [ 0.67331061 -0.08365559 0.73461184 30.36368886] [ 0. 0. 0. 1. ]] SLAMing on 186.33037174299997 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:54.81, Y:33.87, Z:30.37 [[-7.09156130e-01 -3.20011006e-01 6.28244013e-01 5.48113510e+01] [ 2.02180864e-01 -9.45939438e-01 -2.53616794e-01 3.38660069e+01] [ 6.75440954e-01 -5.28349871e-02 7.35518852e-01 3.03690662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36037174299997 meters Centerline goodness : 0.986240 Centerline is valid? [True, True] Translation: X:54.81, Y:33.86, Z:30.37 [[-7.09657215e-01 -3.18735714e-01 6.28326493e-01 5.48126148e+01] [ 2.00805127e-01 -9.46329587e-01 -2.53254051e-01 3.38640923e+01] [ 6.75325062e-01 -5.35523834e-02 7.35573384e-01 3.03687822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39037174299997 meters Centerline goodness : 0.987333 Centerline is valid? [True, True] Translation: X:54.81, Y:33.86, Z:30.37 [[-0.71166666 -0.31510882 0.62788295 54.81027773] [ 0.19654358 -0.94737717 -0.25267988 33.86056338] [ 0.67446363 -0.05641748 0.73614936 30.36964692] [ 0. 0. 0. 1. ]] SLAMing on 186.42037174299998 meters Centerline goodness : 0.987830 Centerline is valid? [True, True] Translation: X:54.81, Y:33.86, Z:30.37 [[-0.7120064 -0.31340008 0.62835283 54.81215909] [ 0.19441081 -0.94787249 -0.25247212 33.85799829] [ 0.67472315 -0.05760318 0.73581965 30.36769396] [ 0. 0. 0. 1. ]] SLAMing on 186.45037174299998 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:54.81, Y:33.86, Z:30.37 [[-0.71177938 -0.31232558 0.62914454 54.81184343] [ 0.19297001 -0.94818808 -0.25239243 33.85719601] [ 0.67537596 -0.0582417 0.73517019 30.36832488] [ 0. 0. 0. 1. ]] SLAMing on 186.48037174299998 meters Centerline goodness : 0.987723 Centerline is valid? [True, True] Translation: X:54.81, Y:33.85, Z:30.37 [[-0.71265072 -0.30923603 0.62968407 54.80990466] [ 0.1889638 -0.94904291 -0.25221072 33.85316743] [ 0.67558984 -0.06075066 0.73477052 30.36735164] [ 0. 0. 0. 1. ]] SLAMing on 186.51037174299998 meters Centerline goodness : 0.985951 Centerline is valid? [True, True] Translation: X:54.83, Y:33.85, Z:30.35 [[-7.11534917e-01 -3.13127124e-01 6.29022628e-01 5.48255552e+01] [ 2.03657838e-01 -9.48691213e-01 -2.41885237e-01 3.38498082e+01] [ 6.72489068e-01 -4.40044038e-02 7.38797716e-01 3.03508094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54037174299998 meters Centerline goodness : 0.987002 Centerline is valid? [True, True] Translation: X:54.83, Y:33.86, Z:30.35 [[-0.71304262 -0.32986536 0.61867525 54.82636739] [ 0.20201661 -0.94164776 -0.26923741 33.85649522] [ 0.67138626 -0.06699507 0.73807327 30.34572665] [ 0. 0. 0. 1. ]] SLAMing on 186.57037174299998 meters Centerline goodness : 0.987888 Centerline is valid? [True, True] Translation: X:54.81, Y:33.85, Z:30.36 [[-0.71497307 -0.32367936 0.61971379 54.80997984] [ 0.18595756 -0.9424906 -0.27772515 33.85416222] [ 0.67396832 -0.08332554 0.73404602 30.36058493] [ 0. 0. 0. 1. ]] SLAMing on 186.60037174299998 meters Centerline goodness : 0.987774 Centerline is valid? [True, True] Translation: X:54.83, Y:33.84, Z:30.35 [[-0.70901226 -0.31739044 0.62973401 54.83023135] [ 0.19687577 -0.94657334 -0.25541895 33.83971458] [ 0.67715696 -0.0571158 0.73361859 30.34665934] [ 0. 0. 0. 1. ]] SLAMing on 186.63037174299998 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:54.83, Y:33.84, Z:30.35 [[-0.70888734 -0.32739048 0.62473532 54.8268202 ] [ 0.19901946 -0.94259907 -0.26813849 33.839778 ] [ 0.67666092 -0.0657455 0.73335362 30.34638645] [ 0. 0. 0. 1. ]] SLAMing on 186.66037174299998 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:54.83, Y:33.83, Z:30.34 [[-0.7081663 -0.3279565 0.62525597 54.83025167] [ 0.20059688 -0.94253716 -0.26717895 33.83398346] [ 0.67695006 -0.06378273 0.7332601 30.34205383] [ 0. 0. 0. 1. ]] SLAMing on 186.690371743 meters Centerline goodness : 0.989262 Centerline is valid? [True, True] Translation: X:54.82, Y:33.82, Z:30.35 [[-0.7090549 -0.32195648 0.62736367 54.81803078] [ 0.195949 -0.94460498 -0.2632972 33.82310996] [ 0.67738108 -0.06376089 0.73286384 30.35089854] [ 0. 0. 0. 1. ]] SLAMing on 186.720371743 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:54.82, Y:33.81, Z:30.35 [[-7.07841390e-01 -3.15507867e-01 6.31993159e-01 5.48180918e+01] [ 1.97826629e-01 -9.47444991e-01 -2.51421190e-01 3.38125809e+01] [ 6.78104116e-01 -5.29412486e-02 7.33056636e-01 3.03505912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750371743 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:54.82, Y:33.81, Z:30.35 [[-7.05512113e-01 -3.18441804e-01 6.33125166e-01 5.48229005e+01] [ 2.01603132e-01 -9.46634549e-01 -2.51474069e-01 3.38072770e+01] [ 6.79418013e-01 -4.97779853e-02 7.32061006e-01 3.03464682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780371743 meters Centerline goodness : 0.991754 Centerline is valid? [True, True] Translation: X:54.82, Y:33.80, Z:30.35 [[-7.05428493e-01 -3.19474070e-01 6.32698158e-01 5.48198251e+01] [ 2.03550172e-01 -9.46367713e-01 -2.50909303e-01 3.38024953e+01] [ 6.78924126e-01 -4.82127525e-02 7.32623752e-01 3.03462088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810371743 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:54.83, Y:33.80, Z:30.34 [[-7.03694603e-01 -3.22011568e-01 6.33342290e-01 5.48251134e+01] [ 2.07032247e-01 -9.45649308e-01 -2.50768888e-01 3.37970867e+01] [ 6.79670181e-01 -4.53424361e-02 7.32115092e-01 3.03412110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840371743 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:54.83, Y:33.79, Z:30.34 [[-7.01613297e-01 -3.25955951e-01 6.33633569e-01 5.48298152e+01] [ 2.12574289e-01 -9.44493216e-01 -2.50488996e-01 3.37877459e+01] [ 6.80110986e-01 -4.10522045e-02 7.31958854e-01 3.03352925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870371743 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:54.83, Y:33.78, Z:30.33 [[-7.01402899e-01 -3.26987386e-01 6.33335001e-01 5.48328877e+01] [ 2.14459024e-01 -9.44202370e-01 -2.49978422e-01 3.37819377e+01] [ 6.79736199e-01 -3.95111838e-02 7.32391675e-01 3.03316212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900371743 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:54.84, Y:33.77, Z:30.33 [[-7.00263007e-01 -3.29499960e-01 6.33294163e-01 5.48350274e+01] [ 2.18223445e-01 -9.43447249e-01 -2.49571265e-01 3.37725005e+01] [ 6.79713358e-01 -3.65658901e-02 7.32565824e-01 3.03293331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930371743 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:54.83, Y:33.77, Z:30.33 [[-6.99710728e-01 -3.29937307e-01 6.33676787e-01 5.48341077e+01] [ 2.19009828e-01 -9.43328368e-01 -2.49331676e-01 3.37689836e+01] [ 6.80029111e-01 -3.56786044e-02 7.32316493e-01 3.03293529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96037174299997 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:54.84, Y:33.77, Z:30.33 [[-6.98928903e-01 -3.30680527e-01 6.34152014e-01 5.48356564e+01] [ 2.20170560e-01 -9.43111896e-01 -2.49128233e-01 3.37657160e+01] [ 6.80458164e-01 -3.45013183e-02 7.31974280e-01 3.03274714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99037174299997 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:54.85, Y:33.76, Z:30.31 [[-6.96702680e-01 -3.37397846e-01 6.33062452e-01 5.48473632e+01] [ 2.30325264e-01 -9.40975184e-01 -2.48024142e-01 3.37613923e+01] [ 6.79378869e-01 -2.69888081e-02 7.33291181e-01 3.03130524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02037174299997 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:54.85, Y:33.76, Z:30.30 [[-6.96617649e-01 -3.47740595e-01 6.27535122e-01 5.48512596e+01] [ 2.29928067e-01 -9.36757671e-01 -2.63852516e-01 3.37647140e+01] [ 6.79600570e-01 -3.95163819e-02 7.32517249e-01 3.03044065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05037174299997 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:54.84, Y:33.76, Z:30.32 [[-6.98764502e-01 -3.39264535e-01 6.29783888e-01 5.48353897e+01] [ 2.20844335e-01 -9.39688545e-01 -2.61176602e-01 3.37616468e+01] [ 6.80408664e-01 -4.34167344e-02 7.31545649e-01 3.03198404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08037174299997 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:54.84, Y:33.75, Z:30.32 [[-6.98270880e-01 -3.30397311e-01 6.35023933e-01 5.48379013e+01] [ 2.20439539e-01 -9.43249208e-01 -2.48369365e-01 3.37525086e+01] [ 6.81046392e-01 -3.34447115e-02 7.31476085e-01 3.03201912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11037174299997 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:54.84, Y:33.75, Z:30.32 [[-6.98410695e-01 -3.29740809e-01 6.35211382e-01 5.48424916e+01] [ 2.19836210e-01 -9.43473391e-01 -2.48052418e-01 3.37482610e+01] [ 6.81098041e-01 -3.35999995e-02 7.31420876e-01 3.03153390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14037174299997 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:54.86, Y:33.74, Z:30.30 [[-6.96343410e-01 -3.34800298e-01 6.34834322e-01 5.48575687e+01] [ 2.32112021e-01 -9.42048016e-01 -2.42217970e-01 3.37437058e+01] [ 6.79139062e-01 -2.13142095e-02 7.33700102e-01 3.02983573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17037174299998 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:54.84, Y:33.75, Z:30.31 [[-6.97028537e-01 -3.44070084e-01 6.29100148e-01 5.48427241e+01] [ 2.20906138e-01 -9.37721182e-01 -2.68103456e-01 3.37532611e+01] [ 6.82166913e-01 -4.79036753e-02 7.29625617e-01 3.03086101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20037174299998 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:54.84, Y:33.74, Z:30.31 [[-6.96894672e-01 -3.30059838e-01 6.36708975e-01 5.48445043e+01] [ 2.20411536e-01 -9.43405432e-01 -2.47800212e-01 3.37387479e+01] [ 6.82463604e-01 -3.23526443e-02 7.30203215e-01 3.03123263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23037174299998 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:54.85, Y:33.74, Z:30.31 [[-6.97341536e-01 -3.29674719e-01 6.36419172e-01 5.48455398e+01] [ 2.20375922e-01 -9.43545293e-01 -2.47298875e-01 3.37366978e+01] [ 6.82018501e-01 -3.22003152e-02 7.30625694e-01 3.03121479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26037174299998 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:54.85, Y:33.73, Z:30.31 [[-6.97435620e-01 -3.29773594e-01 6.36264829e-01 5.48493070e+01] [ 2.20937467e-01 -9.43531459e-01 -2.46850201e-01 3.37347181e+01] [ 6.81740560e-01 -3.15873836e-02 7.30911791e-01 3.03098607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29037174299998 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:54.85, Y:33.73, Z:30.31 [[-6.99652935e-01 -3.27564764e-01 6.34970154e-01 5.48496676e+01] [ 2.18857821e-01 -9.44248086e-01 -2.45960986e-01 3.37319417e+01] [ 6.80137505e-01 -3.31191414e-02 7.32336055e-01 3.03098393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32037174299998 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:54.85, Y:33.73, Z:30.31 [[-7.00224157e-01 -3.26320232e-01 6.34981288e-01 5.48507131e+01] [ 2.17533711e-01 -9.44653727e-01 -2.45577730e-01 3.37308844e+01] [ 6.79974422e-01 -3.38296233e-02 7.32455010e-01 3.03083207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35037174299998 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:54.85, Y:33.73, Z:30.31 [[-7.00196616e-01 -3.24453944e-01 6.35967245e-01 5.48507121e+01] [ 2.14959365e-01 -9.45244815e-01 -2.45570176e-01 3.37296146e+01] [ 6.80820953e-01 -3.52402905e-02 7.31601634e-01 3.03078159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38037174299998 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:54.85, Y:33.73, Z:30.31 [[-7.00179831e-01 -3.22899586e-01 6.36776305e-01 5.48509782e+01] [ 2.12878681e-01 -9.45735560e-01 -2.45493214e-01 3.37276668e+01] [ 6.81491652e-01 -3.63332972e-02 7.30923402e-01 3.03073710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41037174299998 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:54.85, Y:33.73, Z:30.31 [[-6.99435649e-01 -3.22252219e-01 6.37921061e-01 5.48509072e+01] [ 2.11879227e-01 -9.45946837e-01 -2.45543834e-01 3.37273536e+01] [ 6.82566455e-01 -3.65798893e-02 7.29907491e-01 3.03080272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440371743 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:54.87, Y:33.72, Z:30.29 [[-7.04246617e-01 -3.16192343e-01 6.35656436e-01 5.48666315e+01] [ 2.27813396e-01 -9.48644889e-01 -2.19485604e-01 3.37177800e+01] [ 6.72411896e-01 -9.76094277e-03 7.40112806e-01 3.02881899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470371743 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.27 [[-7.07743247e-01 -3.41160223e-01 6.18634948e-01 5.48709651e+01] [ 2.31468608e-01 -9.39315392e-01 -2.53197310e-01 3.37321696e+01] [ 6.67474179e-01 -3.60041166e-02 7.43762007e-01 3.02711930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500371743 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:54.85, Y:33.75, Z:30.29 [[-0.70272653 -0.35284282 0.61780043 54.85271515] [ 0.20864897 -0.93238169 -0.29517788 33.74573139] [ 0.6801772 -0.07852591 0.72882965 30.29097924] [ 0. 0. 0. 1. ]] SLAMing on 187.530371743 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:54.85, Y:33.72, Z:30.31 [[-7.01403187e-01 -3.18599943e-01 6.37595205e-01 5.48544896e+01] [ 2.07896544e-01 -9.47087733e-01 -2.44548263e-01 3.37214728e+01] [ 6.81771660e-01 -3.89730917e-02 7.30526182e-01 3.03050170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560371743 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:54.87, Y:33.72, Z:30.28 [[-7.04173928e-01 -3.17957423e-01 6.34856012e-01 5.48718813e+01] [ 2.23431245e-01 -9.47935016e-01 -2.26931012e-01 3.37156437e+01] [ 6.73956643e-01 -1.79522330e-02 7.38552747e-01 3.02849836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590371743 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:54.86, Y:33.73, Z:30.29 [[-0.7040404 -0.33875274 0.62415839 54.85633233] [ 0.20479263 -0.93840666 -0.27830363 33.73455568] [ 0.67999051 -0.06811396 0.73005027 30.2917712 ] [ 0. 0. 0. 1. ]] SLAMing on 187.620371743 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:54.87, Y:33.72, Z:30.28 [[-7.00699117e-01 -3.21590289e-01 6.36867674e-01 5.48743193e+01] [ 2.16456387e-01 -9.46399396e-01 -2.39739057e-01 3.37180379e+01] [ 6.79828934e-01 -3.01308697e-02 7.32751493e-01 3.02841064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650371743 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:54.88, Y:33.72, Z:30.27 [[-7.05300615e-01 -3.26705051e-01 6.29138182e-01 5.48769746e+01] [ 2.19918593e-01 -9.44525608e-01 -2.43940954e-01 3.37204870e+01] [ 6.73933865e-01 -3.36925210e-02 7.38023007e-01 3.02740537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680371743 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:54.86, Y:33.74, Z:30.29 [[-0.70426495 -0.33830514 0.62414782 54.85590612] [ 0.2011637 -0.93822139 -0.28155602 33.73573181] [ 0.68084069 -0.07273415 0.72881116 30.29071784] [ 0. 0. 0. 1. ]] SLAMing on 187.71037174299997 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:54.86, Y:33.72, Z:30.30 [[-7.02317865e-01 -3.11509680e-01 6.40086975e-01 5.48609771e+01] [ 1.98767664e-01 -9.49221847e-01 -2.43863284e-01 3.37157408e+01] [ 6.83550314e-01 -4.40409482e-02 7.28573513e-01 3.02979773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74037174299997 meters Centerline goodness : 0.992581 Centerline is valid? [True, True] Translation: X:54.87, Y:33.72, Z:30.28 [[-7.02177575e-01 -3.15383791e-01 6.38341380e-01 5.48741140e+01] [ 2.11265498e-01 -9.48457681e-01 -2.36209478e-01 3.37151580e+01] [ 6.79936426e-01 -3.10014886e-02 7.32615428e-01 3.02836293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77037174299997 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:54.88, Y:33.72, Z:30.27 [[-7.06176035e-01 -3.24894762e-01 6.29093634e-01 5.48764493e+01] [ 2.13608732e-01 -9.44865897e-01 -2.48192963e-01 3.37214106e+01] [ 6.75045715e-01 -4.08880292e-02 7.36642011e-01 3.02726890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80037174299997 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.27 [[-7.09328308e-01 -3.28145052e-01 6.23838261e-01 5.48742437e+01] [ 2.13768340e-01 -9.43493845e-01 -2.53224131e-01 3.37260058e+01] [ 6.71681805e-01 -4.62621751e-02 7.39393916e-01 3.02700008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83037174299997 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:54.88, Y:33.72, Z:30.26 [[-7.16421518e-01 -3.24675778e-01 6.17515869e-01 5.48775415e+01] [ 2.19681815e-01 -9.45072195e-01 -2.42029846e-01 3.37236205e+01] [ 6.62178306e-01 -3.77383831e-02 7.48395420e-01 3.02607724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86037174299997 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:54.88, Y:33.73, Z:30.26 [[-0.71675256 -0.33471234 0.61174621 54.87823197] [ 0.21420737 -0.94053871 -0.26363258 33.73243989] [ 0.66361207 -0.05791878 0.74583138 30.25617475] [ 0. 0. 0. 1. ]] SLAMing on 187.89037174299997 meters Centerline goodness : 0.991985 Centerline is valid? [True, True] Translation: X:54.88, Y:33.74, Z:30.26 [[-0.71588459 -0.34011822 0.6097777 54.87677135] [ 0.20836327 -0.93760596 -0.27835196 33.73821977] [ 0.66640378 -0.07221261 0.74208581 30.25625445] [ 0. 0. 0. 1. ]] SLAMing on 187.92037174299998 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.27 [[-7.17810126e-01 -3.18693777e-01 6.19017689e-01 5.48709070e+01] [ 2.07606076e-01 -9.46615552e-01 -2.46614507e-01 3.37266620e+01] [ 6.64566279e-01 -4.85105570e-02 7.45652993e-01 3.02692270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95037174299998 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.27 [[-7.18218639e-01 -3.23475822e-01 6.16056312e-01 5.48717834e+01] [ 2.07510527e-01 -9.44656600e-01 -2.54093073e-01 3.37299122e+01] [ 6.64154626e-01 -5.46562109e-02 7.45594616e-01 3.02661966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98037174299998 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:54.88, Y:33.73, Z:30.26 [[-7.18756289e-01 -3.16831068e-01 6.18875974e-01 5.48751601e+01] [ 2.04242269e-01 -9.47077482e-01 -2.47647608e-01 3.37251166e+01] [ 6.64585955e-01 -5.15976424e-02 7.45428193e-01 3.02625462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01037174299998 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.27 [[-0.72129906 -0.31781127 0.61540528 54.87029687] [ 0.20372632 -0.94655841 -0.25004551 33.7279417 ] [ 0.66198433 -0.05498333 0.74749822 30.26519966] [ 0. 0. 0. 1. ]] SLAMing on 188.04037174299998 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.27 [[-0.72415162 -0.32126912 0.61023814 54.86709752] [ 0.20349698 -0.94500686 -0.25602931 33.73143371] [ 0.65893354 -0.06122242 0.74970554 30.26568355] [ 0. 0. 0. 1. ]] SLAMing on 188.07037174299998 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.26 [[-0.72296993 -0.32510935 0.60960511 54.87162247] [ 0.20037107 -0.94310563 -0.26533603 33.73142393] [ 0.66118523 -0.06968275 0.74697952 30.26230659] [ 0. 0. 0. 1. ]] SLAMing on 188.10037174299998 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.26 [[-0.72356264 -0.32247842 0.61029892 54.8712071 ] [ 0.19957828 -0.94413424 -0.26225759 33.72954829] [ 0.66077652 -0.06795738 0.74749995 30.26320784] [ 0. 0. 0. 1. ]] SLAMing on 188.13037174299998 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:54.87, Y:33.73, Z:30.27 [[-0.72345369 -0.31847031 0.61252871 54.86926404] [ 0.19891291 -0.94577379 -0.25679873 33.72642495] [ 0.66109637 -0.06394212 0.7475714 30.26638688] [ 0. 0. 0. 1. ]] SLAMing on 188.16037174299998 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:54.87, Y:33.72, Z:30.26 [[-0.72243386 -0.31988048 0.61299738 54.87473465] [ 0.19750603 -0.94508203 -0.26040609 33.72371011] [ 0.66263163 -0.0670555 0.74593758 30.2612856 ] [ 0. 0. 0. 1. ]] SLAMing on 188.190371743 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:54.87, Y:33.72, Z:30.27 [[-0.71382417 -0.32725527 0.61915995 54.86897396] [ 0.17836652 -0.93990382 -0.29114634 33.72483868] [ 0.67722998 -0.09738989 0.72929745 30.27232898] [ 0. 0. 0. 1. ]] SLAMing on 188.220371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:54.87, Y:33.69, Z:30.28 [[-7.18455663e-01 -2.83517392e-01 6.35168756e-01 5.48712105e+01] [ 1.97284768e-01 -9.58718822e-01 -2.04785107e-01 3.36945413e+01] [ 6.67008381e-01 -2.18198987e-02 7.44730630e-01 3.02814878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250371743 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:54.87, Y:33.71, Z:30.27 [[-0.71310918 -0.32663864 0.62030838 54.87327156] [ 0.18216602 -0.94076559 -0.28596443 33.7145504 ] [ 0.67697181 -0.09092475 0.73037104 30.26753739] [ 0. 0. 0. 1. ]] SLAMing on 188.280371743 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:54.88, Y:33.69, Z:30.28 [[-7.10070959e-01 -2.96669493e-01 6.38581588e-01 5.48775326e+01] [ 1.84036625e-01 -9.53577742e-01 -2.38369482e-01 3.36903618e+01] [ 6.79654142e-01 -5.17368459e-02 7.31705915e-01 3.02784094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310371743 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:54.88, Y:33.67, Z:30.27 [[-7.22936481e-01 -2.74217931e-01 6.34166674e-01 5.48784835e+01] [ 2.10520201e-01 -9.61646358e-01 -1.75833808e-01 3.36716909e+01] [ 6.58060855e-01 6.38822163e-03 7.52937648e-01 3.02738695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340371743 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:54.88, Y:33.71, Z:30.24 [[-7.26088587e-01 -3.29873967e-01 6.03306332e-01 5.48774247e+01] [ 2.16722627e-01 -9.42477186e-01 -2.54495691e-01 3.37064870e+01] [ 6.52553957e-01 -5.40362840e-02 7.55813081e-01 3.02448042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370371743 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:54.88, Y:33.71, Z:30.25 [[-0.71262387 -0.34768855 0.60932741 54.87614044] [ 0.18956734 -0.93167308 -0.30991852 33.7141806 ] [ 0.67544907 -0.10534676 0.72984287 30.25187495] [ 0. 0. 0. 1. ]] SLAMing on 188.400371743 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:54.88, Y:33.67, Z:30.26 [[-7.16960014e-01 -2.90801842e-01 6.33563435e-01 5.48827669e+01] [ 2.08485436e-01 -9.56686829e-01 -2.03184976e-01 3.36722949e+01] [ 6.65208359e-01 -1.35867538e-02 7.46534151e-01 3.02640093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430371743 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:54.88, Y:33.69, Z:30.25 [[-7.18287711e-01 -3.18076614e-01 6.18781085e-01 5.48786288e+01] [ 2.11342098e-01 -9.47102716e-01 -2.41518037e-01 3.36889292e+01] [ 6.62870486e-01 -4.27049451e-02 7.47515221e-01 3.02525123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46037174299997 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:54.89, Y:33.69, Z:30.24 [[-7.18374807e-01 -3.24848839e-01 6.15151093e-01 5.48857753e+01] [ 2.16297312e-01 -9.44747146e-01 -2.46309363e-01 3.36858158e+01] [ 6.61175551e-01 -4.38869135e-02 7.48946480e-01 3.02397848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49037174299997 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:54.88, Y:33.69, Z:30.24 [[-7.18321378e-01 -3.29639563e-01 6.12659903e-01 5.48840229e+01] [ 2.16472386e-01 -9.42810978e-01 -2.53470247e-01 3.36882316e+01] [ 6.61176303e-01 -4.94491461e-02 7.48599144e-01 3.02384875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52037174299997 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:54.89, Y:33.68, Z:30.23 [[-7.19923876e-01 -3.27682890e-01 6.11828029e-01 5.48900926e+01] [ 2.20102464e-01 -9.43817968e-01 -2.46500607e-01 3.36815793e+01] [ 6.58228318e-01 -4.27968156e-02 7.51600901e-01 3.02316279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55037174299997 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:54.89, Y:33.69, Z:30.23 [[-7.19103031e-01 -3.34863976e-01 6.08898142e-01 5.48900131e+01] [ 2.18299958e-01 -9.40733980e-01 -2.59547120e-01 3.36855748e+01] [ 6.59724153e-01 -5.37186819e-02 7.49585448e-01 3.02293705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58037174299997 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:54.89, Y:33.68, Z:30.23 [[-7.20943134e-01 -3.27930567e-01 6.10493686e-01 5.48919972e+01] [ 2.19841260e-01 -9.43673474e-01 -2.47285653e-01 3.36792775e+01] [ 6.57199222e-01 -4.40671928e-02 7.52427581e-01 3.02293936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61037174299997 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:54.89, Y:33.68, Z:30.23 [[-0.71922798 -0.33532834 0.60849488 54.89228772] [ 0.21576826 -0.94031586 -0.26315421 33.68419469] [ 0.66042045 -0.05797399 0.74865469 30.22626171] [ 0. 0. 0. 1. ]] SLAMing on 188.64037174299997 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:54.89, Y:33.68, Z:30.23 [[-7.18784289e-01 -3.28428397e-01 6.12767439e-01 5.48931416e+01] [ 2.13868191e-01 -9.43098777e-01 -2.54607726e-01 3.36789536e+01] [ 6.61520629e-01 -5.19565693e-02 7.48124971e-01 3.02289313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67037174299998 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:54.89, Y:33.68, Z:30.23 [[-7.20156328e-01 -3.24056531e-01 6.13483682e-01 5.48924411e+01] [ 2.12741470e-01 -9.44766219e-01 -2.49314777e-01 3.36770449e+01] [ 6.60390740e-01 -4.90321943e-02 7.49319634e-01 3.02295722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70037174299998 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:54.89, Y:33.68, Z:30.23 [[-0.71919588 -0.32779418 0.61262408 54.89051766] [ 0.20620068 -0.94268994 -0.26232988 33.68190433] [ 0.66350476 -0.06234307 0.7455701 30.23076154] [ 0. 0. 0. 1. ]] SLAMing on 188.73037174299998 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:54.90, Y:33.67, Z:30.23 [[-7.21434747e-01 -3.13821338e-01 6.17290916e-01 5.48973099e+01] [ 2.06786891e-01 -9.48375218e-01 -2.40465439e-01 3.36703601e+01] [ 6.60886592e-01 -4.58324538e-02 7.49084974e-01 3.02284596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76037174299998 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:54.90, Y:33.67, Z:30.22 [[-0.72246785 -0.31933058 0.61324398 54.8984416 ] [ 0.20509105 -0.94601309 -0.25099182 33.67414529] [ 0.6602862 -0.05556267 0.74895589 30.22347865] [ 0. 0. 0. 1. ]] SLAMing on 188.79037174299998 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:54.90, Y:33.68, Z:30.22 [[-0.72154761 -0.32401672 0.61186781 54.89719543] [ 0.19894408 -0.94349498 -0.26502543 33.67811679] [ 0.66316688 -0.06950099 0.74523775 30.22325039] [ 0. 0. 0. 1. ]] SLAMing on 188.82037174299998 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:54.90, Y:33.67, Z:30.23 [[-7.24088555e-01 -3.04084280e-01 6.19054534e-01 5.48953391e+01] [ 2.00201629e-01 -9.51583510e-01 -2.33255505e-01 3.36650542e+01] [ 6.60011418e-01 -4.49619155e-02 7.49908897e-01 3.02312212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85037174299998 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:54.89, Y:33.67, Z:30.23 [[-0.72545364 -0.31537484 0.61176444 54.8918915 ] [ 0.20075314 -0.94714978 -0.25021088 33.67426427] [ 0.65834276 -0.05870276 0.75042574 30.22756083] [ 0. 0. 0. 1. ]] SLAMing on 188.88037174299998 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:54.89, Y:33.68, Z:30.23 [[-0.72619857 -0.3198086 0.60857054 54.88879378] [ 0.20053812 -0.94525606 -0.25744019 33.67661996] [ 0.65758657 -0.0649111 0.75057741 30.2286591 ] [ 0. 0. 0. 1. ]] SLAMing on 188.91037174299998 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:54.89, Y:33.67, Z:30.23 [[-0.72607059 -0.31319139 0.61215411 54.88752329] [ 0.20006348 -0.94795508 -0.24770095 33.67108049] [ 0.65787241 -0.0573787 0.75094046 30.23306907] [ 0. 0. 0. 1. ]] SLAMing on 188.940371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:54.89, Y:33.67, Z:30.23 [[-0.72390444 -0.32006462 0.61116365 54.89460405] [ 0.19951659 -0.94514271 -0.25864724 33.67003288] [ 0.66042069 -0.0652986 0.7480512 30.22569337] [ 0. 0. 0. 1. ]] SLAMing on 188.970371743 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:54.89, Y:33.66, Z:30.23 [[-0.72329822 -0.31158604 0.6162417 54.89010129] [ 0.1991172 -0.94861451 -0.24593261 33.66453533] [ 0.66120499 -0.0551783 0.74817332 30.23467004] [ 0. 0. 0. 1. ]] SLAMing on 189.000371743 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:54.89, Y:33.66, Z:30.23 [[-7.24213250e-01 -3.09769103e-01 6.16083007e-01 5.48947243e+01] [ 2.00603989e-01 -9.49423990e-01 -2.41561851e-01 3.36605053e+01] [ 6.59752384e-01 -5.13535843e-02 7.49726351e-01 3.02303831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:54.89, Y:33.67, Z:30.23 [[-0.72195746 -0.31609142 0.615519 54.89086344] [ 0.19821554 -0.94675558 -0.25370155 33.66535585] [ 0.66293893 -0.0611563 0.74617148 30.23155228] [ 0. 0. 0. 1. ]] SLAMing on 189.060371743 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:54.89, Y:33.66, Z:30.24 [[-0.71990773 -0.31109886 0.62044367 54.88996224] [ 0.19563133 -0.94862831 -0.24866186 33.66185478] [ 0.66592885 -0.05763537 0.74378554 30.2365089 ] [ 0. 0. 0. 1. ]] SLAMing on 189.090371743 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:54.90, Y:33.66, Z:30.23 [[-0.71857244 -0.30925371 0.62290913 54.90274749] [ 0.19436686 -0.94930136 -0.24707985 33.65607567] [ 0.66773885 -0.05647188 0.74225047 30.22552228] [ 0. 0. 0. 1. ]] SLAMing on 189.120371743 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:54.90, Y:33.65, Z:30.23 [[-7.17338711e-01 -2.99979753e-01 6.28838072e-01 5.49035439e+01] [ 1.94627219e-01 -9.52910227e-01 -2.32556110e-01 3.36468312e+01] [ 6.68988355e-01 -4.44324948e-02 7.41943620e-01 3.02299784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150371743 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:54.91, Y:33.65, Z:30.22 [[-0.71824883 -0.31199232 0.62191592 54.90952598] [ 0.19490621 -0.94826415 -0.25061261 33.65223645] [ 0.66792978 -0.05878694 0.74189885 30.21681911] [ 0. 0. 0. 1. ]] SLAMing on 189.180371743 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:54.91, Y:33.64, Z:30.22 [[-7.17573204e-01 -2.97267901e-01 6.29857518e-01 5.49110928e+01] [ 1.95169821e-01 -9.53931245e-01 -2.27868210e-01 3.36397642e+01] [ 6.68578671e-01 -4.05829428e-02 7.42533222e-01 3.02231550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21037174299997 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:54.91, Y:33.65, Z:30.22 [[-0.7167028 -0.31048933 0.62444653 54.9082311 ] [ 0.1938409 -0.94882825 -0.24930033 33.64840045] [ 0.6698976 -0.05763097 0.7402134 30.21985483] [ 0. 0. 0. 1. ]] SLAMing on 189.24037174299997 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:54.91, Y:33.64, Z:30.22 [[-7.16303116e-01 -3.05872531e-01 6.27177679e-01 5.49066870e+01] [ 1.93064564e-01 -9.50593427e-01 -2.43101235e-01 3.36445951e+01] [ 6.70548969e-01 -5.30483868e-02 7.39966181e-01 3.02239630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27037174299997 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:54.90, Y:33.64, Z:30.23 [[-7.16804513e-01 -3.03421339e-01 6.27795175e-01 5.49030882e+01] [ 1.93079562e-01 -9.51522175e-01 -2.39428140e-01 3.36425885e+01] [ 6.70008637e-01 -5.04087540e-02 7.40639848e-01 3.02276669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30037174299997 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:54.91, Y:33.64, Z:30.22 [[-0.71617258 -0.30699546 0.62677797 54.9086086 ] [ 0.19249548 -0.95011417 -0.24541505 33.63882769] [ 0.67085194 -0.05510761 0.73954095 30.220508 ] [ 0. 0. 0. 1. ]] SLAMing on 189.33037174299997 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:54.89, Y:33.64, Z:30.24 [[-7.18294514e-01 -2.99451426e-01 6.27998275e-01 5.48946804e+01] [ 1.94711695e-01 -9.53087600e-01 -2.31757163e-01 3.36370057e+01] [ 6.67937382e-01 -4.41912901e-02 7.42904290e-01 3.02354840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36037174299997 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:54.90, Y:33.64, Z:30.23 [[-7.18892112e-01 -3.05963396e-01 6.24163865e-01 5.48986804e+01] [ 1.94427683e-01 -9.50586589e-01 -2.42039281e-01 3.36368046e+01] [ 6.67376960e-01 -5.26453955e-02 7.42856955e-01 3.02284128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39037174299997 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:54.91, Y:33.63, Z:30.22 [[-7.20448431e-01 -3.03913968e-01 6.23370161e-01 5.49112551e+01] [ 1.95292687e-01 -9.51395855e-01 -2.38131673e-01 3.36297031e+01] [ 6.65443329e-01 -4.98219563e-02 7.44783827e-01 3.02162658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42037174299998 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:54.91, Y:33.63, Z:30.21 [[-7.21350807e-01 -3.03152443e-01 6.22697045e-01 5.49118318e+01] [ 1.94933800e-01 -9.51633776e-01 -2.37474147e-01 3.36280121e+01] [ 6.64570407e-01 -4.99174669e-02 7.45556450e-01 3.02149027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45037174299998 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:54.90, Y:33.64, Z:30.23 [[-0.72047402 -0.30888611 0.62089174 54.8967958 ] [ 0.19149385 -0.94912785 -0.24997284 33.63544189] [ 0.66651878 -0.06120199 0.74297175 30.2251977 ] [ 0. 0. 0. 1. ]] SLAMing on 189.48037174299998 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:54.90, Y:33.63, Z:30.23 [[-7.19759166e-01 -3.00141541e-01 6.25988657e-01 5.49014885e+01] [ 1.88649233e-01 -9.52339926e-01 -2.39708430e-01 3.36269538e+01] [ 6.68100449e-01 -5.44400598e-02 7.42076862e-01 3.02250197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51037174299998 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:54.91, Y:33.62, Z:30.21 [[-7.20190360e-01 -2.98879586e-01 6.26096509e-01 5.49128333e+01] [ 1.88327807e-01 -9.52782279e-01 -2.38198585e-01 3.36213971e+01] [ 6.67726353e-01 -5.36369427e-02 7.42471950e-01 3.02135725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54037174299998 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:54.91, Y:33.62, Z:30.21 [[-0.72116883 -0.29762706 0.62556667 54.9145676 ] [ 0.18566349 -0.95300964 -0.23937774 33.61945155] [ 0.66741636 -0.05648688 0.74253932 30.20953443] [ 0. 0. 0. 1. ]] SLAMing on 189.57037174299998 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:54.92, Y:33.62, Z:30.21 [[-7.22327124e-01 -2.95340551e-01 6.25313910e-01 5.49168185e+01] [ 1.85438849e-01 -9.53823656e-01 -2.36289792e-01 3.36166467e+01] [ 6.66225157e-01 -5.47210341e-02 7.43740310e-01 3.02063832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60037174299998 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:54.92, Y:33.62, Z:30.20 [[-0.72270636 -0.2965105 0.62432126 54.91899507] [ 0.18334281 -0.95318555 -0.24046356 33.61612444] [ 0.66639397 -0.05931973 0.74323633 30.20226492] [ 0. 0. 0. 1. ]] SLAMing on 189.63037174299998 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:54.92, Y:33.62, Z:30.20 [[-0.72363512 -0.29733132 0.62285335 54.91730113] [ 0.1814504 -0.95265898 -0.24396027 33.61615105] [ 0.66590387 -0.06352123 0.74332839 30.20045174] [ 0. 0. 0. 1. ]] SLAMing on 189.66037174299998 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:54.91, Y:33.62, Z:30.20 [[-0.72338064 -0.29587469 0.62384182 54.91490896] [ 0.17893728 -0.95299654 -0.24449755 33.61541066] [ 0.66685973 -0.06523624 0.74232226 30.20265322] [ 0. 0. 0. 1. ]] SLAMing on 189.690371743 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:54.91, Y:33.61, Z:30.20 [[-0.72404049 -0.29291854 0.62447106 54.91262555] [ 0.17681294 -0.95391685 -0.2424455 33.61195594] [ 0.66671025 -0.06512579 0.74246621 30.20431281] [ 0. 0. 0. 1. ]] SLAMing on 189.720371743 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:54.92, Y:33.61, Z:30.20 [[-0.72478954 -0.29188249 0.62408712 54.91881451] [ 0.17621428 -0.95423163 -0.24164133 33.60791104] [ 0.66605454 -0.06516605 0.74305097 30.19745684] [ 0. 0. 0. 1. ]] SLAMing on 189.750371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:54.92, Y:33.61, Z:30.20 [[-0.72536764 -0.29112959 0.62376706 54.91620511] [ 0.1750318 -0.95438455 -0.24189667 33.60770483] [ 0.66573692 -0.06628494 0.74323661 30.19887902] [ 0. 0. 0. 1. ]] SLAMing on 189.780371743 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:54.91, Y:33.61, Z:30.20 [[-0.72562735 -0.29085631 0.62359247 54.91279318] [ 0.17344467 -0.95432013 -0.24329004 33.60848721] [ 0.66586928 -0.06837912 0.74292826 30.20136985] [ 0. 0. 0. 1. ]] SLAMing on 189.810371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:54.91, Y:33.61, Z:30.20 [[-0.72627502 -0.28914809 0.62363289 54.91260979] [ 0.17054028 -0.95465742 -0.24401892 33.6064958 ] [ 0.66591336 -0.07087032 0.74265523 30.2002957 ] [ 0. 0. 0. 1. ]] SLAMing on 189.840371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:54.91, Y:33.60, Z:30.20 [[-0.72627359 -0.28721782 0.6245259 54.91483381] [ 0.17015317 -0.95536763 -0.24149655 33.60464461] [ 0.66601394 -0.0691275 0.7427293 30.19929089] [ 0. 0. 0. 1. ]] SLAMing on 189.870371743 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:54.92, Y:33.60, Z:30.20 [[-0.72653632 -0.2854444 0.62503318 54.9197078 ] [ 0.16889502 -0.95591038 -0.24022869 33.60120164] [ 0.66604763 -0.06896988 0.74271374 30.19549193] [ 0. 0. 0. 1. ]] SLAMing on 189.900371743 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:54.90, Y:33.61, Z:30.21 [[-0.72568179 -0.28800117 0.62485299 54.89861265] [ 0.16567297 -0.95459826 -0.24757753 33.60979354] [ 0.6677862 -0.07614126 0.74044858 30.21430349] [ 0. 0. 0. 1. ]] SLAMing on 189.930371743 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:54.92, Y:33.60, Z:30.20 [[-0.72496929 -0.2826986 0.62809317 54.92208159] [ 0.16518833 -0.95663862 -0.23990698 33.59627221] [ 0.66867955 -0.07017153 0.74023213 30.19583661] [ 0. 0. 0. 1. ]] SLAMing on 189.96037174299997 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:54.92, Y:33.59, Z:30.20 [[-0.72635802 -0.28118904 0.62716565 54.91806536] [ 0.166033 -0.95724481 -0.23688694 33.59435596] [ 0.66696108 -0.06793453 0.7419891 30.19847603] [ 0. 0. 0. 1. ]] SLAMing on 189.99037174299997 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:54.91, Y:33.59, Z:30.21 [[-0.72841387 -0.27745521 0.62644381 54.91023372] [ 0.16992265 -0.95892533 -0.22713101 33.59296699] [ 0.66373152 -0.05899839 0.74564043 30.2060639 ] [ 0. 0. 0. 1. ]] SLAMing on 190.02037174299997 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:54.92, Y:33.59, Z:30.19 [[-0.7289566 -0.29035455 0.61993266 54.91788631] [ 0.17161728 -0.95418528 -0.24510806 33.59478109] [ 0.66269886 -0.07228199 0.74538952 30.18999901] [ 0. 0. 0. 1. ]] SLAMing on 190.05037174299997 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:54.90, Y:33.60, Z:30.21 [[-0.725382 -0.29233109 0.62318816 54.90326043] [ 0.16855544 -0.95321302 -0.25094622 33.59905092] [ 0.66739045 -0.07699011 0.74071756 30.20590963] [ 0. 0. 0. 1. ]] SLAMing on 190.08037174299997 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:54.91, Y:33.59, Z:30.20 [[-0.72393612 -0.28608618 0.6277509 54.91145766] [ 0.16989166 -0.95586735 -0.23969655 33.58716317] [ 0.66862045 -0.06687535 0.74059056 30.20147477] [ 0. 0. 0. 1. ]] SLAMing on 190.11037174299997 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:54.91, Y:33.59, Z:30.20 [[-0.72335859 -0.28841551 0.62735065 54.9142582 ] [ 0.16983448 -0.95498792 -0.24321661 33.58554196] [ 0.66925974 -0.06938706 0.73978162 30.19727876] [ 0. 0. 0. 1. ]] SLAMing on 190.14037174299997 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:54.91, Y:33.58, Z:30.21 [[-0.7235624 -0.28347153 0.62936582 54.90654607] [ 0.17099711 -0.95697361 -0.23443868 33.58337127] [ 0.66874318 -0.06201128 0.74090294 30.20718514] [ 0. 0. 0. 1. ]] SLAMing on 190.17037174299998 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:54.91, Y:33.58, Z:30.20 [[-0.72348086 -0.28669649 0.62799726 54.9078169 ] [ 0.17022403 -0.95568474 -0.24018836 33.58362832] [ 0.66902856 -0.06687146 0.74022226 30.20357106] [ 0. 0. 0. 1. ]] SLAMing on 190.20037174299998 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:54.90, Y:33.58, Z:30.21 [[-0.72300342 -0.28639518 0.62868423 54.90337577] [ 0.17063542 -0.95585846 -0.23920317 33.58229605] [ 0.66943978 -0.06566891 0.73995809 30.20752839] [ 0. 0. 0. 1. ]] SLAMing on 190.23037174299998 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:54.90, Y:33.58, Z:30.21 [[-0.72419403 -0.28615775 0.62742072 54.90330711] [ 0.17204495 -0.95604144 -0.23745588 33.58073668] [ 0.66779005 -0.06401957 0.7415915 30.20605174] [ 0. 0. 0. 1. ]] SLAMing on 190.26037174299998 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:54.90, Y:33.58, Z:30.21 [[-0.7224158 -0.28799652 0.6286282 54.90259882] [ 0.17194581 -0.95539814 -0.24010213 33.57865837] [ 0.66973879 -0.06536359 0.73971451 30.2063614 ] [ 0. 0. 0. 1. ]] SLAMing on 190.29037174299998 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:54.90, Y:33.57, Z:30.21 [[-0.72422775 -0.28409619 0.62831802 54.90313212] [ 0.17597069 -0.95716065 -0.22995176 33.57449029] [ 0.6667297 -0.05597189 0.7431949 30.2058588 ] [ 0. 0. 0. 1. ]] SLAMing on 190.32037174299998 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:54.91, Y:33.58, Z:30.19 [[-0.72315445 -0.29599036 0.62404915 54.90969446] [ 0.17609299 -0.95267319 -0.24780044 33.57890482] [ 0.66786144 -0.06930731 0.74105168 30.1923773 ] [ 0. 0. 0. 1. ]] SLAMing on 190.35037174299998 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:54.92, Y:33.56, Z:30.18 [[-7.22436540e-01 -2.88459159e-01 6.28392202e-01 5.49236748e+01] [ 1.79658086e-01 -9.55917075e-01 -2.32261745e-01 3.35648827e+01] [ 6.67688863e-01 -5.48986307e-02 7.42413444e-01 3.01848745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38037174299998 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:54.92, Y:33.57, Z:30.19 [[-0.72260667 -0.29516962 0.62507159 54.91780811] [ 0.1812455 -0.95351673 -0.24074037 33.56984364] [ 0.66707546 -0.06066918 0.74251571 30.18598785] [ 0. 0. 0. 1. ]] SLAMing on 190.41037174299998 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:54.92, Y:33.57, Z:30.19 [[-0.72184224 -0.2971918 0.62499666 54.91576373] [ 0.18234579 -0.95286234 -0.24249406 33.570241 ] [ 0.66760303 -0.06107695 0.74200796 30.18681021] [ 0. 0. 0. 1. ]] SLAMing on 190.440371743 meters Centerline goodness : 0.992342 Centerline is valid? [True, True] Translation: X:54.93, Y:33.56, Z:30.18 [[-0.72059981 -0.29924895 0.62544862 54.92767665] [ 0.18623801 -0.95245424 -0.24113549 33.56368383] [ 0.66787073 -0.05727989 0.74206988 30.17507013] [ 0. 0. 0. 1. ]] SLAMing on 190.470371743 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:54.91, Y:33.57, Z:30.20 [[-0.71930698 -0.30103572 0.62607904 54.90623582] [ 0.18668127 -0.95184417 -0.24319287 33.57070807] [ 0.66913943 -0.0580531 0.74086589 30.19529938] [ 0. 0. 0. 1. ]] SLAMing on 190.500371743 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:54.93, Y:33.56, Z:30.17 [[-0.71623551 -0.30408954 0.6281212 54.92915016] [ 0.18874197 -0.95093462 -0.24515265 33.56054945] [ 0.67185055 -0.0570342 0.7384876 30.17438519] [ 0. 0. 0. 1. ]] SLAMing on 190.530371743 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:54.94, Y:33.55, Z:30.17 [[-7.13458730e-01 -3.02753003e-01 6.31915547e-01 5.49405925e+01] [ 1.89283345e-01 -9.51583787e-01 -2.42198495e-01 3.35533042e+01] [ 6.74646911e-01 -5.31875417e-02 7.36221862e-01 3.01673794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560371743 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:54.95, Y:33.55, Z:30.16 [[-7.14167980e-01 -2.99916815e-01 6.32466600e-01 5.49473293e+01] [ 1.92827813e-01 -9.52891662e-01 -2.34125853e-01 3.35470507e+01] [ 6.72890430e-01 -4.52480358e-02 7.38357017e-01 3.01626516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590371743 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:54.95, Y:33.55, Z:30.16 [[-7.13457676e-01 -3.04189936e-01 6.31226288e-01 5.49454814e+01] [ 1.94598803e-01 -9.51433458e-01 -2.38549116e-01 3.35484841e+01] [ 6.73134051e-01 -4.73588182e-02 7.38002501e-01 3.01625105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620371743 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:54.95, Y:33.55, Z:30.16 [[-7.13080827e-01 -3.06874279e-01 6.30352212e-01 5.49465560e+01] [ 1.98661075e-01 -9.50706497e-01 -2.38098581e-01 3.35463832e+01] [ 6.72346273e-01 -4.45570848e-02 7.38894549e-01 3.01609995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650371743 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:54.97, Y:33.54, Z:30.14 [[-7.13283439e-01 -3.08352834e-01 6.29400720e-01 5.49652096e+01] [ 2.01955738e-01 -9.50355922e-01 -2.36722416e-01 3.35393086e+01] [ 6.71148729e-01 -4.17390925e-02 7.40146764e-01 3.01420314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680371743 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:54.95, Y:33.54, Z:30.15 [[-7.11724871e-01 -3.11556615e-01 6.29587312e-01 5.49549238e+01] [ 2.03075245e-01 -9.49250298e-01 -2.40175595e-01 3.35418011e+01] [ 6.72464239e-01 -4.30853472e-02 7.38874482e-01 3.01515191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71037174299997 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:54.96, Y:33.54, Z:30.15 [[-7.11524189e-01 -3.10654557e-01 6.30259529e-01 5.49564055e+01] [ 2.05672683e-01 -9.49752940e-01 -2.35940883e-01 3.35391503e+01] [ 6.71886952e-01 -3.82504773e-02 7.39665347e-01 3.01511723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74037174299997 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:54.92, Y:33.55, Z:30.18 [[-7.11617031e-01 -3.09542179e-01 6.30701864e-01 5.49215898e+01] [ 2.06187332e-01 -9.50193873e-01 -2.33705771e-01 3.35494892e+01] [ 6.71630840e-01 -3.62662718e-02 7.39997819e-01 3.01845088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77037174299997 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:54.97, Y:33.53, Z:30.14 [[-7.11800574e-01 -3.12465323e-01 6.29051163e-01 5.49682451e+01] [ 2.10171082e-01 -9.49314737e-01 -2.33729858e-01 3.35340911e+01] [ 6.70200015e-01 -3.41606839e-02 7.41393949e-01 3.01380413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80037174299997 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:54.96, Y:33.53, Z:30.14 [[-7.10317508e-01 -3.13381144e-01 6.30270813e-01 5.49625717e+01] [ 1.97116496e-01 -9.48156377e-01 -2.49288129e-01 3.35321099e+01] [ 6.75717489e-01 -5.28369484e-02 7.35264668e-01 3.01401115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83037174299997 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:54.98, Y:33.52, Z:30.14 [[-7.08962293e-01 -2.99396530e-01 6.38540668e-01 5.49754594e+01] [ 2.12723992e-01 -9.54028172e-01 -2.11136803e-01 3.35190353e+01] [ 6.72399412e-01 -1.38551118e-02 7.40058826e-01 3.01430533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86037174299997 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:54.96, Y:33.53, Z:30.14 [[-7.09488003e-01 -3.18293368e-01 6.28741684e-01 5.49647635e+01] [ 2.16170916e-01 -9.47474686e-01 -2.35715622e-01 3.35325896e+01] [ 6.70743549e-01 -3.13217397e-02 7.41027692e-01 3.01383970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89037174299997 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:54.98, Y:33.53, Z:30.12 [[-7.10317526e-01 -3.19614279e-01 6.27132940e-01 5.49785925e+01] [ 2.19100195e-01 -9.47098358e-01 -2.34520372e-01 3.35278138e+01] [ 6.68912638e-01 -2.91789809e-02 7.42768113e-01 3.01235734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92037174299998 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:54.98, Y:33.53, Z:30.12 [[-7.10438818e-01 -3.24243288e-01 6.24614262e-01 5.49831904e+01] [ 2.21319467e-01 -9.45445834e-01 -2.39060385e-01 3.35288186e+01] [ 6.68052677e-01 -3.15984820e-02 7.43442773e-01 3.01163082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95037174299998 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:54.98, Y:33.53, Z:30.12 [[-7.10461017e-01 -3.22673986e-01 6.25401185e-01 5.49808234e+01] [ 2.23798799e-01 -9.46146648e-01 -2.33924385e-01 3.35271720e+01] [ 6.67202549e-01 -2.62301218e-02 7.44414360e-01 3.01211544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98037174299998 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:54.99, Y:33.53, Z:30.11 [[-7.13335039e-01 -3.34081531e-01 6.16070331e-01 5.49855780e+01] [ 2.26207471e-01 -9.41773594e-01 -2.48782391e-01 3.35335640e+01] [ 6.63312371e-01 -3.81054852e-02 7.47371842e-01 3.01081437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01037174299998 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:54.98, Y:33.52, Z:30.12 [[-7.11482816e-01 -3.18815624e-01 6.26217853e-01 5.49825767e+01] [ 2.25294376e-01 -9.47604778e-01 -2.26467724e-01 3.35236264e+01] [ 6.65608478e-01 -2.00445334e-02 7.46031883e-01 3.01230480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04037174299998 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:54.98, Y:33.53, Z:30.12 [[-7.09465103e-01 -3.30545062e-01 6.22414033e-01 5.49841355e+01] [ 2.20335427e-01 -9.42944100e-01 -2.49617155e-01 3.35322330e+01] [ 6.69411358e-01 -3.99547989e-02 7.41816721e-01 3.01155577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07037174299998 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:54.98, Y:33.52, Z:30.13 [[-7.10058908e-01 -3.15275393e-01 6.29617164e-01 5.49814370e+01] [ 2.05068655e-01 -9.47991923e-01 -2.43429992e-01 3.35217653e+01] [ 6.73619473e-01 -4.37348895e-02 7.37783210e-01 3.01255803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10037174299998 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:55.00, Y:33.51, Z:30.13 [[-7.10953934e-01 -2.99796059e-01 6.36134284e-01 5.49952230e+01] [ 2.20211499e-01 -9.53992304e-01 -2.03483611e-01 3.35103678e+01] [ 6.67870795e-01 -4.58338931e-03 7.44263121e-01 3.01262597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13037174299998 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:54.98, Y:33.53, Z:30.12 [[-7.10862330e-01 -3.20476311e-01 6.26074821e-01 5.49804307e+01] [ 2.19668835e-01 -9.46791281e-01 -2.35227279e-01 3.35306706e+01] [ 6.68146953e-01 -2.96850847e-02 7.43436914e-01 3.01240069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16037174299998 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:54.97, Y:33.54, Z:30.14 [[-7.11113080e-01 -3.18939913e-01 6.26574433e-01 5.49652639e+01] [ 2.18644373e-01 -9.47317384e-01 -2.34060701e-01 3.35362576e+01] [ 6.68216152e-01 -2.94466515e-02 7.43384200e-01 3.01393364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190371743 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:54.99, Y:33.53, Z:30.11 [[-7.06922236e-01 -3.26314653e-01 6.27518685e-01 5.49909804e+01] [ 2.14908078e-01 -9.44365194e-01 -2.48975697e-01 3.35323065e+01] [ 6.73851223e-01 -4.11476221e-02 7.37720410e-01 3.01130350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220371743 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:54.99, Y:33.52, Z:30.12 [[-7.09625760e-01 -3.09603999e-01 6.32911245e-01 5.49949531e+01] [ 2.18226211e-01 -9.50690112e-01 -2.20376113e-01 3.35213634e+01] [ 6.69931789e-01 -1.82667440e-02 7.42197901e-01 3.01204061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250371743 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:54.99, Y:33.53, Z:30.11 [[-7.10867255e-01 -3.16895610e-01 6.27889257e-01 5.49940065e+01] [ 2.20173462e-01 -9.48138088e-01 -2.29254907e-01 3.35272815e+01] [ 6.67975593e-01 -2.47252555e-02 7.43772323e-01 3.01143489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280371743 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:55.00, Y:33.54, Z:30.10 [[-7.12573752e-01 -3.30124154e-01 6.19077290e-01 5.49964576e+01] [ 2.21772314e-01 -9.43124058e-01 -2.47657125e-01 3.35372751e+01] [ 6.65624285e-01 -3.91797638e-02 7.45257846e-01 3.01048349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:55.00, Y:33.53, Z:30.11 [[-7.07169417e-01 -3.26118358e-01 6.27342197e-01 5.49976961e+01] [ 2.17774632e-01 -9.44603331e-01 -2.45558052e-01 3.35329798e+01] [ 6.72670518e-01 -3.70319283e-02 7.39014892e-01 3.01114318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340371743 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:55.00, Y:33.52, Z:30.12 [[-7.04073028e-01 -3.08063850e-01 6.39826410e-01 5.50039578e+01] [ 2.20990904e-01 -9.51314381e-01 -2.14858020e-01 3.35186183e+01] [ 6.74866054e-01 -9.87991967e-03 7.37874106e-01 3.01229896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370371743 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:55.01, Y:33.52, Z:30.11 [[-7.07672577e-01 -3.16037445e-01 6.31917603e-01 5.50092486e+01] [ 2.26564795e-01 -9.48657264e-01 -2.20721065e-01 3.35231004e+01] [ 6.69229346e-01 -1.30279626e-02 7.42941690e-01 3.01103478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400371743 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:55.00, Y:33.53, Z:30.12 [[-7.08869885e-01 -3.21151473e-01 6.27985045e-01 5.50009791e+01] [ 2.30475462e-01 -9.46922583e-01 -2.24095254e-01 3.35297114e+01] [ 6.66621742e-01 -1.41192339e-02 7.45262437e-01 3.01151383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430371743 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:55.01, Y:33.54, Z:30.11 [[-7.06245152e-01 -3.31858421e-01 6.25370109e-01 5.50065172e+01] [ 2.29742611e-01 -9.42957328e-01 -2.40935284e-01 3.35365545e+01] [ 6.69653730e-01 -2.64852148e-02 7.42201061e-01 3.01071428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46037174299997 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:55.03, Y:33.53, Z:30.09 [[-7.11968987e-01 -3.29118220e-01 6.20307472e-01 5.50255749e+01] [ 2.38457879e-01 -9.44186582e-01 -2.27265347e-01 3.35299571e+01] [ 6.60483158e-01 -1.38886752e-02 7.50712397e-01 3.00890801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49037174299997 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:55.03, Y:33.53, Z:30.09 [[-7.08849197e-01 -3.24111773e-01 6.26485734e-01 5.50275911e+01] [ 2.35567747e-01 -9.45961730e-01 -2.22854756e-01 3.35270700e+01] [ 6.64861379e-01 -1.03905824e-02 7.46894493e-01 3.00929711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52037174299997 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:55.04, Y:33.54, Z:30.08 [[-7.10646994e-01 -3.37705965e-01 6.17199750e-01 5.50380428e+01] [ 2.38121931e-01 -9.40944023e-01 -2.40670504e-01 3.35368056e+01] [ 6.62026280e-01 -2.40629745e-02 7.49094238e-01 3.00752095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55037174299997 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:55.05, Y:33.52, Z:30.08 [[-7.11218655e-01 -3.18742828e-01 6.26554894e-01 5.50450933e+01] [ 2.40008635e-01 -9.47840475e-01 -2.09748158e-01 3.35239886e+01] [ 6.60729809e-01 1.20178235e-03 7.50622858e-01 3.00797617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58037174299997 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:55.02, Y:33.55, Z:30.10 [[-7.06468433e-01 -3.35981784e-01 6.22911386e-01 5.50186154e+01] [ 2.16857832e-01 -9.40563429e-01 -2.61367779e-01 3.35465434e+01] [ 6.73702482e-01 -4.95648730e-02 7.37338653e-01 3.00956000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61037174299997 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:55.05, Y:33.52, Z:30.09 [[-7.10911140e-01 -2.99708789e-01 6.36223226e-01 5.50474004e+01] [ 2.33816408e-01 -9.53912216e-01 -1.88099367e-01 3.35221359e+01] [ 6.63276140e-01 1.50374944e-02 7.48223653e-01 3.00918049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64037174299997 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:55.03, Y:33.55, Z:30.09 [[-7.11057794e-01 -3.28713020e-01 6.21566219e-01 5.50264219e+01] [ 2.30993669e-01 -9.44136012e-01 -2.35051305e-01 3.35520753e+01] [ 6.64107475e-01 -2.35572007e-02 7.47265896e-01 3.00915235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67037174299998 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:55.04, Y:33.55, Z:30.08 [[-7.12089624e-01 -3.26184109e-01 6.21717215e-01 5.50371603e+01] [ 2.30388336e-01 -9.45051881e-01 -2.31944297e-01 3.35499357e+01] [ 6.63211567e-01 -2.19287325e-02 7.48110652e-01 3.00829039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70037174299998 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:55.04, Y:33.55, Z:30.08 [[-7.10880874e-01 -3.26047445e-01 6.23170480e-01 5.50444378e+01] [ 2.28466101e-01 -9.45052349e-01 -2.33836048e-01 3.35503854e+01] [ 6.65170372e-01 -2.38562442e-02 7.46310429e-01 3.00784142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73037174299998 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:55.05, Y:33.55, Z:30.08 [[-7.15170214e-01 -3.12851741e-01 6.25024282e-01 5.50488447e+01] [ 2.32019613e-01 -9.49788197e-01 -2.09926843e-01 3.35454539e+01] [ 6.59316665e-01 -5.11553321e-03 7.51847968e-01 3.00808599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76037174299998 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:55.05, Y:33.56, Z:30.07 [[-7.15253188e-01 -3.29940519e-01 6.16078023e-01 5.50464515e+01] [ 2.32322728e-01 -9.43659298e-01 -2.35655001e-01 3.35578740e+01] [ 6.59119888e-01 -2.54240636e-02 7.51608003e-01 3.00714228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79037174299998 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:55.05, Y:33.56, Z:30.07 [[-7.13499845e-01 -3.36860878e-01 6.14363670e-01 5.50507397e+01] [ 2.30302776e-01 -9.40875064e-01 -2.48424529e-01 3.35642679e+01] [ 6.61723962e-01 -3.57612041e-02 7.48894208e-01 3.00658756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82037174299998 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:55.04, Y:33.56, Z:30.09 [[-7.07708495e-01 -3.28613444e-01 6.25429364e-01 5.50390618e+01] [ 2.08526628e-01 -9.42963486e-01 -2.59492794e-01 3.35634323e+01] [ 6.75029874e-01 -5.32265788e-02 7.35867923e-01 3.00877406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85037174299998 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:55.05, Y:33.55, Z:30.10 [[-7.06685253e-01 -2.97356023e-01 6.42008839e-01 5.50473086e+01] [ 2.08201367e-01 -9.54618225e-01 -2.12970033e-01 3.35458208e+01] [ 6.76201260e-01 -1.68356636e-02 7.36524552e-01 3.01028651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88037174299998 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:55.06, Y:33.54, Z:30.08 [[-7.14565169e-01 -2.91435677e-01 6.35973164e-01 5.50640296e+01] [ 2.29339731e-01 -9.56442963e-01 -1.80610481e-01 3.35419027e+01] [ 6.60908395e-01 1.67959556e-02 7.50278608e-01 3.00846186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91037174299998 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:55.05, Y:33.57, Z:30.08 [[-7.13445970e-01 -3.22873516e-01 6.21890297e-01 5.50507411e+01] [ 2.27318570e-01 -9.46161586e-01 -2.30444182e-01 3.35730729e+01] [ 6.62813033e-01 -2.30422599e-02 7.48430316e-01 3.00780844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940371743 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:55.05, Y:33.58, Z:30.08 [[-0.70815714 -0.32753379 0.62548787 55.04758017] [ 0.20455907 -0.94307243 -0.2622403 33.57881144] [ 0.67577293 -0.05775812 0.73484349 30.08194763] [ 0. 0. 0. 1. ]] SLAMing on 191.970371743 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:55.06, Y:33.56, Z:30.10 [[-7.07163800e-01 -2.93085759e-01 6.43443936e-01 5.50561566e+01] [ 2.02947863e-01 -9.55885545e-01 -2.12355810e-01 3.35569882e+01] [ 6.77297221e-01 -1.95847704e-02 7.35448783e-01 3.00964451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000371743 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:55.07, Y:33.55, Z:30.08 [[-7.13780071e-01 -2.86080518e-01 6.39277677e-01 5.50701244e+01] [ 2.21109901e-01 -9.58136344e-01 -1.81893260e-01 3.35539240e+01] [ 6.64551294e-01 1.15188398e-02 7.47153863e-01 3.00835107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030371743 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:55.05, Y:33.59, Z:30.08 [[-0.70979785 -0.31969847 0.62767818 55.05266116] [ 0.19616228 -0.94553716 -0.25976881 33.5874151 ] [ 0.67654074 -0.06125656 0.73385303 30.08221385] [ 0. 0. 0. 1. ]] SLAMing on 192.060371743 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:55.06, Y:33.57, Z:30.10 [[-7.09177247e-01 -2.85501425e-01 6.44636772e-01 5.50570206e+01] [ 1.93088885e-01 -9.58031280e-01 -2.11879089e-01 3.35678274e+01] [ 6.78073974e-01 -2.57876336e-02 7.34541138e-01 3.00987449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090371743 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:55.07, Y:33.57, Z:30.09 [[-7.16464369e-01 -2.77117654e-01 6.40222316e-01 5.50660261e+01] [ 2.09143499e-01 -9.60829191e-01 -1.81841312e-01 3.35661254e+01] [ 6.65535727e-01 3.61551460e-03 7.46357236e-01 3.00895904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:55.06, Y:33.59, Z:30.08 [[-7.18350579e-01 -3.04197282e-01 6.25648831e-01 5.50619779e+01] [ 2.04487615e-01 -9.51932912e-01 -2.28053823e-01 3.35932878e+01] [ 6.64949066e-01 -3.58851585e-02 7.46026135e-01 3.00753906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150371743 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:55.06, Y:33.60, Z:30.07 [[-7.17605811e-01 -3.05543456e-01 6.25847502e-01 5.50647393e+01] [ 1.99577697e-01 -9.51156001e-01 -2.35522834e-01 3.35974268e+01] [ 6.67241068e-01 -4.41073513e-02 7.43534733e-01 3.00727937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180371743 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:55.07, Y:33.60, Z:30.07 [[-7.20570565e-01 -2.93709428e-01 6.28102566e-01 5.50678238e+01] [ 1.95822217e-01 -9.55179430e-01 -2.22004313e-01 3.35967410e+01] [ 6.65155411e-01 -3.69733365e-02 7.45789013e-01 3.00720283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21037174299997 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:55.06, Y:33.61, Z:30.07 [[-7.20174686e-01 -2.97424137e-01 6.26807231e-01 5.50634039e+01] [ 1.90739078e-01 -9.53514886e-01 -2.33298021e-01 3.36050318e+01] [ 6.67058488e-01 -4.84586958e-02 7.43427689e-01 3.00740673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24037174299997 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:55.06, Y:33.60, Z:30.08 [[-7.20914069e-01 -2.91316623e-01 6.28822336e-01 5.50639475e+01] [ 1.88499492e-01 -9.55576276e-01 -2.26587559e-01 3.36043651e+01] [ 6.66896429e-01 -4.48174680e-02 7.43801417e-01 3.00751576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27037174299997 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:55.06, Y:33.61, Z:30.08 [[-7.21427157e-01 -2.88975790e-01 6.29313793e-01 5.50606562e+01] [ 1.81642606e-01 -9.55915666e-01 -2.30718884e-01 3.36106009e+01] [ 6.68243085e-01 -5.21366710e-02 7.42113837e-01 3.00796925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30037174299997 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:55.07, Y:33.61, Z:30.08 [[-7.20472593e-01 -2.86735260e-01 6.31428645e-01 5.50652312e+01] [ 1.78189774e-01 -9.56490337e-01 -2.31029520e-01 3.36109678e+01] [ 6.70199707e-01 -5.39363098e-02 7.40218364e-01 3.00776608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33037174299997 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:55.06, Y:33.61, Z:30.08 [[-7.22808912e-01 -2.77880534e-01 6.32716117e-01 5.50649588e+01] [ 1.77687492e-01 -9.59539540e-01 -2.18428539e-01 3.36080778e+01] [ 6.67813171e-01 -4.54563548e-02 7.42939626e-01 3.00809200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36037174299997 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:55.07, Y:33.61, Z:30.08 [[-7.25612008e-01 -2.77561710e-01 6.29640145e-01 5.50654962e+01] [ 1.76578652e-01 -9.59504091e-01 -2.19480933e-01 3.36130555e+01] [ 6.65061797e-01 -4.80769921e-02 7.45239162e-01 3.00793865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39037174299997 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:55.05, Y:33.62, Z:30.09 [[-0.72417005 -0.28298589 0.6288853 55.05285405] [ 0.17223685 -0.95724638 -0.23240876 33.62391261] [ 0.66776658 -0.05998624 0.74194976 30.09008836] [ 0. 0. 0. 1. ]] SLAMing on 192.42037174299998 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:55.07, Y:33.61, Z:30.08 [[-7.25168350e-01 -2.74026875e-01 6.31696237e-01 5.50694392e+01] [ 1.73669268e-01 -9.60529560e-01 -2.17306119e-01 3.36143579e+01] [ 6.66310626e-01 -4.78772970e-02 7.44135683e-01 3.00787417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45037174299998 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:55.07, Y:33.61, Z:30.07 [[-7.29303175e-01 -2.70379701e-01 6.28499560e-01 5.50729446e+01] [ 1.76945356e-01 -9.61887449e-01 -2.08477522e-01 3.36128680e+01] [ 6.60913928e-01 -4.08332407e-02 7.49350002e-01 3.00742949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48037174299998 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:55.06, Y:33.64, Z:30.08 [[-0.72088583 -0.29424951 0.62748772 55.06461295] [ 0.15451823 -0.95084416 -0.26836449 33.6351533 ] [ 0.67560916 -0.09650187 0.730917 30.07896528] [ 0. 0. 0. 1. ]] SLAMing on 192.51037174299998 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:55.08, Y:33.60, Z:30.08 [[-7.26915680e-01 -2.42265728e-01 6.42573663e-01 5.50816874e+01] [ 1.73858926e-01 -9.70145329e-01 -1.69089073e-01 3.35995242e+01] [ 6.64354325e-01 -1.11963319e-02 7.47333910e-01 3.00815876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54037174299998 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:55.07, Y:33.64, Z:30.08 [[-0.72028939 -0.28955612 0.63034946 55.06938993] [ 0.15363043 -0.95273479 -0.2620956 33.63513896] [ 0.67644725 -0.09194382 0.7307294 30.07715359] [ 0. 0. 0. 1. ]] SLAMing on 192.57037174299998 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:55.08, Y:33.61, Z:30.08 [[-7.23822148e-01 -2.46128456e-01 6.44594664e-01 5.50827323e+01] [ 1.70786295e-01 -9.69052418e-01 -1.78239875e-01 3.36071180e+01] [ 6.68515923e-01 -1.89260348e-02 7.43456970e-01 3.00819292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60037174299998 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:55.07, Y:33.63, Z:30.07 [[-7.26137976e-01 -2.76000368e-01 6.29720126e-01 5.50730961e+01] [ 1.72516736e-01 -9.59730586e-01 -2.21709670e-01 3.36312677e+01] [ 6.65553616e-01 -5.23545504e-02 7.44511508e-01 3.00749160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63037174299998 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:55.08, Y:33.63, Z:30.07 [[-7.26379640e-01 -2.76122129e-01 6.29387947e-01 5.50813779e+01] [ 1.75671818e-01 -9.59919869e-01 -2.18387859e-01 3.36313575e+01] [ 6.64463717e-01 -4.80667700e-02 7.45773126e-01 3.00667240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66037174299998 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:55.08, Y:33.64, Z:30.06 [[-0.72510573 -0.28219612 0.62816162 55.08342797] [ 0.17493517 -0.95774009 -0.22832348 33.63575351] [ 0.66604757 -0.0556711 0.74382886 30.06463531] [ 0. 0. 0. 1. ]] SLAMing on 192.690371743 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:55.09, Y:33.63, Z:30.06 [[-7.25668368e-01 -2.76947400e-01 6.29845662e-01 5.50882798e+01] [ 1.77196884e-01 -9.59759969e-01 -2.17857902e-01 3.36318480e+01] [ 6.64835832e-01 -4.64858992e-02 7.45541667e-01 3.00618658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720371743 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:55.09, Y:33.64, Z:30.05 [[-7.23869961e-01 -2.85693821e-01 6.28005828e-01 5.50943435e+01] [ 1.78131445e-01 -9.56765837e-01 -2.29931123e-01 3.36370995e+01] [ 6.66544423e-01 -5.45726476e-02 7.43465103e-01 3.00547463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750371743 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:55.10, Y:33.63, Z:30.06 [[-7.23230440e-01 -2.80877174e-01 6.30908665e-01 5.50965615e+01] [ 1.78108653e-01 -9.58513072e-01 -2.22553360e-01 3.36341181e+01] [ 6.67244362e-01 -4.85870717e-02 7.43252486e-01 3.00559742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780371743 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:55.10, Y:33.63, Z:30.06 [[-7.27403211e-01 -2.73389393e-01 6.29398767e-01 5.50972283e+01] [ 1.83571297e-01 -9.61306897e-01 -2.05403578e-01 3.36294013e+01] [ 6.61200535e-01 -3.38716743e-02 7.49444169e-01 3.00557708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810371743 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:55.09, Y:33.65, Z:30.06 [[-0.71751563 -0.29832244 0.62942437 55.09099442] [ 0.16322083 -0.95049197 -0.26443143 33.647567 ] [ 0.67714864 -0.08699851 0.73068528 30.06259674] [ 0. 0. 0. 1. ]] SLAMing on 192.840371743 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:55.10, Y:33.62, Z:30.08 [[-7.15736599e-01 -2.61909854e-01 6.47398138e-01 5.50984906e+01] [ 1.65656651e-01 -9.64226558e-01 -2.06942067e-01 3.36228801e+01] [ 6.78438645e-01 -4.08702040e-02 7.33519346e-01 3.00752921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870371743 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:55.10, Y:33.62, Z:30.07 [[-7.15700175e-01 -2.62406141e-01 6.47237419e-01 5.51035562e+01] [ 1.66734622e-01 -9.64132922e-01 -2.06512167e-01 3.36221324e+01] [ 6.78212964e-01 -3.98839073e-02 7.33782290e-01 3.00710818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:55.12, Y:33.61, Z:30.05 [[-7.24750929e-01 -2.50917435e-01 6.41698163e-01 5.51187931e+01] [ 1.87200298e-01 -9.68008009e-01 -1.67082443e-01 3.36116003e+01] [ 6.63092859e-01 -9.67067887e-04 7.48536522e-01 3.00540064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930371743 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:55.10, Y:33.65, Z:30.06 [[-0.71760311 -0.29844558 0.62926625 55.10264732] [ 0.16863694 -0.95110319 -0.25877463 33.64717509] [ 0.67572728 -0.07957995 0.73284356 30.05625985] [ 0. 0. 0. 1. ]] SLAMing on 192.96037174299997 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:55.12, Y:33.61, Z:30.05 [[-7.24143816e-01 -2.52435688e-01 6.41788094e-01 5.51221358e+01] [ 1.88724169e-01 -9.67613633e-01 -1.67651558e-01 3.36140011e+01] [ 6.63324146e-01 -2.82914058e-04 7.48332144e-01 3.00513858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99037174299997 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:55.10, Y:33.65, Z:30.06 [[-0.71720966 -0.29821933 0.62982183 55.10396176] [ 0.16827305 -0.95117238 -0.2587572 33.65103199] [ 0.67623552 -0.07960113 0.73237229 30.05534019] [ 0. 0. 0. 1. ]] SLAMing on 193.02037174299997 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:55.12, Y:33.62, Z:30.06 [[-7.19901618e-01 -2.56715325e-01 6.44855722e-01 5.51185856e+01] [ 1.79805744e-01 -9.66346364e-01 -1.83969019e-01 3.36248224e+01] [ 6.70381649e-01 -1.64908312e-02 7.41833201e-01 3.00560478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05037174299997 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:55.12, Y:33.64, Z:30.04 [[-7.21885392e-01 -2.80665683e-01 6.32541110e-01 5.51218611e+01] [ 1.79889563e-01 -9.58745174e-01 -2.20107783e-01 3.36409911e+01] [ 6.68222438e-01 -4.51050488e-02 7.42592963e-01 3.00410698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08037174299997 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:55.12, Y:33.64, Z:30.04 [[-7.21953304e-01 -2.78926052e-01 6.33232726e-01 5.51202045e+01] [ 1.76222976e-01 -9.59094273e-01 -2.21548276e-01 3.36422505e+01] [ 6.69125467e-01 -4.83573540e-02 7.41574458e-01 3.00443036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11037174299997 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:55.13, Y:33.64, Z:30.04 [[-7.23701416e-01 -2.75315167e-01 6.32817366e-01 5.51251990e+01] [ 1.76263020e-01 -9.60303407e-01 -2.16214509e-01 3.36393851e+01] [ 6.67223806e-01 -4.49324461e-02 7.43500819e-01 3.00396904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14037174299997 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:55.12, Y:33.64, Z:30.04 [[-7.24715352e-01 -2.74956297e-01 6.31812229e-01 5.51229243e+01] [ 1.72339904e-01 -9.60121126e-01 -2.20150813e-01 3.36422882e+01] [ 6.67148121e-01 -5.06602146e-02 7.43200462e-01 3.00420195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17037174299998 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:55.13, Y:33.64, Z:30.04 [[-0.72397666 -0.27791016 0.63136657 55.12598757] [ 0.16885568 -0.95880829 -0.22841721 33.6449426 ] [ 0.66883896 -0.0587589 0.74108153 30.03972391] [ 0. 0. 0. 1. ]] SLAMing on 193.20037174299998 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:55.13, Y:33.64, Z:30.04 [[-7.24032869e-01 -2.71905408e-01 6.33911550e-01 5.51303284e+01] [ 1.67546054e-01 -9.60828328e-01 -2.20765134e-01 3.36397907e+01] [ 6.69107409e-01 -5.36318347e-02 7.41227969e-01 3.00388675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23037174299998 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:55.13, Y:33.64, Z:30.04 [[-0.72588043 -0.27071882 0.63230446 55.12851165] [ 0.16566688 -0.96103579 -0.22127968 33.64015614] [ 0.66757179 -0.05587068 0.74244621 30.04131807] [ 0. 0. 0. 1. ]] SLAMing on 193.26037174299998 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:55.13, Y:33.64, Z:30.05 [[-7.26825957e-01 -2.65945679e-01 6.33243180e-01 5.51257184e+01] [ 1.65370291e-01 -9.62629350e-01 -2.14470049e-01 3.36372238e+01] [ 6.66615853e-01 -5.11627892e-02 7.43643513e-01 3.00462619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29037174299998 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:55.13, Y:33.64, Z:30.04 [[-7.27654631e-01 -2.68590536e-01 6.31171816e-01 5.51331721e+01] [ 1.66308654e-01 -9.61777070e-01 -2.17546084e-01 3.36358796e+01] [ 6.65477399e-01 -5.33290799e-02 7.44510470e-01 3.00389799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32037174299998 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:55.13, Y:33.63, Z:30.04 [[-7.28407307e-01 -2.68770008e-01 6.30226529e-01 5.51313160e+01] [ 1.65829115e-01 -9.61655016e-01 -2.18449844e-01 3.36344703e+01] [ 6.64773270e-01 -5.46105548e-02 7.45046433e-01 3.00414773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35037174299998 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:55.12, Y:33.64, Z:30.06 [[-0.72506377 -0.26905554 0.63394925 55.11964974] [ 0.1500493 -0.96012926 -0.23587501 33.6361833 ] [ 0.6721367 -0.07590078 0.73652653 30.05612141] [ 0. 0. 0. 1. ]] SLAMing on 193.38037174299998 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:55.14, Y:33.62, Z:30.05 [[-7.28000759e-01 -2.43686825e-01 6.40805452e-01 5.51371036e+01] [ 1.65794138e-01 -9.69530503e-01 -1.80341087e-01 3.36154418e+01] [ 6.65227179e-01 -2.50466608e-02 7.46220789e-01 3.00479130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41037174299998 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:55.14, Y:33.63, Z:30.04 [[-0.72787367 -0.27075132 0.62999496 55.13547885] [ 0.16398419 -0.96081826 -0.22346692 33.63242314] [ 0.66581462 -0.05934647 0.74375325 30.03775077] [ 0. 0. 0. 1. ]] SLAMing on 193.440371743 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:55.13, Y:33.63, Z:30.05 [[-0.72495695 -0.26398764 0.63619805 55.12539332] [ 0.14923121 -0.96189926 -0.22908482 33.62827475] [ 0.67243399 -0.07113603 0.73673075 30.05260044] [ 0. 0. 0. 1. ]] SLAMing on 193.470371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:55.14, Y:33.61, Z:30.05 [[-7.25714626e-01 -2.45093315e-01 6.42858887e-01 5.51386104e+01] [ 1.62429785e-01 -9.69015838e-01 -1.86077591e-01 3.36120890e+01] [ 6.68546817e-01 -3.06197983e-02 7.43039421e-01 3.00472117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500371743 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:55.13, Y:33.62, Z:30.04 [[-7.25547573e-01 -2.65233335e-01 6.35005510e-01 5.51313353e+01] [ 1.62385881e-01 -9.62670624e-01 -2.16555062e-01 3.36241120e+01] [ 6.68738772e-01 -5.40050706e-02 7.41533484e-01 3.00442192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530371743 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:55.12, Y:33.62, Z:30.05 [[-0.72279548 -0.26486326 0.63829002 55.12404859] [ 0.15013914 -0.96176071 -0.22907328 33.62331414] [ 0.67455536 -0.06974082 0.73492264 30.05209983] [ 0. 0. 0. 1. ]] SLAMing on 193.560371743 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:55.14, Y:33.60, Z:30.04 [[-7.24222562e-01 -2.46096320e-01 6.44157032e-01 5.51436189e+01] [ 1.63561243e-01 -9.68795916e-01 -1.86231558e-01 3.36046502e+01] [ 6.69887602e-01 -2.95139710e-02 7.41875681e-01 3.00416013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590371743 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:55.14, Y:33.62, Z:30.03 [[-7.26034491e-01 -2.65876003e-01 6.34179682e-01 5.51429246e+01] [ 1.65264921e-01 -9.62665346e-01 -2.14389685e-01 3.36157446e+01] [ 6.67503876e-01 -5.08466501e-02 7.42868221e-01 3.00312935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620371743 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:55.14, Y:33.61, Z:30.03 [[-7.25395664e-01 -2.68894468e-01 6.33637827e-01 5.51433700e+01] [ 1.65654417e-01 -9.61682271e-01 -2.18462410e-01 3.36138431e+01] [ 6.68101598e-01 -5.35067802e-02 7.42143705e-01 3.00306303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650371743 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:55.15, Y:33.61, Z:30.03 [[-7.25308315e-01 -2.65208672e-01 6.35289074e-01 5.51457528e+01] [ 1.65265550e-01 -9.62908635e-01 -2.13293834e-01 3.36109543e+01] [ 6.68292710e-01 -4.97123932e-02 7.42235497e-01 3.00301563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680371743 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:55.15, Y:33.61, Z:30.03 [[-7.25166119e-01 -2.66389614e-01 6.34957222e-01 5.51496704e+01] [ 1.65716999e-01 -9.62548245e-01 -2.14566428e-01 3.36078430e+01] [ 6.68335228e-01 -5.03730989e-02 7.42152663e-01 3.00270802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71037174299997 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:55.15, Y:33.61, Z:30.03 [[-7.25522184e-01 -2.66226857e-01 6.34618642e-01 5.51482346e+01] [ 1.67161369e-01 -9.62700832e-01 -2.12753811e-01 3.36059894e+01] [ 6.67588674e-01 -4.82738883e-02 7.42963656e-01 3.00286798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74037174299997 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:55.15, Y:33.60, Z:30.02 [[-7.25893010e-01 -2.67639684e-01 6.33599508e-01 5.51535000e+01] [ 1.68893893e-01 -9.62342073e-01 -2.13008423e-01 3.35998372e+01] [ 6.66748971e-01 -4.76102376e-02 7.43760092e-01 3.00240979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77037174299997 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:55.16, Y:33.60, Z:30.02 [[-7.25412539e-01 -2.70404262e-01 6.32975657e-01 5.51553872e+01] [ 1.69969456e-01 -9.61495527e-01 -2.15955404e-01 3.35994169e+01] [ 6.66998525e-01 -4.90702303e-02 7.43441377e-01 3.00211528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80037174299997 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:55.15, Y:33.60, Z:30.02 [[-7.25361287e-01 -2.68590661e-01 6.33806012e-01 5.51534692e+01] [ 1.69524240e-01 -9.62079649e-01 -2.13692022e-01 3.35969745e+01] [ 6.67167547e-01 -4.75584379e-02 7.43387960e-01 3.00236603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83037174299997 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:55.15, Y:33.59, Z:30.03 [[-0.72290534 -0.2668187 0.6373505 55.14596415] [ 0.15659145 -0.96169566 -0.22499016 33.59449177] [ 0.67296879 -0.06284295 0.73699645 30.03144219] [ 0. 0. 0. 1. ]] SLAMing on 193.86037174299997 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:55.15, Y:33.58, Z:30.04 [[-7.21907636e-01 -2.48226898e-01 6.45935579e-01 5.51494204e+01] [ 1.55350133e-01 -9.67756294e-01 -1.98277815e-01 3.35803122e+01] [ 6.74326108e-01 -4.27920902e-02 7.37192740e-01 3.00383173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89037174299997 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:55.16, Y:33.58, Z:30.03 [[-7.20342434e-01 -2.54170259e-01 6.45371410e-01 5.51572247e+01] [ 1.64153598e-01 -9.66479400e-01 -1.97411158e-01 3.35822703e+01] [ 6.73914218e-01 -3.62635949e-02 7.37919086e-01 3.00304814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92037174299998 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:55.15, Y:33.58, Z:30.03 [[-7.21865468e-01 -2.55538811e-01 6.43125308e-01 5.51500566e+01] [ 1.53950177e-01 -9.65337470e-01 -2.10767437e-01 3.35814253e+01] [ 6.74692218e-01 -5.31364790e-02 7.36184030e-01 3.00326576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95037174299998 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:55.15, Y:33.58, Z:30.04 [[-7.22666536e-01 -2.47977110e-01 6.45182478e-01 5.51450636e+01] [ 1.63803293e-01 -9.68280180e-01 -1.88684855e-01 3.35783147e+01] [ 6.71506931e-01 -3.06732163e-02 7.40363151e-01 3.00416415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98037174299998 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:55.16, Y:33.58, Z:30.02 [[-7.28653781e-01 -2.54563973e-01 6.35815108e-01 5.51601722e+01] [ 1.69572507e-01 -9.66508136e-01 -1.92632263e-01 3.35764498e+01] [ 6.63557709e-01 -3.25454651e-02 7.47416858e-01 3.00184638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01037174299998 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:55.16, Y:33.58, Z:30.02 [[-7.29609538e-01 -2.66159224e-01 6.29943799e-01 5.51554984e+01] [ 1.69743275e-01 -9.62809956e-01 -2.10200401e-01 3.35820312e+01] [ 6.62462937e-01 -4.64354942e-02 7.47654066e-01 3.00167764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04037174299998 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:55.15, Y:33.58, Z:30.02 [[-0.72366758 -0.27061366 0.63488068 55.15302274] [ 0.15565686 -0.96021453 -0.23185987 33.58315471] [ 0.6723661 -0.06896594 0.736999 30.02184082] [ 0. 0. 0. 1. ]] SLAMing on 194.07037174299998 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:55.16, Y:33.56, Z:30.03 [[-7.22507939e-01 -2.46807851e-01 6.45808146e-01 5.51587109e+01] [ 1.55160187e-01 -9.68166480e-01 -1.96415333e-01 3.35647318e+01] [ 6.73726646e-01 -4.17079246e-02 7.37802721e-01 3.00307220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10037174299998 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:55.17, Y:33.56, Z:30.01 [[-7.26171797e-01 -2.47657310e-01 6.41358229e-01 5.51731513e+01] [ 1.68050958e-01 -9.68508767e-01 -1.83710763e-01 3.35599507e+01] [ 6.66658381e-01 -2.56247105e-02 7.44922800e-01 3.00149247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13037174299998 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:55.15, Y:33.57, Z:30.03 [[-0.72367159 -0.26147917 0.63869248 55.15264487] [ 0.15584387 -0.9634576 -0.21785807 33.57226059] [ 0.67231847 -0.05812139 0.73797682 30.02771309] [ 0. 0. 0. 1. ]] SLAMing on 194.16037174299998 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:55.18, Y:33.56, Z:30.01 [[-7.28070712e-01 -2.45198311e-01 6.40149066e-01 5.51796808e+01] [ 1.71152770e-01 -9.69286340e-01 -1.76608950e-01 3.35554004e+01] [ 6.63791961e-01 -1.90205182e-02 7.47675366e-01 3.00057565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190371743 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:55.18, Y:33.57, Z:29.99 [[-7.28279649e-01 -2.65453408e-01 6.31777842e-01 5.51821659e+01] [ 1.71590077e-01 -9.63196268e-01 -2.06905279e-01 3.35659574e+01] [ 6.63449771e-01 -4.22780955e-02 7.47025410e-01 2.99924085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220371743 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:55.18, Y:33.57, Z:29.99 [[-7.27061994e-01 -2.66125396e-01 6.32896619e-01 5.51794722e+01] [ 1.69014519e-01 -9.62829627e-01 -2.10696942e-01 3.35662173e+01] [ 6.65443423e-01 -4.62210214e-02 7.45015884e-01 2.99943578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250371743 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:55.17, Y:33.56, Z:30.00 [[-7.28541502e-01 -2.60572822e-01 6.33505394e-01 5.51747809e+01] [ 1.69508916e-01 -9.64639195e-01 -2.01836445e-01 3.35639450e+01] [ 6.63697225e-01 -3.96614144e-02 7.46949105e-01 2.99992028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280371743 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:55.18, Y:33.56, Z:29.99 [[-7.34241812e-01 -2.56945011e-01 6.28385409e-01 5.51784542e+01] [ 1.75720435e-01 -9.65995485e-01 -1.89670906e-01 3.35604398e+01] [ 6.55752461e-01 -2.88441520e-02 7.54424764e-01 2.99909366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310371743 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:55.16, Y:33.58, Z:30.01 [[-0.72331847 -0.27596021 0.63297421 55.16242575] [ 0.1516529 -0.95777607 -0.24426704 33.57505564] [ 0.67365554 -0.08069049 0.73462729 30.00601089] [ 0. 0. 0. 1. ]] SLAMing on 194.340371743 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-7.28567276e-01 -2.40161549e-01 6.41492132e-01 5.51792332e+01] [ 1.66738713e-01 -9.70531162e-01 -1.73975472e-01 3.35490267e+01] [ 6.64370323e-01 -1.97912635e-02 7.47141472e-01 3.00043155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370371743 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:55.17, Y:33.57, Z:30.01 [[-7.28746471e-01 -2.60512602e-01 6.33294375e-01 5.51654828e+01] [ 1.65186986e-01 -9.64375744e-01 -2.06622081e-01 3.35650041e+01] [ 6.64561390e-01 -4.59631229e-02 7.45818711e-01 3.00060908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400371743 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:55.18, Y:33.56, Z:30.00 [[-7.27493396e-01 -2.59728033e-01 6.35054886e-01 5.51758438e+01] [ 1.64298481e-01 -9.64598047e-01 -2.06292554e-01 3.35589997e+01] [ 6.66152661e-01 -4.57379175e-02 7.44411630e-01 2.99983280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430371743 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:55.17, Y:33.56, Z:30.00 [[-7.25462423e-01 -2.58932224e-01 6.37697715e-01 5.51745672e+01] [ 1.62295960e-01 -9.64763500e-01 -2.07102417e-01 3.35576622e+01] [ 6.68852969e-01 -4.67492579e-02 7.41923320e-01 3.00021174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46037174299997 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-7.25201718e-01 -2.55854872e-01 6.39234505e-01 5.51765678e+01] [ 1.61782767e-01 -9.65722751e-01 -2.02992375e-01 3.35535336e+01] [ 6.69259893e-01 -4.37932919e-02 7.41736708e-01 3.00014843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49037174299997 meters Centerline goodness : 0.988747 Centerline is valid? [True, True] Translation: X:55.19, Y:33.55, Z:29.98 [[-7.28005379e-01 -2.52420134e-01 6.37410577e-01 5.51927196e+01] [ 1.66234436e-01 -9.66998824e-01 -1.93078706e-01 3.35458502e+01] [ 6.65112231e-01 -3.46027488e-02 7.45941264e-01 2.99840538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52037174299997 meters Centerline goodness : 0.988014 Centerline is valid? [True, True] Translation: X:55.18, Y:33.56, Z:30.00 [[-0.72374189 -0.26318581 0.63791136 55.17618217] [ 0.15883194 -0.96312742 -0.21715891 33.55708902] [ 0.67154306 -0.0558463 0.73885797 29.99680341] [ 0. 0. 0. 1. ]] SLAMing on 194.55037174299997 meters Centerline goodness : 0.984838 Centerline is valid? [True, True] Translation: X:55.17, Y:33.55, Z:30.00 [[-7.23491504e-01 -2.52119378e-01 6.42647542e-01 5.51745011e+01] [ 1.57327542e-01 -9.66643793e-01 -2.02108439e-01 3.35499604e+01] [ 6.72166712e-01 -4.51175801e-02 7.39023894e-01 2.99990379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58037174299997 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-7.23659227e-01 -2.52213484e-01 6.42421732e-01 5.51791577e+01] [ 1.57021817e-01 -9.66589921e-01 -2.02603241e-01 3.35489397e+01] [ 6.72057641e-01 -4.57414767e-02 7.39084734e-01 2.99966281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61037174299997 meters Centerline goodness : 0.989122 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:29.99 [[-7.25253608e-01 -2.54862668e-01 6.39571907e-01 5.51807048e+01] [ 1.55919480e-01 -9.65625101e-01 -2.07983844e-01 3.35513387e+01] [ 6.70594005e-01 -5.11193145e-02 7.40061143e-01 2.99919147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64037174299997 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:29.99 [[-7.27134564e-01 -2.51488817e-01 6.38771243e-01 5.51798737e+01] [ 1.56019667e-01 -9.66672421e-01 -2.02983482e-01 3.35505977e+01] [ 6.68530620e-01 -4.79354290e-02 7.42138131e-01 2.99917672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67037174299998 meters Centerline goodness : 0.989033 Centerline is valid? [True, True] Translation: X:55.17, Y:33.56, Z:30.00 [[-0.72645938 -0.25494151 0.6381705 55.17420808] [ 0.14795601 -0.96488588 -0.21703516 33.55782365] [ 0.67109298 -0.06324607 0.73867053 29.99507535] [ 0. 0. 0. 1. ]] SLAMing on 194.70037174299998 meters Centerline goodness : 0.989648 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-7.27076921e-01 -2.40532015e-01 6.43042379e-01 5.51764158e+01] [ 1.47181733e-01 -9.69452822e-01 -1.96211017e-01 3.35482772e+01] [ 6.70594280e-01 -4.80164100e-02 7.40268692e-01 3.00008388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73037174299998 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-0.72727689 -0.24590668 0.6407794 55.17755327] [ 0.14222545 -0.96734359 -0.20980539 33.55340722] [ 0.67144639 -0.06145147 0.73850082 29.99595775] [ 0. 0. 0. 1. ]] SLAMing on 194.76037174299998 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:55.17, Y:33.55, Z:30.00 [[-0.72705625 -0.24219701 0.64244052 55.17463882] [ 0.13896932 -0.96825874 -0.20775598 33.55305427] [ 0.67236652 -0.06177076 0.73763652 30.00087579] [ 0. 0. 0. 1. ]] SLAMing on 194.79037174299998 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:55.17, Y:33.55, Z:30.01 [[-0.72619304 -0.23953391 0.64441227 55.17262063] [ 0.13537801 -0.96881003 -0.20755702 33.55284106] [ 0.67403002 -0.06348721 0.73597072 30.00587319] [ 0. 0. 0. 1. ]] SLAMing on 194.82037174299998 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:55.17, Y:33.55, Z:30.01 [[-0.72805211 -0.2319016 0.64510602 55.17391743] [ 0.13449282 -0.9710749 -0.19729477 33.54814652] [ 0.67219923 -0.05687874 0.73818223 30.00732778] [ 0. 0. 0. 1. ]] SLAMing on 194.85037174299998 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-0.72743438 -0.2350648 0.64465787 55.17675181] [ 0.13171469 -0.96985552 -0.20501588 33.54967421] [ 0.67341701 -0.06422469 0.73646773 30.00374462] [ 0. 0. 0. 1. ]] SLAMing on 194.88037174299998 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.01 [[-0.72792008 -0.23041886 0.64578596 55.17566752] [ 0.13165343 -0.97128753 -0.1981613 33.54753209] [ 0.67290396 -0.05922565 0.73735513 30.00681893] [ 0. 0. 0. 1. ]] SLAMing on 194.91037174299998 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-0.72938507 -0.22857401 0.64478782 55.17782611] [ 0.13265385 -0.97189648 -0.19447412 33.54531618] [ 0.67111874 -0.05631293 0.73920801 30.00465148] [ 0. 0. 0. 1. ]] SLAMing on 194.940371743 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-0.72991357 -0.23032978 0.64356381 55.18065929] [ 0.13384955 -0.97145186 -0.19587133 33.54502791] [ 0.67030626 -0.05682842 0.73990543 30.00045208] [ 0. 0. 0. 1. ]] SLAMing on 194.970371743 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:30.00 [[-0.73083205 -0.23238406 0.64178046 55.17971406] [ 0.13601878 -0.97098422 -0.19669401 33.54617276] [ 0.66886725 -0.05645609 0.74123499 29.99944539] [ 0. 0. 0. 1. ]] SLAMing on 195.000371743 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:55.18, Y:33.54, Z:29.99 [[-7.31365487e-01 -2.32952694e-01 6.40966120e-01 5.51837354e+01] [ 1.37820250e-01 -9.70946581e-01 -1.95622894e-01 3.35434962e+01] [ 6.67914742e-01 -5.47337223e-02 7.42222417e-01 2.99937839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030371743 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:55.18, Y:33.55, Z:29.99 [[-0.73150588 -0.23581927 0.63975653 55.18146429] [ 0.13878631 -0.97014053 -0.19891134 33.54509122] [ 0.66756086 -0.05671537 0.74239199 29.99398422] [ 0. 0. 0. 1. ]] SLAMing on 195.060371743 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:55.19, Y:33.54, Z:29.99 [[-7.31944319e-01 -2.37098238e-01 6.38781606e-01 5.51881112e+01] [ 1.43518545e-01 -9.70118903e-01 -1.95631649e-01 3.35409067e+01] [ 6.66078029e-01 -5.15144677e-02 7.44101014e-01 2.99874044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090371743 meters Centerline goodness : 0.990791 Centerline is valid? [True, True] Translation: X:55.18, Y:33.54, Z:29.99 [[-7.31805783e-01 -2.41150465e-01 6.37421956e-01 5.51844226e+01] [ 1.44613941e-01 -9.68951616e-01 -2.00548182e-01 3.35429418e+01] [ 6.65993321e-01 -5.45822176e-02 7.43958115e-01 2.99887725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120371743 meters Centerline goodness : 0.989078 Centerline is valid? [True, True] Translation: X:55.19, Y:33.54, Z:29.98 [[-7.30959991e-01 -2.41899802e-01 6.38108124e-01 5.51932852e+01] [ 1.46486445e-01 -9.68888153e-01 -1.99493027e-01 3.35390105e+01] [ 6.66512726e-01 -5.23472302e-02 7.43653517e-01 2.99813738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150371743 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:55.20, Y:33.54, Z:29.97 [[-7.31186560e-01 -2.41755387e-01 6.37903243e-01 5.52013707e+01] [ 1.49406394e-01 -9.69147654e-01 -1.96037127e-01 3.35350420e+01] [ 6.65615463e-01 -4.80328897e-02 7.44747539e-01 2.99741232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180371743 meters Centerline goodness : 0.989204 Centerline is valid? [True, True] Translation: X:55.20, Y:33.53, Z:29.97 [[-7.31009787e-01 -2.44980673e-01 6.36874526e-01 5.52023510e+01] [ 1.52703314e-01 -9.68391815e-01 -1.97228271e-01 3.35336108e+01] [ 6.65061192e-01 -4.69229461e-02 7.45313255e-01 2.99731850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21037174299997 meters Centerline goodness : 0.989408 Centerline is valid? [True, True] Translation: X:55.20, Y:33.53, Z:29.97 [[-7.29757470e-01 -2.48573667e-01 6.36918493e-01 5.52021424e+01] [ 1.51729157e-01 -9.67218021e-01 -2.03635859e-01 3.35347066e+01] [ 6.66657556e-01 -5.19656832e-02 7.43550449e-01 2.99734960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24037174299997 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:55.21, Y:33.53, Z:29.97 [[-7.29254945e-01 -2.45229728e-01 6.38787606e-01 5.52109532e+01] [ 1.55038795e-01 -9.68509491e-01 -1.94813598e-01 3.35274709e+01] [ 6.66445945e-01 -4.30319194e-02 7.44310457e-01 2.99680263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27037174299997 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:55.20, Y:33.53, Z:29.97 [[-7.26971470e-01 -2.52301632e-01 6.38636335e-01 5.52019386e+01] [ 1.53899519e-01 -9.66257561e-01 -2.06546031e-01 3.35336040e+01] [ 6.69199088e-01 -5.18672467e-02 7.41270780e-01 2.99743639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30037174299997 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:55.21, Y:33.53, Z:29.97 [[-7.27558592e-01 -2.46614406e-01 6.40187340e-01 5.52129540e+01] [ 1.56676576e-01 -9.68224072e-01 -1.94922029e-01 3.35258550e+01] [ 6.67915374e-01 -4.15148364e-02 7.43078443e-01 2.99659521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33037174299997 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:55.22, Y:33.53, Z:29.96 [[-7.27144362e-01 -2.54006103e-01 6.37763261e-01 5.52194490e+01] [ 1.59917514e-01 -9.66144460e-01 -2.02463012e-01 3.35268435e+01] [ 6.67598282e-01 -4.52303219e-02 7.43146521e-01 2.99555728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36037174299997 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:55.23, Y:33.52, Z:29.95 [[-7.26724852e-01 -2.53024784e-01 6.38630917e-01 5.52251140e+01] [ 1.61742909e-01 -9.66579819e-01 -1.98903710e-01 3.35230398e+01] [ 6.67615324e-01 -4.12542470e-02 7.43362540e-01 2.99507823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39037174299997 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:55.23, Y:33.52, Z:29.95 [[-7.25263611e-01 -2.56987662e-01 6.38709665e-01 5.52287017e+01] [ 1.61906828e-01 -9.65368397e-01 -2.04572818e-01 3.35234124e+01] [ 6.69162816e-01 -4.49577653e-02 7.41754626e-01 2.99467850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42037174299998 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:55.25, Y:33.51, Z:29.93 [[-7.29550590e-01 -2.49970557e-01 6.36608716e-01 5.52511481e+01] [ 1.72541773e-01 -9.67975597e-01 -1.82352902e-01 3.35086861e+01] [ 6.61804558e-01 -2.31940710e-02 7.49317531e-01 2.99255208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45037174299998 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:55.24, Y:33.52, Z:29.93 [[-7.26885334e-01 -2.69583686e-01 6.31634663e-01 5.52396677e+01] [ 1.68926154e-01 -9.61660486e-01 -2.16039497e-01 3.35247033e+01] [ 6.65658821e-01 -5.03363277e-02 7.44556639e-01 2.99284281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48037174299998 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:55.25, Y:33.52, Z:29.93 [[-7.26752527e-01 -2.63584048e-01 6.34313971e-01 5.52450363e+01] [ 1.69970351e-01 -9.63734620e-01 -2.05732014e-01 3.35183377e+01] [ 6.65538011e-01 -4.17016931e-02 7.45198044e-01 2.99275599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51037174299998 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:55.24, Y:33.53, Z:29.93 [[-7.30282992e-01 -2.72926781e-01 6.26256915e-01 5.52374214e+01] [ 1.70178698e-01 -9.60507087e-01 -2.20148465e-01 3.35264004e+01] [ 6.61608617e-01 -5.41950932e-02 7.47888314e-01 2.99279092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54037174299998 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:55.24, Y:33.51, Z:29.95 [[-7.26331487e-01 -2.47122514e-01 6.41383688e-01 5.52391469e+01] [ 1.68884596e-01 -9.68690486e-01 -1.81980040e-01 3.35089886e+01] [ 6.66273641e-01 -2.38580081e-02 7.45325587e-01 2.99451117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57037174299998 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:55.24, Y:33.52, Z:29.94 [[-7.26963408e-01 -2.62109967e-01 6.34683046e-01 5.52370452e+01] [ 1.68978132e-01 -9.64145007e-01 -2.04623550e-01 3.35190746e+01] [ 6.65560361e-01 -4.15062777e-02 7.45188992e-01 2.99371776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60037174299998 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:55.23, Y:33.52, Z:29.95 [[-0.72371796 -0.26148461 0.6386377 55.22530505] [ 0.15053343 -0.96296545 -0.22369004 33.5208434 ] [ 0.67347754 -0.06575218 0.73627757 29.95010049] [ 0. 0. 0. 1. ]] SLAMing on 195.63037174299998 meters Centerline goodness : 0.988861 Centerline is valid? [True, True] Translation: X:55.25, Y:33.50, Z:29.93 [[-7.30002902e-01 -2.44210927e-01 6.38323418e-01 5.52534756e+01] [ 1.69221156e-01 -9.69484405e-01 -1.77381476e-01 3.35045227e+01] [ 6.62163095e-01 -2.14711655e-02 7.49052085e-01 2.99325080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66037174299998 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:55.25, Y:33.51, Z:29.93 [[-7.25279620e-01 -2.51269839e-01 6.40962511e-01 5.52495677e+01] [ 1.64893510e-01 -9.67319203e-01 -1.92623182e-01 3.35097394e+01] [ 6.68415742e-01 -3.40151100e-02 7.43009669e-01 2.99344593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690371743 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:55.25, Y:33.52, Z:29.92 [[-7.29910655e-01 -2.65461541e-01 6.29889360e-01 5.52544841e+01] [ 1.65781816e-01 -9.62744486e-01 -2.13633901e-01 3.35185101e+01] [ 6.63134093e-01 -5.15094590e-02 7.46726155e-01 2.99182988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720371743 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:55.26, Y:33.50, Z:29.93 [[-7.29666257e-01 -2.37894579e-01 6.41087609e-01 5.52572390e+01] [ 1.67716653e-01 -9.71156746e-01 -1.69486574e-01 3.35009117e+01] [ 6.62916494e-01 -1.61475657e-02 7.48519190e-01 2.99305129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750371743 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:55.26, Y:33.52, Z:29.91 [[-7.30118506e-01 -2.68473383e-01 6.28370122e-01 5.52552047e+01] [ 1.67500066e-01 -9.61844786e-01 -2.16329231e-01 3.35217660e+01] [ 6.62473165e-01 -5.26939376e-02 7.47229987e-01 2.99123902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780371743 meters Centerline goodness : 0.989670 Centerline is valid? [True, True] Translation: X:55.26, Y:33.52, Z:29.91 [[-7.33365855e-01 -2.61312379e-01 6.27606854e-01 5.52569037e+01] [ 1.68907374e-01 -9.64265332e-01 -2.04114353e-01 3.35183709e+01] [ 6.58517138e-01 -4.36830713e-02 7.51296857e-01 2.99106897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810371743 meters Centerline goodness : 0.989483 Centerline is valid? [True, True] Translation: X:55.25, Y:33.52, Z:29.91 [[-7.33433918e-01 -2.65170723e-01 6.25906682e-01 5.52526156e+01] [ 1.67397121e-01 -9.62875565e-01 -2.11775472e-01 3.35233356e+01] [ 6.58826905e-01 -5.05483380e-02 7.50594414e-01 2.99116076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840371743 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:55.25, Y:33.52, Z:29.92 [[-7.32289044e-01 -2.60394115e-01 6.29243721e-01 5.52492568e+01] [ 1.64140719e-01 -9.64256282e-01 -2.08008767e-01 3.35217457e+01] [ 6.60916470e-01 -4.90380238e-02 7.48855588e-01 2.99191097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870371743 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:55.23, Y:33.53, Z:29.94 [[-0.72545759 -0.26851048 0.63372977 55.22866152] [ 0.13742223 -0.95873044 -0.24889973 33.53181606] [ 0.6744082 -0.09347764 0.73241758 29.93701957] [ 0. 0. 0. 1. ]] SLAMing on 195.900371743 meters Centerline goodness : 0.988614 Centerline is valid? [True, True] Translation: X:55.26, Y:33.50, Z:29.93 [[-7.34370231e-01 -2.29829462e-01 6.38653883e-01 5.52592372e+01] [ 1.61507218e-01 -9.73071242e-01 -1.64462083e-01 3.35012225e+01] [ 6.59253959e-01 -1.76288458e-02 7.51713669e-01 2.99290131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930371743 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:55.24, Y:33.52, Z:29.94 [[-7.28918257e-01 -2.45886719e-01 6.38919319e-01 5.52413715e+01] [ 1.58484227e-01 -9.68528065e-01 -1.91927428e-01 3.35152964e+01] [ 6.66003697e-01 -3.86407719e-02 7.44946955e-01 2.99389428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96037174299997 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:55.24, Y:33.52, Z:29.94 [[-0.72485567 -0.25673021 0.63927604 55.23681764] [ 0.1377883 -0.96324349 -0.23060003 33.52037671] [ 0.67498048 -0.07906698 0.73358692 29.93822215] [ 0. 0. 0. 1. ]] SLAMing on 195.99037174299997 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:55.25, Y:33.50, Z:29.95 [[-7.26680094e-01 -2.26495449e-01 6.48564455e-01 5.52471750e+01] [ 1.57077858e-01 -9.73857283e-01 -1.64099172e-01 3.35012385e+01] [ 6.68776934e-01 -1.73724861e-02 7.43260122e-01 2.99483649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02037174299997 meters Centerline goodness : 0.988848 Centerline is valid? [True, True] Translation: X:55.25, Y:33.52, Z:29.93 [[-7.30412183e-01 -2.53287708e-01 6.34305431e-01 5.52496975e+01] [ 1.61064173e-01 -9.66379492e-01 -2.00422078e-01 3.35168283e+01] [ 6.63744209e-01 -4.42268479e-02 7.46650929e-01 2.99250379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05037174299997 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:55.25, Y:33.52, Z:29.93 [[-7.28849678e-01 -2.56783677e-01 6.34697007e-01 5.52471749e+01] [ 1.58101104e-01 -9.65074108e-01 -2.08892335e-01 3.35195842e+01] [ 6.66169789e-01 -5.19048138e-02 7.43991735e-01 2.99267860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08037174299997 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:55.25, Y:33.51, Z:29.92 [[-7.32056142e-01 -2.49011823e-01 6.34103238e-01 5.52509181e+01] [ 1.60295653e-01 -9.67629852e-01 -1.94930177e-01 3.35122892e+01] [ 6.62117141e-01 -4.10558404e-02 7.48274889e-01 2.99238568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11037174299997 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:55.24, Y:33.52, Z:29.93 [[-7.30145897e-01 -2.56273545e-01 6.33412061e-01 5.52447522e+01] [ 1.56966770e-01 -9.65118667e-01 -2.09540909e-01 3.35182799e+01] [ 6.65017596e-01 -5.35707894e-02 7.44903865e-01 2.99263326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14037174299997 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:55.26, Y:33.51, Z:29.92 [[-7.31021569e-01 -2.53308740e-01 6.33594624e-01 5.52574802e+01] [ 1.58513007e-01 -9.66181547e-01 -2.03388411e-01 3.35126346e+01] [ 6.63687496e-01 -4.82483261e-02 7.46452280e-01 2.99155441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17037174299998 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:55.25, Y:33.51, Z:29.92 [[-7.31489302e-01 -2.51776923e-01 6.33665355e-01 5.52508429e+01] [ 1.57360861e-01 -9.66577296e-01 -2.02400321e-01 3.35130658e+01] [ 6.63446275e-01 -4.83395435e-02 7.46660785e-01 2.99218118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20037174299998 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:55.26, Y:33.51, Z:29.91 [[-7.34006300e-01 -2.47903688e-01 6.32280407e-01 5.52605581e+01] [ 1.60669908e-01 -9.67955608e-01 -1.92995132e-01 3.35065207e+01] [ 6.59863571e-01 -4.00712078e-02 7.50316177e-01 2.99127649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23037174299998 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:55.24, Y:33.52, Z:29.93 [[-0.72691888 -0.26368706 0.6340805 55.24044656] [ 0.13463548 -0.96014572 -0.24493566 33.51970191] [ 0.67339605 -0.09267862 0.73344968 29.92575659] [ 0. 0. 0. 1. ]] SLAMing on 196.26037174299998 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:55.25, Y:33.49, Z:29.94 [[-7.23765634e-01 -2.21370239e-01 6.53573656e-01 5.52549212e+01] [ 1.33769030e-01 -9.74188827e-01 -1.81829524e-01 3.34874714e+01] [ 6.76955799e-01 -4.41740468e-02 7.34696876e-01 2.99412152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29037174299998 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:55.25, Y:33.49, Z:29.94 [[-7.23652341e-01 -2.20810179e-01 6.53888488e-01 5.52546313e+01] [ 1.33253053e-01 -9.74312847e-01 -1.81543661e-01 3.34864932e+01] [ 6.77178642e-01 -4.42418573e-02 7.34487403e-01 2.99415948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32037174299998 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:55.26, Y:33.48, Z:29.94 [[-7.23672985e-01 -2.20129707e-01 6.54095042e-01 5.52595478e+01] [ 1.32611352e-01 -9.74459202e-01 -1.81227739e-01 3.34839385e+01] [ 6.77282541e-01 -4.44091908e-02 7.34381497e-01 2.99369180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35037174299998 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:55.26, Y:33.48, Z:29.94 [[-7.23927316e-01 -2.19183643e-01 6.54131310e-01 5.52576984e+01] [ 1.31669167e-01 -9.74654360e-01 -1.80864889e-01 3.34824279e+01] [ 6.77194559e-01 -4.48041091e-02 7.34438643e-01 2.99387038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38037174299998 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:55.26, Y:33.48, Z:29.94 [[-7.33342858e-01 -2.14532873e-01 6.45123166e-01 5.52567426e+01] [ 1.56156711e-01 -9.76689723e-01 -1.47282950e-01 3.34831272e+01] [ 6.61682201e-01 -7.26858775e-03 7.49749180e-01 2.99371247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41037174299998 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:55.27, Y:33.51, Z:29.89 [[-0.73825312 -0.2624052 0.62139024 55.26923601] [ 0.15812435 -0.96288349 -0.21875117 33.50958465] [ 0.65572785 -0.0632368 0.7523444 29.89302183] [ 0. 0. 0. 1. ]] SLAMing on 196.440371743 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:55.27, Y:33.49, Z:29.90 [[-7.38002929e-01 -2.45200476e-01 6.28671937e-01 5.52735644e+01] [ 1.58781977e-01 -9.68587228e-01 -1.91381988e-01 3.34947794e+01] [ 6.55850563e-01 -4.14186951e-02 7.53753627e-01 2.99008981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470371743 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:55.27, Y:33.50, Z:29.91 [[-7.35461556e-01 -2.46511753e-01 6.31132518e-01 5.52650920e+01] [ 1.57860805e-01 -9.68176666e-01 -1.94200695e-01 3.34965106e+01] [ 6.58920531e-01 -4.31960575e-02 7.50971261e-01 2.99073652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500371743 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:55.27, Y:33.49, Z:29.90 [[-7.37185566e-01 -2.46973203e-01 6.28936943e-01 5.52704955e+01] [ 1.59502883e-01 -9.68106905e-01 -1.93204170e-01 3.34929148e+01] [ 6.56594450e-01 -4.21100697e-02 7.53067374e-01 2.99007922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530371743 meters Centerline goodness : 0.989367 Centerline is valid? [True, True] Translation: X:55.28, Y:33.49, Z:29.90 [[-7.38719739e-01 -2.45322290e-01 6.27781906e-01 5.52762122e+01] [ 1.60073117e-01 -9.68616909e-01 -1.90152259e-01 3.34898266e+01] [ 6.54728757e-01 -3.99782203e-02 7.54805933e-01 2.98969608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560371743 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:55.28, Y:33.48, Z:29.90 [[-7.36525792e-01 -2.32453076e-01 6.35212819e-01 5.52835559e+01] [ 1.63372337e-01 -9.72425893e-01 -1.66425247e-01 3.34752574e+01] [ 6.56383453e-01 -1.88002836e-02 7.54193153e-01 2.98973006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590371743 meters Centerline goodness : 0.989742 Centerline is valid? [True, True] Translation: X:55.29, Y:33.50, Z:29.87 [[-0.73819904 -0.26513589 0.62029439 55.28563615] [ 0.16432399 -0.96250042 -0.21584847 33.49679401] [ 0.65426279 -0.05740988 0.75408508 29.87072218] [ 0. 0. 0. 1. ]] SLAMing on 196.620371743 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:55.27, Y:33.48, Z:29.91 [[-0.72601145 -0.24124065 0.64398006 55.26714188] [ 0.14125121 -0.96879537 -0.2036753 33.47833953] [ 0.67301967 -0.05690763 0.73743206 29.91463571] [ 0. 0. 0. 1. ]] SLAMing on 196.650371743 meters Centerline goodness : 0.989436 Centerline is valid? [True, True] Translation: X:55.29, Y:33.47, Z:29.89 [[-7.35132765e-01 -2.32082578e-01 6.36959571e-01 5.52875728e+01] [ 1.63504446e-01 -9.72536343e-01 -1.65648294e-01 3.34712749e+01] [ 6.57910415e-01 -1.76277667e-02 7.52889864e-01 2.98944038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680371743 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:55.27, Y:33.48, Z:29.90 [[-7.33833350e-01 -2.46866161e-01 6.32886809e-01 5.52742134e+01] [ 1.62794148e-01 -9.68393754e-01 -1.88975140e-01 3.34822336e+01] [ 6.59535200e-01 -3.56459906e-02 7.50827999e-01 2.99013481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71037174299997 meters Centerline goodness : 0.991732 Centerline is valid? [True, True] Translation: X:55.28, Y:33.47, Z:29.90 [[-7.29928400e-01 -2.40335431e-01 6.39877654e-01 5.52795132e+01] [ 1.64531498e-01 -9.70398936e-01 -1.76791661e-01 3.34735068e+01] [ 6.63425894e-01 -2.37652252e-02 7.47864491e-01 2.99020111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74037174299997 meters Centerline goodness : 0.991371 Centerline is valid? [True, True] Translation: X:55.27, Y:33.48, Z:29.90 [[-7.29993539e-01 -2.55345604e-01 6.33962188e-01 5.52699927e+01] [ 1.64269758e-01 -9.65946242e-01 -1.99908239e-01 3.34842539e+01] [ 6.63419083e-01 -4.17909081e-02 7.47080076e-01 2.99007018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77037174299997 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:55.27, Y:33.48, Z:29.90 [[-7.29385201e-01 -2.51494159e-01 6.36198017e-01 5.52704062e+01] [ 1.66805199e-01 -9.67286064e-01 -1.91137898e-01 3.34779858e+01] [ 6.63455541e-01 -3.32920171e-02 7.47474673e-01 2.99036690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80037174299997 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:55.29, Y:33.47, Z:29.89 [[-7.30295101e-01 -2.53816432e-01 6.34228889e-01 5.52860066e+01] [ 1.69047404e-01 -9.66683969e-01 -1.92211026e-01 3.34748373e+01] [ 6.61885217e-01 -3.31560237e-02 7.48871576e-01 2.98870644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83037174299997 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:55.28, Y:33.48, Z:29.89 [[-7.30185520e-01 -2.59261648e-01 6.32149116e-01 5.52846231e+01] [ 1.71860305e-01 -9.65156608e-01 -1.97323991e-01 3.34761276e+01] [ 6.61281439e-01 -3.54417811e-02 7.49300165e-01 2.98852633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86037174299997 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:55.29, Y:33.47, Z:29.88 [[-7.31766070e-01 -2.53179506e-01 6.32786343e-01 5.52933761e+01] [ 1.74900885e-01 -9.67109771e-01 -1.84684518e-01 3.34687862e+01] [ 6.58732190e-01 -2.44709726e-02 7.51979437e-01 2.98803186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89037174299997 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:55.30, Y:33.47, Z:29.88 [[-7.29898318e-01 -2.54926540e-01 6.34240415e-01 5.52951442e+01] [ 1.74293666e-01 -9.66593748e-01 -1.87931490e-01 3.34686213e+01] [ 6.60961544e-01 -2.66267909e-02 7.49947232e-01 2.98797218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92037174299998 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:55.30, Y:33.47, Z:29.87 [[-7.30872177e-01 -2.58701228e-01 6.31584939e-01 5.52981244e+01] [ 1.75843678e-01 -9.65514043e-01 -1.91993838e-01 3.34696817e+01] [ 6.59473170e-01 -2.92627362e-02 7.51158326e-01 2.98738027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95037174299998 meters Centerline goodness : 0.991214 Centerline is valid? [True, True] Translation: X:55.30, Y:33.48, Z:29.86 [[-7.31425891e-01 -2.72753594e-01 6.24997314e-01 5.53009331e+01] [ 1.76548957e-01 -9.61017231e-01 -2.12782395e-01 3.34783537e+01] [ 6.58670351e-01 -4.52919291e-02 7.51067247e-01 2.98607317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98037174299998 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:55.30, Y:33.47, Z:29.88 [[-7.27763640e-01 -2.53280079e-01 6.37345500e-01 5.52968968e+01] [ 1.73440507e-01 -9.67069490e-01 -1.86265915e-01 3.34664329e+01] [ 6.63534833e-01 -2.50160338e-02 7.47727038e-01 2.98806285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01037174299998 meters Centerline goodness : 0.991384 Centerline is valid? [True, True] Translation: X:55.30, Y:33.47, Z:29.87 [[-7.27783225e-01 -2.60590802e-01 6.34368987e-01 5.52988100e+01] [ 1.73016367e-01 -9.64842111e-01 -1.97851051e-01 3.34709368e+01] [ 6.63624076e-01 -3.42364584e-02 7.47282377e-01 2.98728730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04037174299998 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:55.30, Y:33.48, Z:29.87 [[-7.27753239e-01 -2.65879781e-01 6.32205003e-01 5.53005174e+01] [ 1.71922316e-01 -9.63088665e-01 -2.07130252e-01 3.34757131e+01] [ 6.63941218e-01 -4.20495634e-02 7.46601563e-01 2.98654175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07037174299998 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:55.30, Y:33.47, Z:29.87 [[-7.28818223e-01 -2.53750932e-01 6.35951619e-01 5.53049639e+01] [ 1.71851989e-01 -9.66854382e-01 -1.88837225e-01 3.34671036e+01] [ 6.62790232e-01 -2.83384597e-02 7.48268695e-01 2.98709885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10037174299998 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:55.31, Y:33.46, Z:29.87 [[-7.28338690e-01 -2.49714301e-01 6.38095228e-01 5.53061638e+01] [ 1.73336111e-01 -9.68086862e-01 -1.81003922e-01 3.34636929e+01] [ 6.62930875e-01 -2.12272140e-02 7.48379623e-01 2.98704369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13037174299998 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:55.30, Y:33.47, Z:29.87 [[-7.28603081e-01 -2.58127986e-01 6.34434782e-01 5.53034291e+01] [ 1.73583716e-01 -9.65617233e-01 -1.93525331e-01 3.34703742e+01] [ 6.62575462e-01 -3.08756055e-02 7.48358506e-01 2.98686196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16037174299998 meters Centerline goodness : 0.989686 Centerline is valid? [True, True] Translation: X:55.31, Y:33.46, Z:29.87 [[-7.30005097e-01 -2.52058866e-01 6.35262848e-01 5.53078840e+01] [ 1.76254249e-01 -9.67496593e-01 -1.81341619e-01 3.34643735e+01] [ 6.60323403e-01 -2.04125301e-02 7.50703891e-01 2.98684624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190371743 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:55.31, Y:33.46, Z:29.87 [[-7.31256789e-01 -2.52462815e-01 6.33660821e-01 5.53066998e+01] [ 1.78172540e-01 -9.67427826e-01 -1.79827549e-01 3.34645696e+01] [ 6.58420879e-01 -1.85991581e-02 7.52420107e-01 2.98695633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220371743 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:55.31, Y:33.47, Z:29.86 [[-7.32851196e-01 -2.60116424e-01 6.28703881e-01 5.53097743e+01] [ 1.81405045e-01 -9.65287215e-01 -1.87917011e-01 3.34684947e+01] [ 6.55760119e-01 -2.36651501e-02 7.54598321e-01 2.98604503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250371743 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:55.30, Y:33.48, Z:29.85 [[-7.33264345e-01 -2.77673263e-01 6.20661711e-01 5.53034538e+01] [ 1.80068068e-01 -9.59524286e-01 -2.16537839e-01 3.34834115e+01] [ 6.55666753e-01 -4.70181210e-02 7.53585035e-01 2.98543062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280371743 meters Centerline goodness : 0.989913 Centerline is valid? [True, True] Translation: X:55.32, Y:33.47, Z:29.86 [[-7.31953505e-01 -2.55725609e-01 6.31544519e-01 5.53150438e+01] [ 1.78675634e-01 -9.66498206e-01 -1.84272181e-01 3.34674852e+01] [ 6.57509760e-01 -2.20370516e-02 7.53123684e-01 2.98581620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310371743 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:55.31, Y:33.47, Z:29.87 [[-7.30522204e-01 -2.51470342e-01 6.34901548e-01 5.53057765e+01] [ 1.74966485e-01 -9.67618995e-01 -1.81934628e-01 3.34684462e+01] [ 6.60093961e-01 -2.18207927e-02 7.50866043e-01 2.98708525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340371743 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:55.31, Y:33.47, Z:29.86 [[-7.29928004e-01 -2.59460250e-01 6.32364996e-01 5.53134305e+01] [ 1.72815217e-01 -9.65149229e-01 -1.96524467e-01 3.34731136e+01] [ 6.61316875e-01 -3.41664180e-02 7.49328130e-01 2.98589379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370371743 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:55.31, Y:33.48, Z:29.87 [[-7.29684224e-01 -2.56861379e-01 6.33705898e-01 5.53051792e+01] [ 1.65734782e-01 -9.65565289e-01 -2.00538414e-01 3.34778109e+01] [ 6.63394992e-01 -4.13026082e-02 7.47128623e-01 2.98688268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400371743 meters Centerline goodness : 0.989867 Centerline is valid? [True, True] Translation: X:55.31, Y:33.47, Z:29.86 [[-7.32283936e-01 -2.52587933e-01 6.32423571e-01 5.53139692e+01] [ 1.65752849e-01 -9.66850597e-01 -1.94231606e-01 3.34749399e+01] [ 6.60519667e-01 -3.74066767e-02 7.49876330e-01 2.98608551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430371743 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:55.31, Y:33.47, Z:29.87 [[-7.31308874e-01 -2.43803386e-01 6.36982920e-01 5.53077791e+01] [ 1.61543004e-01 -9.69270778e-01 -1.85520932e-01 3.34721992e+01] [ 6.62639562e-01 -3.27729697e-02 7.48221053e-01 2.98747082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46037174299997 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:55.31, Y:33.47, Z:29.87 [[-7.31503239e-01 -2.46038015e-01 6.35899604e-01 5.53091043e+01] [ 1.61240813e-01 -9.68594158e-01 -1.89279575e-01 3.34735080e+01] [ 6.62498613e-01 -3.59256530e-02 7.48201133e-01 2.98717401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49037174299997 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:55.32, Y:33.48, Z:29.86 [[-7.36037101e-01 -2.48422187e-01 6.29710889e-01 5.53155056e+01] [ 1.60787436e-01 -9.67765431e-01 -1.93849095e-01 3.34768565e+01] [ 6.57568845e-01 -4.14305264e-02 7.52254429e-01 2.98618040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52037174299997 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:55.32, Y:33.47, Z:29.87 [[-7.31025854e-01 -2.34280076e-01 6.40869758e-01 5.53179320e+01] [ 1.56227501e-01 -9.71727856e-01 -1.77025257e-01 3.34678072e+01] [ 6.64224486e-01 -2.92885587e-02 7.46959177e-01 2.98717317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55037174299997 meters Centerline goodness : 0.989402 Centerline is valid? [True, True] Translation: X:55.32, Y:33.48, Z:29.86 [[-7.31760231e-01 -2.43077016e-01 6.36742121e-01 5.53186269e+01] [ 1.53728114e-01 -9.69029562e-01 -1.93259863e-01 3.34752223e+01] [ 6.63998970e-01 -4.35347164e-02 7.46465067e-01 2.98628968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58037174299997 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:55.32, Y:33.47, Z:29.87 [[-7.32084648e-01 -2.29002436e-01 6.41568354e-01 5.53171169e+01] [ 1.52861168e-01 -9.73008794e-01 -1.72879584e-01 3.34690021e+01] [ 6.63841496e-01 -2.84916011e-02 7.47330380e-01 2.98744950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61037174299997 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:55.32, Y:33.48, Z:29.86 [[-7.35890295e-01 -2.47895385e-01 6.30089956e-01 5.53153313e+01] [ 1.52814682e-01 -9.67366077e-01 -2.02115179e-01 3.34831652e+01] [ 6.59631069e-01 -5.24476028e-02 7.49757362e-01 2.98617752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64037174299997 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:55.32, Y:33.47, Z:29.88 [[-7.33843490e-01 -2.22947871e-01 6.41691498e-01 5.53188250e+01] [ 1.51705091e-01 -9.74539543e-01 -1.65100711e-01 3.34668073e+01] [ 6.62162592e-01 -2.38102147e-02 7.48981826e-01 2.98756797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67037174299998 meters Centerline goodness : 0.990003 Centerline is valid? [True, True] Translation: X:55.32, Y:33.48, Z:29.86 [[-7.38185368e-01 -2.45491146e-01 6.28344221e-01 5.53219672e+01] [ 1.51677190e-01 -9.67985462e-01 -1.99995438e-01 3.34815220e+01] [ 6.57325180e-01 -5.23282195e-02 7.51788111e-01 2.98562332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70037174299998 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.87 [[-7.37536872e-01 -2.22234864e-01 6.37691954e-01 5.53279456e+01] [ 1.53322027e-01 -9.74745345e-01 -1.62369543e-01 3.34657059e+01] [ 6.57671437e-01 -2.19813017e-02 7.52984132e-01 2.98654406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73037174299998 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:55.33, Y:33.48, Z:29.85 [[-7.37752933e-01 -2.42082543e-01 6.30171923e-01 5.53292579e+01] [ 1.51379519e-01 -9.69042970e-01 -1.95038367e-01 3.34792238e+01] [ 6.57879055e-01 -4.84950048e-02 7.51560632e-01 2.98510386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76037174299998 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:55.32, Y:33.48, Z:29.86 [[-7.39545004e-01 -2.43638711e-01 6.27465828e-01 5.53211619e+01] [ 1.49039271e-01 -9.68325906e-01 -2.00330316e-01 3.34845637e+01] [ 6.56399637e-01 -5.46362352e-02 7.52432322e-01 2.98570480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79037174299998 meters Centerline goodness : 0.989663 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.86 [[-7.39793576e-01 -2.27548397e-01 6.33188118e-01 5.53292189e+01] [ 1.47863250e-01 -9.73053478e-01 -1.76927635e-01 3.34736705e+01] [ 6.56385500e-01 -3.72646746e-02 7.53504757e-01 2.98587558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82037174299998 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.86 [[-7.38672005e-01 -2.28582252e-01 6.34124454e-01 5.53299432e+01] [ 1.45703136e-01 -9.72651510e-01 -1.80885698e-01 3.34749220e+01] [ 6.58129368e-01 -4.12212794e-02 7.51775592e-01 2.98574875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85037174299998 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.85 [[-7.38502616e-01 -2.25955496e-01 6.35262151e-01 5.53347960e+01] [ 1.43816394e-01 -9.73281655e-01 -1.78996271e-01 3.34732024e+01] [ 6.58734189e-01 -4.08281022e-02 7.51267153e-01 2.98543641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88037174299998 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:55.33, Y:33.46, Z:29.87 [[-7.37298953e-01 -2.11176650e-01 6.41712300e-01 5.53317706e+01] [ 1.43870382e-01 -9.77179710e-01 -1.56272609e-01 3.34641222e+01] [ 6.60069365e-01 -2.28962372e-02 7.50855642e-01 2.98664706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91037174299998 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:55.33, Y:33.48, Z:29.85 [[-0.73705605 -0.23761932 0.63268115 55.32672672] [ 0.14138285 -0.96965084 -0.19946965 33.48194895] [ 0.66087765 -0.05757005 0.74828232 29.85448251] [ 0. 0. 0. 1. ]] SLAMing on 197.940371743 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.86 [[-7.38094758e-01 -2.26028560e-01 6.35710011e-01 5.53267724e+01] [ 1.42055486e-01 -9.73155902e-01 -1.81074099e-01 3.34746095e+01] [ 6.59572867e-01 -4.33437488e-02 7.50389867e-01 2.98602842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970371743 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:55.33, Y:33.48, Z:29.85 [[-0.74027179 -0.23725777 0.62905201 55.33100338] [ 0.14135256 -0.96967281 -0.1993843 33.48143012] [ 0.6572801 -0.05868046 0.75135841 29.84882477] [ 0. 0. 0. 1. ]] SLAMing on 198.000371743 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.87 [[-7.36306048e-01 -2.15204500e-01 6.41514167e-01 5.53300208e+01] [ 1.39491390e-01 -9.75987296e-01 -1.67304963e-01 3.34669444e+01] [ 6.62114458e-01 -3.37019530e-02 7.48644524e-01 2.98662870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030371743 meters Centerline goodness : 0.989730 Centerline is valid? [True, True] Translation: X:55.33, Y:33.48, Z:29.85 [[-0.74113606 -0.23626429 0.62840793 55.33391015] [ 0.14073366 -0.96990749 -0.19867941 33.48020544] [ 0.6564384 -0.05881032 0.75208375 29.84703207] [ 0. 0. 0. 1. ]] SLAMing on 198.060371743 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.86 [[-7.37143977e-01 -2.14605792e-01 6.40751988e-01 5.53340698e+01] [ 1.39334227e-01 -9.76124139e-01 -1.66636249e-01 3.34652280e+01] [ 6.61214587e-01 -3.35562239e-02 7.49445962e-01 2.98629414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090371743 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.86 [[-7.38839962e-01 -2.23598491e-01 6.35703724e-01 5.53327676e+01] [ 1.40934619e-01 -9.73756906e-01 -1.78703446e-01 3.34699772e+01] [ 6.58978713e-01 -4.24405852e-02 7.50963283e-01 2.98571424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120371743 meters Centerline goodness : 0.990138 Centerline is valid? [True, True] Translation: X:55.34, Y:33.47, Z:29.85 [[-7.38720381e-01 -2.29330159e-01 6.33797978e-01 5.53422654e+01] [ 1.40796026e-01 -9.72095681e-01 -1.87633863e-01 3.34709368e+01] [ 6.59142381e-01 -4.93727219e-02 7.50395666e-01 2.98450774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150371743 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:55.34, Y:33.47, Z:29.85 [[-7.38932573e-01 -2.27504753e-01 6.34208357e-01 5.53416044e+01] [ 1.40624113e-01 -9.72614969e-01 -1.85053996e-01 3.34698637e+01] [ 6.58941205e-01 -4.75574380e-02 7.50689535e-01 2.98469445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180371743 meters Centerline goodness : 0.990320 Centerline is valid? [True, True] Translation: X:55.33, Y:33.47, Z:29.85 [[-7.39599720e-01 -2.26299466e-01 6.33861819e-01 5.53344401e+01] [ 1.40297182e-01 -9.72928064e-01 -1.83650981e-01 3.34713552e+01] [ 6.58262072e-01 -4.68991874e-02 7.51326501e-01 2.98533844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21037174299997 meters Centerline goodness : 0.990517 Centerline is valid? [True, True] Translation: X:55.35, Y:33.47, Z:29.84 [[-7.39793497e-01 -2.28089664e-01 6.32993434e-01 5.53505991e+01] [ 1.40382212e-01 -9.72407322e-01 -1.86324542e-01 3.34684274e+01] [ 6.58026152e-01 -4.89806664e-02 7.51400345e-01 2.98375621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24037174299997 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:55.35, Y:33.47, Z:29.84 [[-7.40807054e-01 -2.24733095e-01 6.33008645e-01 5.53543603e+01] [ 1.41384256e-01 -9.73428996e-01 -1.80129068e-01 3.34651653e+01] [ 6.56669933e-01 -4.39434275e-02 7.52896788e-01 2.98352102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27037174299997 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:55.34, Y:33.47, Z:29.84 [[-7.41262421e-01 -2.29712378e-01 6.30683952e-01 5.53423175e+01] [ 1.40412171e-01 -9.71894349e-01 -1.88959774e-01 3.34713189e+01] [ 6.56364568e-01 -5.15130768e-02 7.52683172e-01 2.98417485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30037174299997 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:55.36, Y:33.47, Z:29.83 [[-7.42563882e-01 -2.29137377e-01 6.29360743e-01 5.53552662e+01] [ 1.41892020e-01 -9.72149597e-01 -1.86525646e-01 3.34675583e+01] [ 6.54572789e-01 -4.92059400e-02 7.54395943e-01 2.98298117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33037174299997 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:55.35, Y:33.47, Z:29.84 [[-0.73351693 -0.23473339 0.63785041 55.34623897] [ 0.12292839 -0.96881026 -0.21516339 33.46997791] [ 0.66846205 -0.07941607 0.73949413 29.84213467] [ 0. 0. 0. 1. ]] SLAMing on 198.36037174299997 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:55.37, Y:33.43, Z:29.85 [[-7.48424635e-01 -1.79864181e-01 6.38364662e-01 5.53699654e+01] [ 1.51041190e-01 -9.83455014e-01 -1.00013968e-01 3.34316216e+01] [ 6.45791858e-01 2.15664412e-02 7.63208860e-01 2.98483341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39037174299997 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:55.36, Y:33.48, Z:29.81 [[-0.74422383 -0.25413001 0.61769639 55.35720715] [ 0.14711701 -0.96444807 -0.21953701 33.48086546] [ 0.65152703 -0.07251103 0.75515209 29.81346163] [ 0. 0. 0. 1. ]] SLAMing on 198.42037174299998 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:55.37, Y:33.46, Z:29.82 [[-7.44045372e-01 -2.30622389e-01 6.27064429e-01 5.53670425e+01] [ 1.48468156e-01 -9.72142995e-01 -1.81370351e-01 3.34625014e+01] [ 6.51424356e-01 -4.18486706e-02 7.57558577e-01 2.98204295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45037174299998 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:55.36, Y:33.47, Z:29.82 [[-7.43720802e-01 -2.34420581e-01 6.26040222e-01 5.53615119e+01] [ 1.47860858e-01 -9.70988674e-01 -1.87931268e-01 3.34664007e+01] [ 6.51932922e-01 -4.72015491e-02 7.56806104e-01 2.98226207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48037174299998 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:55.36, Y:33.46, Z:29.83 [[-7.44341210e-01 -2.27600724e-01 6.27816911e-01 5.53568967e+01] [ 1.47886017e-01 -9.72965390e-01 -1.77392434e-01 3.34621436e+01] [ 6.51218772e-01 -3.91951560e-02 7.57877200e-01 2.98312959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51037174299998 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:55.35, Y:33.47, Z:29.84 [[-7.43710329e-01 -2.36354546e-01 6.25325095e-01 5.53463688e+01] [ 1.46833045e-01 -9.70324098e-01 -1.92122883e-01 3.34700616e+01] [ 6.52177126e-01 -5.10653850e-02 7.56344712e-01 2.98351368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54037174299998 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:55.35, Y:33.47, Z:29.84 [[-7.43133534e-01 -2.28621284e-01 6.28875869e-01 5.53451869e+01] [ 1.46190392e-01 -9.72589892e-01 -1.80823868e-01 3.34650136e+01] [ 6.52978499e-01 -4.24406703e-02 7.56186399e-01 2.98419489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57037174299998 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:55.37, Y:33.46, Z:29.82 [[-7.44112710e-01 -2.29735685e-01 6.27309963e-01 5.53717884e+01] [ 1.48079284e-01 -9.72372680e-01 -1.80454693e-01 3.34580916e+01] [ 6.51435953e-01 -4.13870201e-02 7.57573966e-01 2.98162233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60037174299998 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:55.35, Y:33.47, Z:29.83 [[-7.43377952e-01 -2.33910183e-01 6.26638051e-01 5.53539054e+01] [ 1.45744964e-01 -9.70993190e-01 -1.89553765e-01 3.34654155e+01] [ 6.52799836e-01 -4.95807495e-02 7.55906160e-01 2.98293166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63037174299998 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:55.35, Y:33.47, Z:29.83 [[-7.42366699e-01 -2.33759677e-01 6.27891788e-01 5.53528795e+01] [ 1.43567339e-01 -9.70893343e-01 -1.91714727e-01 3.34659318e+01] [ 6.54431129e-01 -5.21778758e-02 7.54319141e-01 2.98304980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66037174299998 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:55.37, Y:33.46, Z:29.82 [[-7.40960953e-01 -2.26259664e-01 6.32284295e-01 5.53711494e+01] [ 1.40950421e-01 -9.72957986e-01 -1.82991084e-01 3.34552773e+01] [ 6.56589556e-01 -4.64685107e-02 7.52815272e-01 2.98207418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690371743 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:55.37, Y:33.45, Z:29.82 [[-7.42743690e-01 -2.22215446e-01 6.31626556e-01 5.53702322e+01] [ 1.43081153e-01 -9.74208189e-01 -1.74488362e-01 3.34524275e+01] [ 6.54109772e-01 -3.92262737e-02 7.55381828e-01 2.98230784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:55.38, Y:33.45, Z:29.81 [[-7.46852457e-01 -2.20889413e-01 6.27231437e-01 5.53805891e+01] [ 1.48178958e-01 -9.74784604e-01 -1.66847155e-01 3.34476159e+01] [ 6.48270318e-01 -3.16677071e-02 7.60751439e-01 2.98107742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:55.37, Y:33.46, Z:29.81 [[-0.7435939 -0.24121408 0.62360556 55.37128005] [ 0.14335483 -0.96848579 -0.20367784 33.46251773] [ 0.65308308 -0.06205673 0.75473933 29.8077394 ] [ 0. 0. 0. 1. ]] SLAMing on 198.780371743 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:55.38, Y:33.45, Z:29.81 [[-7.43149726e-01 -2.25553446e-01 6.29963593e-01 5.53762345e+01] [ 1.42619491e-01 -9.73233014e-01 -1.80214262e-01 3.34507083e+01] [ 6.53749314e-01 -4.40810925e-02 7.55426166e-01 2.98140773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810371743 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:55.38, Y:33.45, Z:29.81 [[-7.43966516e-01 -2.24022421e-01 6.29545692e-01 5.53825274e+01] [ 1.43821895e-01 -9.73729767e-01 -1.76537823e-01 3.34474710e+01] [ 6.52555810e-01 -4.07957742e-02 7.56641672e-01 2.98089723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840371743 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:55.38, Y:33.45, Z:29.81 [[-7.45148424e-01 -2.29418577e-01 6.26195611e-01 5.53814983e+01] [ 1.42171867e-01 -9.72028716e-01 -1.86942067e-01 3.34513294e+01] [ 6.51568098e-01 -5.02721877e-02 7.56922533e-01 2.98051232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870371743 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:55.38, Y:33.45, Z:29.81 [[-7.44797086e-01 -2.21580640e-01 6.29427772e-01 5.53780205e+01] [ 1.40756624e-01 -9.74203027e-01 -1.76397375e-01 3.34471702e+01] [ 6.52276684e-01 -4.27841228e-02 7.56772519e-01 2.98138349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:55.37, Y:33.45, Z:29.82 [[-0.73692547 -0.23118625 0.63521159 55.36933264] [ 0.12024328 -0.96954369 -0.21336959 33.45356547] [ 0.66519351 -0.08085756 0.74228004 29.81978241] [ 0. 0. 0. 1. ]] SLAMing on 198.930371743 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:55.39, Y:33.42, Z:29.82 [[-7.44758405e-01 -1.88514256e-01 6.40154117e-01 5.53907622e+01] [ 1.38730831e-01 -9.82049805e-01 -1.27796470e-01 3.34244568e+01] [ 6.52754682e-01 -6.36838261e-03 7.57542586e-01 2.98244288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96037174299997 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:55.37, Y:33.45, Z:29.82 [[-0.73687897 -0.23083061 0.63539485 55.36987446] [ 0.11960045 -0.96958672 -0.2135353 33.45323873] [ 0.6653609 -0.08135616 0.7420755 29.81874163] [ 0. 0. 0. 1. ]] SLAMing on 198.99037174299997 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:55.38, Y:33.43, Z:29.83 [[-7.34569057e-01 -1.96631934e-01 6.49418342e-01 5.53803597e+01] [ 1.18690218e-01 -9.79569984e-01 -1.62343088e-01 3.34297696e+01] [ 6.68072550e-01 -4.21726042e-02 7.42900087e-01 2.98345822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02037174299997 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:55.39, Y:33.42, Z:29.82 [[-7.44234545e-01 -1.86974634e-01 6.41214026e-01 5.53921229e+01] [ 1.37552752e-01 -9.82345404e-01 -1.26794111e-01 3.34233602e+01] [ 6.53600935e-01 -6.16380347e-03 7.56814261e-01 2.98230790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05037174299997 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:55.39, Y:33.45, Z:29.80 [[-7.44855237e-01 -2.24582701e-01 6.28293949e-01 5.53902196e+01] [ 1.37934213e-01 -9.73138803e-01 -1.84323150e-01 3.34465308e+01] [ 6.52813012e-01 -5.06308323e-02 7.55825171e-01 2.97977885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08037174299997 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:55.39, Y:33.44, Z:29.80 [[-7.44209038e-01 -2.19215637e-01 6.30949612e-01 5.53888499e+01] [ 1.38533664e-01 -9.74727582e-01 -1.75255711e-01 3.34426075e+01] [ 6.53422782e-01 -4.30191228e-02 7.55769821e-01 2.98038330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11037174299997 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:55.39, Y:33.44, Z:29.80 [[-7.44738364e-01 -2.20794203e-01 6.29773522e-01 5.53929460e+01] [ 1.40341612e-01 -9.74396868e-01 -1.75655841e-01 3.34412118e+01] [ 6.52433139e-01 -4.24342126e-02 7.56657344e-01 2.97995790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14037174299997 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:55.39, Y:33.44, Z:29.80 [[-7.44790634e-01 -2.24214980e-01 6.28501834e-01 5.53928671e+01] [ 1.43762816e-01 -9.73657324e-01 -1.76984939e-01 3.34408025e+01] [ 6.51628088e-01 -4.14615315e-02 7.57404632e-01 2.97988461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17037174299998 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:55.40, Y:33.44, Z:29.79 [[-7.44714489e-01 -2.28425291e-01 6.27074331e-01 5.53958080e+01] [ 1.45064325e-01 -9.72540937e-01 -1.81990295e-01 3.34417099e+01] [ 6.51426643e-01 -4.45646949e-02 7.57401688e-01 2.97941314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20037174299998 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:55.39, Y:33.44, Z:29.80 [[-7.46642141e-01 -2.29957405e-01 6.24215592e-01 5.53923218e+01] [ 1.47541970e-01 -9.72225601e-01 -1.81683100e-01 3.34427921e+01] [ 6.48657753e-01 -4.35542607e-02 7.59832972e-01 2.97969308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23037174299998 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:55.40, Y:33.43, Z:29.80 [[-7.42983963e-01 -2.16311156e-01 6.33391123e-01 5.53978755e+01] [ 1.47322087e-01 -9.75979969e-01 -1.60497051e-01 3.34311171e+01] [ 6.52894351e-01 -2.59342326e-02 7.57004876e-01 2.98025103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26037174299998 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:55.40, Y:33.44, Z:29.80 [[-7.43069121e-01 -2.29267952e-01 6.28716540e-01 5.53950874e+01] [ 1.51507435e-01 -9.72724318e-01 -1.75649928e-01 3.34380219e+01] [ 6.51838767e-01 -3.52648073e-02 7.57537204e-01 2.97960260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29037174299998 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:55.41, Y:33.43, Z:29.78 [[-7.44133914e-01 -2.28832892e-01 6.27614711e-01 5.54078124e+01] [ 1.56037884e-01 -9.73051260e-01 -1.69774626e-01 3.34327061e+01] [ 6.49551305e-01 -2.84033859e-02 7.59787043e-01 2.97840822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32037174299998 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:55.40, Y:33.44, Z:29.79 [[-7.42966603e-01 -2.37529531e-01 6.25763813e-01 5.54006805e+01] [ 1.54640455e-01 -9.70534495e-01 -1.84794817e-01 3.34405834e+01] [ 6.51219592e-01 -4.05279763e-02 7.57806391e-01 2.97852707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35037174299998 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:55.40, Y:33.44, Z:29.79 [[-7.44561709e-01 -2.30272762e-01 6.26579857e-01 5.54035794e+01] [ 1.56771622e-01 -9.72687234e-01 -1.71178865e-01 3.34354276e+01] [ 6.48884058e-01 -2.92232878e-02 7.60325903e-01 2.97861481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38037174299998 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:55.41, Y:33.44, Z:29.78 [[-7.44725581e-01 -2.31486367e-01 6.25937594e-01 5.54051570e+01] [ 1.56490573e-01 -9.72338173e-01 -1.73404665e-01 3.34360595e+01] [ 6.48763832e-01 -3.11855570e-02 7.60350545e-01 2.97836385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41037174299998 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:55.41, Y:33.44, Z:29.78 [[-7.41130582e-01 -2.33943488e-01 6.29282055e-01 5.54066830e+01] [ 1.53271458e-01 -9.71528866e-01 -1.80664116e-01 3.34372765e+01] [ 6.53630875e-01 -3.74447236e-02 7.55886613e-01 2.97838105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440371743 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:55.41, Y:33.43, Z:29.79 [[-7.42417026e-01 -2.27759797e-01 6.30033677e-01 5.54082206e+01] [ 1.55301901e-01 -9.73328439e-01 -1.68858136e-01 3.34333598e+01] [ 6.51688790e-01 -2.75177278e-02 7.57987135e-01 2.97854299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470371743 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:55.41, Y:33.43, Z:29.78 [[-7.41350905e-01 -2.30005219e-01 6.30473184e-01 5.54095755e+01] [ 1.53693492e-01 -9.72657164e-01 -1.74115915e-01 3.34347732e+01] [ 6.53281828e-01 -3.21813660e-02 7.56430574e-01 2.97830029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500371743 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:55.41, Y:33.44, Z:29.78 [[-7.39838334e-01 -2.34701079e-01 6.30519344e-01 5.54101290e+01] [ 1.51197339e-01 -9.71207812e-01 -1.84105270e-01 3.34397277e+01] [ 6.55575018e-01 -4.08752891e-02 7.54022948e-01 2.97800446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:55.43, Y:33.43, Z:29.76 [[-7.34365587e-01 -2.34620205e-01 6.36914864e-01 5.54332392e+01] [ 1.49045092e-01 -9.71196718e-01 -1.85909912e-01 3.34331264e+01] [ 6.62187847e-01 -4.15968067e-02 7.48182438e-01 2.97643550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560371743 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:55.44, Y:33.42, Z:29.77 [[-7.40122931e-01 -2.16028963e-01 6.36827712e-01 5.54353079e+01] [ 1.52634320e-01 -9.76245633e-01 -1.53776554e-01 3.34232515e+01] [ 6.54920462e-01 -1.66117896e-02 7.55515213e-01 2.97693338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590371743 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:55.44, Y:33.44, Z:29.75 [[-7.42513294e-01 -2.33138535e-01 6.27949386e-01 5.54372670e+01] [ 1.52783754e-01 -9.71708891e-01 -1.80108177e-01 3.34369488e+01] [ 6.52174158e-01 -3.77922510e-02 7.57126551e-01 2.97528765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:55.43, Y:33.43, Z:29.77 [[-7.42485035e-01 -2.24258183e-01 6.31208556e-01 5.54298413e+01] [ 1.50689057e-01 -9.74060924e-01 -1.68813877e-01 3.34341025e+01] [ 6.52693482e-01 -3.02255554e-02 7.57018913e-01 2.97659031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650371743 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:55.41, Y:33.44, Z:29.78 [[-0.73461297 -0.23303579 0.63721119 55.41135896] [ 0.1297446 -0.97008333 -0.20519424 33.44302096] [ 0.66596556 -0.06806364 0.74287093 29.78272433] [ 0. 0. 0. 1. ]] SLAMing on 199.680371743 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:55.43, Y:33.42, Z:29.79 [[-7.44313948e-01 -1.92316242e-01 6.39539842e-01 5.54311947e+01] [ 1.50407187e-01 -9.81309147e-01 -1.20041810e-01 3.34178544e+01] [ 6.50672287e-01 6.84259482e-03 7.59327830e-01 2.97856091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71037174299997 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:55.41, Y:33.45, Z:29.78 [[-0.73599613 -0.23845019 0.63360177 55.41346933] [ 0.12899407 -0.96816424 -0.21451931 33.45003795] [ 0.66458275 -0.07615451 0.74332379 29.77531559] [ 0. 0. 0. 1. ]] SLAMing on 199.74037174299997 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:55.42, Y:33.43, Z:29.80 [[-7.34448141e-01 -2.00481493e-01 6.48377282e-01 5.54176031e+01] [ 1.28121156e-01 -9.79151616e-01 -1.57629571e-01 3.34279177e+01] [ 6.66461475e-01 -3.26998991e-02 7.44822005e-01 2.97987562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77037174299997 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:55.44, Y:33.42, Z:29.78 [[-7.47365550e-01 -1.88486644e-01 6.37116567e-01 5.54380193e+01] [ 1.48731360e-01 -9.82043021e-01 -1.16062432e-01 3.34189707e+01] [ 6.47552096e-01 8.01815013e-03 7.61978997e-01 2.97793221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80037174299997 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:55.42, Y:33.45, Z:29.77 [[-7.47512812e-01 -2.27178201e-01 6.24191205e-01 5.54240152e+01] [ 1.48011196e-01 -9.73037955e-01 -1.76889301e-01 3.34481176e+01] [ 6.47547127e-01 -3.98397320e-02 7.60983255e-01 2.97665082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83037174299997 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:55.42, Y:33.46, Z:29.77 [[-7.45264350e-01 -2.32184202e-01 6.25037235e-01 5.54165918e+01] [ 1.41302691e-01 -9.71117528e-01 -1.92261010e-01 3.34555402e+01] [ 6.51624584e-01 -5.49658334e-02 7.56547526e-01 2.97721810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86037174299997 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:55.41, Y:33.44, Z:29.80 [[-7.45389406e-01 -2.01793365e-01 6.35353501e-01 5.54078173e+01] [ 1.41446554e-01 -9.79257701e-01 -1.45076629e-01 3.34396317e+01] [ 6.51450310e-01 -1.82700195e-02 7.58471292e-01 2.97995738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89037174299997 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:55.42, Y:33.46, Z:29.77 [[-7.44419573e-01 -2.27776046e-01 6.27660396e-01 5.54202455e+01] [ 1.38618976e-01 -9.72255830e-01 -1.88423407e-01 3.34550417e+01] [ 6.53164818e-01 -5.32604304e-02 7.55340352e-01 2.97706738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92037174299998 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:55.44, Y:33.44, Z:29.77 [[-7.37867732e-01 -2.12346227e-01 6.40671749e-01 5.54359453e+01] [ 1.30951191e-01 -9.76222868e-01 -1.72744600e-01 3.34435882e+01] [ 6.62120076e-01 -4.35659380e-02 7.48130345e-01 2.97705347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95037174299998 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:55.43, Y:33.44, Z:29.78 [[-7.41250768e-01 -2.02489743e-01 6.39957188e-01 5.54329633e+01] [ 1.32602135e-01 -9.78798064e-01 -1.56112215e-01 3.34407181e+01] [ 6.57999979e-01 -3.08586096e-02 7.52385389e-01 2.97756872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98037174299998 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:55.43, Y:33.45, Z:29.77 [[-7.41953561e-01 -2.10506218e-01 6.36546971e-01 5.54344250e+01] [ 1.29674160e-01 -9.76559715e-01 -1.71801443e-01 3.34473361e+01] [ 6.57791400e-01 -4.49249983e-02 7.51859175e-01 2.97681192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01037174299998 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:55.43, Y:33.45, Z:29.77 [[-7.41549019e-01 -2.08510631e-01 6.37674187e-01 5.54344580e+01] [ 1.27438753e-01 -9.76950551e-01 -1.71251236e-01 3.34475352e+01] [ 6.58683852e-01 -4.57267830e-02 7.51029057e-01 2.97699111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04037174299998 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:55.43, Y:33.45, Z:29.78 [[-0.73863835 -0.20550619 0.64201293 55.43111017] [ 0.11343834 -0.97670896 -0.18213003 33.44544811] [ 0.66448863 -0.06169935 0.74474697 29.77656808] [ 0. 0. 0. 1. ]] SLAMing on 200.07037174299998 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:55.44, Y:33.43, Z:29.78 [[-7.42717198e-01 -1.86427071e-01 6.43129934e-01 5.54448537e+01] [ 1.24946152e-01 -9.82177287e-01 -1.40414516e-01 3.34336058e+01] [ 6.57844680e-01 -2.39316650e-02 7.52773307e-01 2.97760088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10037174299998 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:55.44, Y:33.44, Z:29.77 [[-7.45772928e-01 -2.03691336e-01 6.34296917e-01 5.54411408e+01] [ 1.27178986e-01 -9.78130967e-01 -1.64576173e-01 3.34448477e+01] [ 6.53948197e-01 -4.20672152e-02 7.55368853e-01 2.97656119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13037174299998 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:55.44, Y:33.45, Z:29.76 [[-7.45170402e-01 -2.06142556e-01 6.34213149e-01 5.54440008e+01] [ 1.26102552e-01 -9.77423341e-01 -1.69533944e-01 3.34454672e+01] [ 6.54842896e-01 -4.63557809e-02 7.54342047e-01 2.97626085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16037174299998 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:55.45, Y:33.44, Z:29.76 [[-7.44701587e-01 -2.06663376e-01 6.34594197e-01 5.54464713e+01] [ 1.25417144e-01 -9.77243317e-01 -1.71073197e-01 3.34449974e+01] [ 6.55507503e-01 -4.78094895e-02 7.53673780e-01 2.97608705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190371743 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:55.45, Y:33.45, Z:29.75 [[-7.47161998e-01 -2.07971350e-01 6.31266082e-01 5.54512816e+01] [ 1.27423274e-01 -9.76987408e-01 -1.71052373e-01 3.34457766e+01] [ 6.52313006e-01 -4.73658420e-02 7.56468254e-01 2.97532155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220371743 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:55.45, Y:33.44, Z:29.76 [[-7.46075867e-01 -1.99780318e-01 6.35183930e-01 5.54480443e+01] [ 1.25988792e-01 -9.79051891e-01 -1.59950679e-01 3.34427412e+01] [ 6.53833026e-01 -3.93092857e-02 7.55617069e-01 2.97602899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250371743 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:55.45, Y:33.44, Z:29.76 [[-7.44689995e-01 -1.98115603e-01 6.37328031e-01 5.54522580e+01] [ 1.25320263e-01 -9.79448903e-01 -1.58033789e-01 3.34402308e+01] [ 6.55539200e-01 -3.78160652e-02 7.54213698e-01 2.97580324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280371743 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:55.45, Y:33.45, Z:29.75 [[-7.44485772e-01 -2.08974421e-01 6.34090394e-01 5.54504799e+01] [ 1.24552061e-01 -9.76550612e-01 -1.75600928e-01 3.34484207e+01] [ 6.55917464e-01 -5.17551265e-02 7.53056231e-01 2.97512563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:55.45, Y:33.44, Z:29.77 [[-7.43710458e-01 -1.94397481e-01 6.39612675e-01 5.54465924e+01] [ 1.22893949e-01 -9.80236375e-01 -1.55028145e-01 3.34407199e+01] [ 6.57108691e-01 -3.66915252e-02 7.52902318e-01 2.97653408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:55.45, Y:33.44, Z:29.75 [[-7.44845206e-01 -2.01648253e-01 6.36037421e-01 5.54531417e+01] [ 1.23795764e-01 -9.78454088e-01 -1.65233795e-01 3.34439043e+01] [ 6.55652521e-01 -4.43348617e-02 7.53760036e-01 2.97535253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370371743 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:55.44, Y:33.45, Z:29.76 [[-0.74399248 -0.21053426 0.63415338 55.44158823] [ 0.12103323 -0.97582669 -0.18197039 33.4531189 ] [ 0.6571348 -0.05863097 0.75148937 29.7591175 ] [ 0. 0. 0. 1. ]] SLAMing on 200.400371743 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:55.46, Y:33.44, Z:29.76 [[-7.43985647e-01 -1.91660418e-01 6.40118459e-01 5.54584883e+01] [ 1.24071406e-01 -9.80945689e-01 -1.49505321e-01 3.34362018e+01] [ 6.56575695e-01 -3.18094157e-02 7.53589091e-01 2.97574647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43037174299997 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:55.46, Y:33.45, Z:29.75 [[-0.74188752 -0.20959377 0.63692492 55.45703555] [ 0.121423 -0.97618051 -0.17980007 33.44774731] [ 0.65943867 -0.05605409 0.74966565 29.74905046] [ 0. 0. 0. 1. ]] SLAMing on 200.46037174299997 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:55.46, Y:33.45, Z:29.75 [[-7.41244943e-01 -2.05449535e-01 6.39019893e-01 5.54559857e+01] [ 1.20848041e-01 -9.77297317e-01 -1.74027884e-01 3.34462840e+01] [ 6.60266375e-01 -5.17729863e-02 7.49244868e-01 2.97532938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49037174299997 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:55.47, Y:33.43, Z:29.75 [[-7.39998506e-01 -1.92919749e-01 6.44347873e-01 5.54694763e+01] [ 1.22825052e-01 -9.80634190e-01 -1.52547018e-01 3.34342552e+01] [ 6.61298887e-01 -3.37425046e-02 7.49363214e-01 2.97508860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52037174299997 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:55.46, Y:33.44, Z:29.75 [[-7.38322243e-01 -2.05581440e-01 6.42352346e-01 5.54640067e+01] [ 1.20129950e-01 -9.77267469e-01 -1.74691414e-01 3.34437616e+01] [ 6.63663364e-01 -5.18128019e-02 7.46234798e-01 2.97488753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55037174299997 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:55.47, Y:33.44, Z:29.75 [[-7.37728373e-01 -2.00040235e-01 6.44779615e-01 5.54669351e+01] [ 1.19472643e-01 -9.78701384e-01 -1.66942773e-01 3.34402368e+01] [ 6.64441973e-01 -4.61248955e-02 7.45915115e-01 2.97499172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58037174299997 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:55.46, Y:33.44, Z:29.75 [[-7.37871244e-01 -1.98657152e-01 6.45043691e-01 5.54621402e+01] [ 1.19066763e-01 -9.79027247e-01 -1.65314111e-01 3.34418972e+01] [ 6.64356180e-01 -4.51772640e-02 7.46049517e-01 2.97546353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61037174299997 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:55.48, Y:33.44, Z:29.74 [[-7.39955056e-01 -1.96084553e-01 6.43441810e-01 5.54766559e+01] [ 1.21343363e-01 -9.79786884e-01 -1.59039148e-01 3.34376521e+01] [ 6.61620966e-01 -3.96044287e-02 7.48791818e-01 2.97413974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64037174299997 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:55.47, Y:33.45, Z:29.75 [[-7.37792325e-01 -2.03505492e-01 6.43621007e-01 5.54690809e+01] [ 1.17682556e-01 -9.77649309e-01 -1.74220102e-01 3.34459231e+01] [ 6.64690381e-01 -5.27952890e-02 7.45251203e-01 2.97457602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67037174299998 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:55.47, Y:33.44, Z:29.74 [[-7.39283471e-01 -1.97164183e-01 6.43883712e-01 5.54736385e+01] [ 1.17986428e-01 -9.79310600e-01 -1.64407884e-01 3.34424772e+01] [ 6.62977490e-01 -4.55744920e-02 7.47250837e-01 2.97439784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70037174299998 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:55.48, Y:33.44, Z:29.74 [[-7.39003201e-01 -1.92207754e-01 6.45701517e-01 5.54783195e+01] [ 1.18223874e-01 -9.80563973e-01 -1.56580363e-01 3.34387386e+01] [ 6.63247605e-01 -3.93760550e-02 7.47363460e-01 2.97431450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73037174299998 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:55.48, Y:33.44, Z:29.73 [[-7.40348100e-01 -1.96410944e-01 6.42889907e-01 5.54842049e+01] [ 1.19678626e-01 -9.79596054e-01 -1.61457726e-01 3.34418178e+01] [ 6.61484480e-01 -4.25947397e-02 7.48748269e-01 2.97327282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76037174299998 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:55.48, Y:33.45, Z:29.73 [[-7.39942709e-01 -2.02234513e-01 6.41549678e-01 5.54808174e+01] [ 1.19092988e-01 -9.78055260e-01 -1.70952531e-01 3.34472552e+01] [ 6.62043539e-01 -5.00910109e-02 7.47789571e-01 2.97319632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79037174299998 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:55.49, Y:33.45, Z:29.73 [[-7.41346590e-01 -1.99844920e-01 6.40677174e-01 5.54862937e+01] [ 1.20994346e-01 -9.78792230e-01 -1.65306199e-01 3.34453938e+01] [ 6.60125444e-01 -4.50308713e-02 7.49804387e-01 2.97267597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82037174299998 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:55.48, Y:33.45, Z:29.73 [[-7.39311387e-01 -2.03718719e-01 6.41807881e-01 5.54826678e+01] [ 1.19812848e-01 -9.77725748e-01 -1.72328880e-01 3.34486301e+01] [ 6.62618709e-01 -5.05078732e-02 7.47251899e-01 2.97293297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85037174299998 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:55.49, Y:33.45, Z:29.72 [[-7.39645234e-01 -2.02208368e-01 6.41900852e-01 5.54909156e+01] [ 1.22342290e-01 -9.78301537e-01 -1.67207856e-01 3.34453677e+01] [ 6.61783417e-01 -4.51428736e-02 7.48334704e-01 2.97231016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88037174299998 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:55.48, Y:33.45, Z:29.74 [[-0.73832572 -0.19995645 0.64412153 55.47657881] [ 0.11054636 -0.97800275 -0.17689012 33.44504413] [ 0.66532295 -0.05939723 0.74418905 29.73511905] [ 0. 0. 0. 1. ]] SLAMing on 200.91037174299998 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:55.48, Y:33.44, Z:29.74 [[-7.40619697e-01 -1.85617312e-01 6.45777577e-01 5.54843505e+01] [ 1.27482689e-01 -9.82447316e-01 -1.36181624e-01 3.34357204e+01] [ 6.59720114e-01 -1.85333309e-02 7.51282827e-01 2.97401886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940371743 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:55.50, Y:33.45, Z:29.71 [[-7.42823256e-01 -2.07571081e-01 6.36496549e-01 5.54994386e+01] [ 1.30512819e-01 -9.77379040e-01 -1.66423002e-01 3.34458344e+01] [ 6.56642989e-01 -4.05519175e-02 7.53110568e-01 2.97107597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970371743 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:55.51, Y:33.42, Z:29.71 [[-7.56372231e-01 -1.79942601e-01 6.28905167e-01 5.55084677e+01] [ 1.47268380e-01 -9.83581373e-01 -1.04305834e-01 3.34246592e+01] [ 6.37348471e-01 1.37238086e-02 7.70453493e-01 2.97104612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000371743 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:55.48, Y:33.48, Z:29.70 [[-0.73995727 -0.25372016 0.62296815 55.47504823] [ 0.11549117 -0.96030299 -0.25392902 33.47938796] [ 0.66266509 -0.11594931 0.73988562 29.70436412] [ 0. 0. 0. 1. ]] SLAMing on 201.030371743 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:55.52, Y:33.41, Z:29.71 [[-7.54280626e-01 -1.62970648e-01 6.36004171e-01 5.55232703e+01] [ 1.46053587e-01 -9.86080367e-01 -7.94598026e-02 3.34107930e+01] [ 6.40100841e-01 3.29557006e-02 7.67583764e-01 2.97112950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060371743 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:55.51, Y:33.46, Z:29.68 [[-0.75229282 -0.24030785 0.6134392 55.50608739] [ 0.14693355 -0.96885111 -0.19934407 33.46362902] [ 0.6422352 -0.05983031 0.76416902 29.67723205] [ 0. 0. 0. 1. ]] SLAMing on 201.090371743 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:55.50, Y:33.46, Z:29.70 [[-0.74455142 -0.23131969 0.62620634 55.49640605] [ 0.1380704 -0.9711231 -0.19456747 33.46010611] [ 0.65313073 -0.05840493 0.75498948 29.69881716] [ 0. 0. 0. 1. ]] SLAMing on 201.120371743 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:55.51, Y:33.45, Z:29.70 [[-7.43471054e-01 -2.19549532e-01 6.31703091e-01 5.55087262e+01] [ 1.40949999e-01 -9.74800923e-01 -1.72905347e-01 3.34500011e+01] [ 6.53746044e-01 -3.95115700e-02 7.55681775e-01 2.96977926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150371743 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:55.51, Y:33.45, Z:29.70 [[-7.45712361e-01 -2.14697293e-01 6.30728268e-01 5.55127723e+01] [ 1.43246607e-01 -9.76183842e-01 -1.62927949e-01 3.34467428e+01] [ 6.50686933e-01 -3.11477008e-02 7.58707016e-01 2.96953210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18037174299997 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:55.51, Y:33.45, Z:29.70 [[-7.44296572e-01 -2.20122273e-01 6.30530568e-01 5.55097531e+01] [ 1.41881452e-01 -9.74686534e-01 -1.72788350e-01 3.34514807e+01] [ 6.52604218e-01 -3.91451843e-02 7.56687114e-01 2.96963457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21037174299997 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:55.51, Y:33.45, Z:29.70 [[-7.46913262e-01 -2.11587454e-01 6.30358096e-01 5.55135017e+01] [ 1.43750058e-01 -9.76983163e-01 -1.57606535e-01 3.34475037e+01] [ 6.49196812e-01 -2.71043983e-02 7.60137390e-01 2.96955664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24037174299997 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:55.52, Y:33.45, Z:29.69 [[-7.48680091e-01 -2.18201688e-01 6.25992129e-01 5.55151151e+01] [ 1.44476311e-01 -9.75286221e-01 -1.67162745e-01 3.34523717e+01] [ 6.46996690e-01 -3.47103858e-02 7.61702351e-01 2.96881589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27037174299997 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:55.52, Y:33.45, Z:29.69 [[-7.48868324e-01 -2.21859156e-01 6.24479582e-01 5.55155596e+01] [ 1.44311453e-01 -9.74278675e-01 -1.73075904e-01 3.34548863e+01] [ 6.46815614e-01 -3.94915056e-02 7.61623255e-01 2.96852572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30037174299997 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:55.51, Y:33.45, Z:29.69 [[-7.53777184e-01 -2.12070033e-01 6.21969660e-01 5.55096917e+01] [ 1.46700182e-01 -9.76913263e-01 -1.55304646e-01 3.34518362e+01] [ 6.40545871e-01 -2.58220360e-02 7.67485641e-01 2.96914276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33037174299997 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:55.51, Y:33.46, Z:29.68 [[-7.49852031e-01 -2.29467200e-01 6.20537457e-01 5.55147937e+01] [ 1.41249753e-01 -9.71826435e-01 -1.88684624e-01 3.34632638e+01] [ 6.46351637e-01 -5.38347858e-02 7.61138212e-01 2.96789080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36037174299997 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:55.51, Y:33.46, Z:29.69 [[-7.49805882e-01 -2.18816490e-01 6.24428125e-01 5.55075972e+01] [ 1.37302699e-01 -9.74646268e-01 -1.76670940e-01 3.34604331e+01] [ 6.47255057e-01 -4.67332428e-02 7.60839599e-01 2.96907049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39037174299997 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:55.50, Y:33.46, Z:29.70 [[-0.73974761 -0.21759761 0.63672973 55.49909326] [ 0.1083306 -0.97243834 -0.20646587 33.46139241] [ 0.66410688 -0.08375532 0.74293142 29.70482765] [ 0. 0. 0. 1. ]] SLAMing on 201.42037174299998 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:55.51, Y:33.44, Z:29.73 [[-7.38103227e-01 -1.77103614e-01 6.51028368e-01 5.55061958e+01] [ 1.06741065e-01 -9.83433023e-01 -1.46512231e-01 3.34354010e+01] [ 6.66190642e-01 -3.86496894e-02 7.44779316e-01 2.97253941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45037174299998 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:55.50, Y:33.44, Z:29.73 [[-7.39069653e-01 -1.75308989e-01 6.50417410e-01 5.55049291e+01] [ 1.04835496e-01 -9.83711455e-01 -1.46018119e-01 3.34358788e+01] [ 6.65421346e-01 -3.97307290e-02 7.45409888e-01 2.97268615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48037174299998 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:55.50, Y:33.44, Z:29.73 [[-7.39393731e-01 -1.74370205e-01 6.50301424e-01 5.55048138e+01] [ 1.03937472e-01 -9.83863724e-01 -1.45633702e-01 3.34355546e+01] [ 6.65202159e-01 -4.00899600e-02 7.45586268e-01 2.97266501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51037174299998 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:55.52, Y:33.42, Z:29.72 [[-7.57367766e-01 -1.50804079e-01 6.35336286e-01 5.55181155e+01] [ 1.31683849e-01 -9.88250144e-01 -7.75952062e-02 3.34207308e+01] [ 6.39572850e-01 2.48954194e-02 7.68327266e-01 2.97189120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54037174299998 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:55.50, Y:33.47, Z:29.69 [[-0.7571981 -0.21774301 0.61582386 55.50452878] [ 0.13131357 -0.97429753 -0.183033 33.46502599] [ 0.63984981 -0.05772621 0.76632885 29.68655645] [ 0. 0. 0. 1. ]] SLAMing on 201.57037174299998 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:55.50, Y:33.46, Z:29.69 [[-7.53558302e-01 -2.11130113e-01 6.22554384e-01 5.55038515e+01] [ 1.26905864e-01 -9.75929227e-01 -1.77361341e-01 3.34606041e+01] [ 6.45015339e-01 -5.46463088e-02 7.62213221e-01 2.96943232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60037174299998 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:55.52, Y:33.45, Z:29.69 [[-7.55890421e-01 -2.00995634e-01 6.23081397e-01 5.55161261e+01] [ 1.27840310e-01 -9.78701668e-01 -1.60623471e-01 3.34515359e+01] [ 6.42095419e-01 -4.17588244e-02 7.65486560e-01 2.96859269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63037174299998 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:55.51, Y:33.46, Z:29.68 [[-0.75617217 -0.21204837 0.61906311 55.51402473] [ 0.1274414 -0.97564764 -0.17852276 33.45988577] [ 0.64184293 -0.05609968 0.76478133 29.6804842 ] [ 0. 0. 0. 1. ]] SLAMing on 201.66037174299998 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:55.52, Y:33.46, Z:29.67 [[-0.7588814 -0.21094257 0.6161187 55.52277572] [ 0.12755464 -0.97590771 -0.177014 33.45786551] [ 0.63861478 -0.05574383 0.76750491 29.6734134 ] [ 0. 0. 0. 1. ]] SLAMing on 201.690371743 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:55.52, Y:33.45, Z:29.69 [[-7.55510990e-01 -1.93255579e-01 6.25983567e-01 5.55205957e+01] [ 1.25334033e-01 -9.80489561e-01 -1.51431834e-01 3.34462927e+01] [ 6.43035399e-01 -3.59513697e-02 7.64992140e-01 2.96863770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720371743 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:55.52, Y:33.45, Z:29.69 [[-0.75238878 -0.20685507 0.62539756 55.51506309] [ 0.12226196 -0.97677061 -0.17598633 33.45399148] [ 0.64727362 -0.05594781 0.76020175 29.68546667] [ 0. 0. 0. 1. ]] SLAMing on 201.750371743 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:55.51, Y:33.44, Z:29.69 [[-7.54466549e-01 -1.91733459e-01 6.27708936e-01 5.55134507e+01] [ 1.24904140e-01 -9.80845103e-01 -1.49471870e-01 3.34433650e+01] [ 6.44343994e-01 -3.43680814e-02 7.63963122e-01 2.96938019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780371743 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:55.51, Y:33.45, Z:29.69 [[-7.53616764e-01 -2.08433494e-01 6.23391732e-01 5.55093152e+01] [ 1.25061704e-01 -9.76535637e-01 -1.75321763e-01 3.34538026e+01] [ 6.45307170e-01 -5.41629876e-02 7.62000674e-01 2.96880268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:55.53, Y:33.44, Z:29.68 [[-7.53388787e-01 -2.01192304e-01 6.26040727e-01 5.55262722e+01] [ 1.26815890e-01 -9.78626093e-01 -1.61891014e-01 3.34423258e+01] [ 6.45231017e-01 -4.25749626e-02 7.62800306e-01 2.96776162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840371743 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:55.53, Y:33.44, Z:29.67 [[-7.55162232e-01 -2.03248881e-01 6.23233420e-01 5.55274007e+01] [ 1.29550028e-01 -9.78241518e-01 -1.62050369e-01 3.34429214e+01] [ 6.42609364e-01 -4.16344116e-02 7.65061946e-01 2.96734575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870371743 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:55.52, Y:33.45, Z:29.67 [[-0.75585081 -0.22147895 0.6161466 55.52342225] [ 0.12965437 -0.9730451 -0.19071703 33.45484103] [ 0.64177823 -0.06426752 0.76419264 29.66520547] [ 0. 0. 0. 1. ]] SLAMing on 201.900371743 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:55.53, Y:33.44, Z:29.67 [[-7.55342438e-01 -1.98232000e-01 6.24629391e-01 5.55339721e+01] [ 1.28577836e-01 -9.79455293e-01 -1.55354658e-01 3.34359147e+01] [ 6.42592827e-01 -3.70324706e-02 7.65312390e-01 2.96736026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93037174299997 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:55.54, Y:33.43, Z:29.67 [[-7.54163861e-01 -1.94333792e-01 6.27272865e-01 5.55358734e+01] [ 1.29579176e-01 -9.80467141e-01 -1.47964261e-01 3.34307226e+01] [ 6.43774889e-01 -3.03077973e-02 7.64614498e-01 2.96731288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96037174299997 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:55.53, Y:33.44, Z:29.67 [[-7.55447419e-01 -2.06318628e-01 6.21877657e-01 5.55327631e+01] [ 1.30223507e-01 -9.77472595e-01 -1.66099862e-01 3.34381133e+01] [ 6.42137863e-01 -4.44966224e-02 7.65296685e-01 2.96667827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99037174299997 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:55.53, Y:33.44, Z:29.67 [[-7.54112916e-01 -2.07209725e-01 6.23199679e-01 5.55280355e+01] [ 1.28393915e-01 -9.77126887e-01 -1.69523007e-01 3.34395643e+01] [ 6.44071978e-01 -4.78244425e-02 7.63468473e-01 2.96712140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02037174299997 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:55.53, Y:33.44, Z:29.67 [[-7.55380258e-01 -2.02257045e-01 6.23291869e-01 5.55333378e+01] [ 1.29808479e-01 -9.78510789e-01 -1.60207348e-01 3.34352376e+01] [ 6.42300883e-01 -4.01088986e-02 7.65402412e-01 2.96671830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05037174299997 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:55.52, Y:33.45, Z:29.67 [[-0.75500197 -0.21427814 0.61972325 55.52004732] [ 0.12846406 -0.97512079 -0.18065556 33.44611085] [ 0.64301556 -0.05678314 0.76374515 29.67029692] [ 0. 0. 0. 1. ]] SLAMing on 202.08037174299997 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:55.51, Y:33.43, Z:29.70 [[-7.54335333e-01 -1.87689059e-01 6.29087453e-01 5.55100223e+01] [ 1.28468379e-01 -9.81935937e-01 -1.38916130e-01 3.34293011e+01] [ 6.43796615e-01 -2.39714997e-02 7.64821081e-01 2.96974272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11037174299997 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:55.53, Y:33.43, Z:29.67 [[-7.54767389e-01 -2.03460989e-01 6.23642377e-01 5.55268023e+01] [ 1.31776698e-01 -9.78331700e-01 -1.59693414e-01 3.34317757e+01] [ 6.42620487e-01 -3.83498482e-02 7.65224280e-01 2.96723559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14037174299997 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:55.52, Y:33.43, Z:29.68 [[-7.53147901e-01 -2.05406443e-01 6.24961145e-01 5.55207913e+01] [ 1.30705590e-01 -9.77787057e-01 -1.63855179e-01 3.34330020e+01] [ 6.44735828e-01 -4.17212687e-02 7.63266040e-01 2.96769904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17037174299998 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:55.53, Y:33.43, Z:29.67 [[-7.54873083e-01 -2.01452245e-01 6.24166342e-01 5.55305175e+01] [ 1.33571944e-01 -9.78935840e-01 -1.54412295e-01 3.34268591e+01] [ 6.42125506e-01 -3.31905736e-02 7.65880683e-01 2.96701588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20037174299998 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:55.53, Y:33.44, Z:29.65 [[-0.75581851 -0.22054048 0.61652273 55.53432764] [ 0.13411348 -0.97375045 -0.18391202 33.43835637] [ 0.64089934 -0.0563201 0.76555606 29.65257644] [ 0. 0. 0. 1. ]] SLAMing on 202.23037174299998 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:55.53, Y:33.42, Z:29.68 [[-7.50970166e-01 -1.98575942e-01 6.29770915e-01 5.55316481e+01] [ 1.32381344e-01 -9.79624706e-01 -1.51031837e-01 3.34198068e+01] [ 6.46930437e-01 -3.00504837e-02 7.61956678e-01 2.96753920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26037174299998 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:55.54, Y:33.42, Z:29.66 [[-7.51573183e-01 -2.04593569e-01 6.27119783e-01 5.55386280e+01] [ 1.35008794e-01 -9.78270328e-01 -1.57352441e-01 3.34197619e+01] [ 6.45685973e-01 -3.35951893e-02 7.62863675e-01 2.96643685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29037174299998 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:55.54, Y:33.42, Z:29.66 [[-7.50325615e-01 -2.08322049e-01 6.27386162e-01 5.55428108e+01] [ 1.38241542e-01 -9.77511545e-01 -1.59249667e-01 3.34171258e+01] [ 6.46452433e-01 -3.27582734e-02 7.62250712e-01 2.96588541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32037174299998 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:55.55, Y:33.43, Z:29.65 [[-0.74287124 -0.22619423 0.63006229 55.54511269] [ 0.13099525 -0.97210814 -0.19454053 33.4270959 ] [ 0.65649263 -0.0619834 0.75178154 29.65007848] [ 0. 0. 0. 1. ]] SLAMing on 202.35037174299998 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:55.56, Y:33.40, Z:29.66 [[-7.40256888e-01 -1.97868484e-01 6.42547899e-01 5.55575560e+01] [ 1.31146217e-01 -9.79849690e-01 -1.50649441e-01 3.34042040e+01] [ 6.59409136e-01 -2.72515603e-02 7.51290186e-01 2.96612222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38037174299998 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:55.56, Y:33.39, Z:29.67 [[-7.36605659e-01 -1.86535119e-01 6.50089804e-01 5.55551577e+01] [ 1.20293587e-01 -9.82021459e-01 -1.45476136e-01 3.33923629e+01] [ 6.65538546e-01 -2.89569111e-02 7.45801543e-01 2.96722259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41037174299998 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:55.56, Y:33.39, Z:29.67 [[-7.36251482e-01 -1.83198482e-01 6.51438464e-01 5.55564482e+01] [ 1.20041378e-01 -9.82747993e-01 -1.40699856e-01 3.33892576e+01] [ 6.65975843e-01 -2.53909068e-02 7.45541064e-01 2.96733836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440371743 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:55.57, Y:33.39, Z:29.66 [[-7.43865731e-01 -1.79662724e-01 6.43727489e-01 5.55713415e+01] [ 1.37329154e-01 -9.83725773e-01 -1.15863314e-01 3.33856967e+01] [ 6.54067641e-01 2.21580219e-03 7.56432820e-01 2.96581044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470371743 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:55.54, Y:33.41, Z:29.66 [[-0.73817462 -0.20709553 0.64203557 55.54281453] [ 0.11734264 -0.97662291 -0.18010665 33.4077623 ] [ 0.66432593 -0.057612 0.74521938 29.66452826] [ 0. 0. 0. 1. ]] SLAMing on 202.500371743 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:55.57, Y:33.38, Z:29.66 [[-7.46879783e-01 -1.73692156e-01 6.41873527e-01 5.55737171e+01] [ 1.36255823e-01 -9.84776216e-01 -1.07935881e-01 3.33831884e+01] [ 6.50849399e-01 6.84387888e-03 7.59176014e-01 2.96558087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530371743 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.47503677e-01 -2.07859148e-01 6.30898429e-01 5.55622879e+01] [ 1.34815529e-01 -9.77485865e-01 -1.62314994e-01 3.34078528e+01] [ 6.50432953e-01 -3.62761495e-02 7.58696919e-01 2.96401735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560371743 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.48914835e-01 -2.04199138e-01 6.30419925e-01 5.55641834e+01] [ 1.31426476e-01 -9.78210335e-01 -1.60722189e-01 3.34069225e+01] [ 6.49502618e-01 -3.75133625e-02 7.59433405e-01 2.96400907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590371743 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:55.56, Y:33.40, Z:29.65 [[-7.51265795e-01 -1.94258703e-01 6.30764031e-01 5.55631375e+01] [ 1.31064588e-01 -9.80580579e-01 -1.45889691e-01 3.34019422e+01] [ 6.46855301e-01 -2.69311071e-02 7.62137085e-01 2.96456576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620371743 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.56457303e-01 -2.06467021e-01 6.20599483e-01 5.55557013e+01] [ 1.34198104e-01 -9.77674983e-01 -1.61686415e-01 3.34135949e+01] [ 6.40127501e-01 -3.90255951e-02 7.67276863e-01 2.96379257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650371743 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:55.57, Y:33.41, Z:29.64 [[-7.54439449e-01 -1.97971545e-01 6.25802193e-01 5.55674420e+01] [ 1.28699468e-01 -9.79539550e-01 -1.54721418e-01 3.34070320e+01] [ 6.43628437e-01 -3.61875317e-02 7.64482111e-01 2.96363515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68037174299997 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.54824463e-01 -1.97125156e-01 6.25605070e-01 5.55583022e+01] [ 1.25104282e-01 -9.79530219e-01 -1.57700568e-01 3.34101462e+01] [ 6.43885820e-01 -4.07703731e-02 7.64034572e-01 2.96439978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71037174299997 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.55571202e-01 -1.93043715e-01 6.25976264e-01 5.55587308e+01] [ 1.22024390e-01 -9.80343222e-01 -1.55039397e-01 3.34098916e+01] [ 6.43600969e-01 -4.07589322e-02 7.64275148e-01 2.96446518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74037174299997 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.56449894e-01 -1.92952411e-01 6.24942337e-01 5.55611590e+01] [ 1.21090669e-01 -9.80291437e-01 -1.56095317e-01 3.34106766e+01] [ 6.42744590e-01 -4.24036004e-02 7.64906091e-01 2.96409241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77037174299997 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:55.55, Y:33.42, Z:29.65 [[-7.55558526e-01 -1.98156512e-01 6.24391953e-01 5.55480848e+01] [ 1.17051104e-01 -9.78650648e-01 -1.68943624e-01 3.34193881e+01] [ 6.44538868e-01 -5.45610282e-02 7.62622280e-01 2.96481878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80037174299997 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.65 [[-7.54847605e-01 -1.82084307e-01 6.30119353e-01 5.55581306e+01] [ 1.14943442e-01 -9.82550186e-01 -1.46229738e-01 3.34076782e+01] [ 6.45750028e-01 -3.79530803e-02 7.62605052e-01 2.96500250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83037174299997 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.65 [[-7.54896622e-01 -1.82379093e-01 6.29975362e-01 5.55596929e+01] [ 1.11056179e-01 -9.82232583e-01 -1.51280128e-01 3.34106584e+01] [ 6.46372659e-01 -4.42382011e-02 7.61738385e-01 2.96465099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86037174299997 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:55.57, Y:33.41, Z:29.64 [[-7.56114377e-01 -1.84819235e-01 6.27800047e-01 5.55680186e+01] [ 1.10998626e-01 -9.81612578e-01 -1.55293440e-01 3.34116388e+01] [ 6.44957637e-01 -4.77346600e-02 7.62726064e-01 2.96356160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89037174299997 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.55099002e-01 -1.83150229e-01 6.29508928e-01 5.55624398e+01] [ 1.08822396e-01 -9.81880970e-01 -1.55136866e-01 3.34125805e+01] [ 6.46516190e-01 -4.86390225e-02 7.61348187e-01 2.96421829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92037174299998 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:55.56, Y:33.41, Z:29.64 [[-7.54578856e-01 -1.85521025e-01 6.29438400e-01 5.55649771e+01] [ 1.07140286e-01 -9.81163198e-01 -1.60747433e-01 3.34143832e+01] [ 6.47403822e-01 -5.38584039e-02 7.60241780e-01 2.96386996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95037174299998 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:55.57, Y:33.41, Z:29.64 [[-7.54130081e-01 -1.81504639e-01 6.31144902e-01 5.55701685e+01] [ 1.06635137e-01 -9.82137936e-01 -1.55029102e-01 3.34102492e+01] [ 6.48009852e-01 -4.96098861e-02 7.60014533e-01 2.96374668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98037174299998 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:55.57, Y:33.41, Z:29.64 [[-7.54958329e-01 -1.79887554e-01 6.30617467e-01 5.55738939e+01] [ 1.10510092e-01 -9.82786756e-01 -1.48046314e-01 3.34064587e+01] [ 6.46394184e-01 -4.20792029e-02 7.61842437e-01 2.96359247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01037174299998 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:55.57, Y:33.41, Z:29.63 [[-7.54663775e-01 -1.87728028e-01 6.28681776e-01 5.55738213e+01] [ 1.10804872e-01 -9.80895920e-01 -1.59892074e-01 3.34105689e+01] [ 6.46687612e-01 -5.10037521e-02 7.61047797e-01 2.96315685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04037174299998 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:55.58, Y:33.40, Z:29.63 [[-7.54626513e-01 -1.81648075e-01 6.30509954e-01 5.55765092e+01] [ 1.12623786e-01 -9.82513737e-01 -1.48265437e-01 3.34048221e+01] [ 6.46416822e-01 -4.08746112e-02 7.61888809e-01 2.96346428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07037174299998 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:55.58, Y:33.41, Z:29.63 [[-7.54688390e-01 -1.88764427e-01 6.28341807e-01 5.55771568e+01] [ 1.16749829e-01 -9.81069815e-01 -1.54504029e-01 3.34067706e+01] [ 6.45612045e-01 -4.32435984e-02 7.62440213e-01 2.96308043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10037174299998 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:55.58, Y:33.40, Z:29.63 [[-7.57062136e-01 -1.82874137e-01 6.27227209e-01 5.55778751e+01] [ 1.21806146e-01 -9.82702384e-01 -1.39496546e-01 3.34013897e+01] [ 6.41887984e-01 -2.92074245e-02 7.66241961e-01 2.96334638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13037174299998 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:55.58, Y:33.41, Z:29.62 [[-7.53503137e-01 -1.99425623e-01 6.26468231e-01 5.55831484e+01] [ 1.20831800e-01 -9.78659935e-01 -1.66205917e-01 3.34093507e+01] [ 6.46245077e-01 -4.95393953e-02 7.61520288e-01 2.96211390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16037174299998 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:55.59, Y:33.40, Z:29.62 [[-7.56545805e-01 -1.87923827e-01 6.26356991e-01 5.55907832e+01] [ 1.29579985e-01 -9.81907095e-01 -1.38085064e-01 3.33975772e+01] [ 6.40973847e-01 -2.33043467e-02 7.67208860e-01 2.96208221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190371743 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:55.59, Y:33.40, Z:29.61 [[-7.56814668e-01 -1.97642402e-01 6.23032133e-01 5.55893113e+01] [ 1.29844255e-01 -9.79651645e-01 -1.53046147e-01 3.34041889e+01] [ 6.40602863e-01 -3.49304255e-02 7.67077465e-01 2.96149979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220371743 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:55.58, Y:33.41, Z:29.62 [[-7.55384047e-01 -1.99278377e-01 6.24246002e-01 5.55846979e+01] [ 1.30284428e-01 -9.79291352e-01 -1.54965850e-01 3.34052138e+01] [ 6.42200054e-01 -3.57291976e-02 7.65703934e-01 2.96186761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250371743 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:55.60, Y:33.40, Z:29.61 [[-7.55883433e-01 -1.98535178e-01 6.23878209e-01 5.55962465e+01] [ 1.36195311e-01 -9.79749575e-01 -1.46770597e-01 3.34002960e+01] [ 6.40383536e-01 -2.59721756e-02 7.67616032e-01 2.96092103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280371743 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:55.60, Y:33.40, Z:29.61 [[-7.54590411e-01 -2.04916501e-01 6.23379932e-01 5.55972386e+01] [ 1.38246438e-01 -9.78313085e-01 -1.54244711e-01 3.34030666e+01] [ 6.41468030e-01 -3.02115243e-02 7.66554649e-01 2.96051344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310371743 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:55.59, Y:33.40, Z:29.61 [[-7.53135475e-01 -2.01896853e-01 6.26118692e-01 5.55929023e+01] [ 1.38920806e-01 -9.79089092e-01 -1.48612110e-01 3.34006534e+01] [ 6.43030299e-01 -2.49441392e-02 7.65434402e-01 2.96129762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340371743 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:55.59, Y:33.41, Z:29.62 [[-0.73993551 -0.22129158 0.63523655 55.58740502] [ 0.1193535 -0.97254612 -0.19977185 33.41070659] [ 0.66200467 -0.07200058 0.74603333 29.6153446 ] [ 0. 0. 0. 1. ]] SLAMing on 203.370371743 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:55.61, Y:33.37, Z:29.63 [[-7.50194178e-01 -1.72338887e-01 6.38363535e-01 5.56125714e+01] [ 1.44945802e-01 -9.84816823e-01 -9.55329291e-02 3.33742691e+01] [ 6.45135187e-01 2.08598674e-02 7.63783645e-01 2.96252334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400371743 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:55.60, Y:33.39, Z:29.61 [[-7.54023333e-01 -2.04668746e-01 6.24147032e-01 5.56027535e+01] [ 1.51601231e-01 -9.78787175e-01 -1.37814126e-01 3.33949979e+01] [ 6.39113355e-01 -9.29360849e-03 7.69056402e-01 2.96085107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43037174299997 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:55.60, Y:33.41, Z:29.60 [[-0.73969925 -0.23194929 0.63169973 55.6032662 ] [ 0.13280225 -0.97057422 -0.20087119 33.40916413] [ 0.6597034 -0.06469313 0.74873642 29.60207797] [ 0. 0. 0. 1. ]] SLAMing on 203.46037174299997 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:55.62, Y:33.37, Z:29.62 [[-7.55081162e-01 -1.73832491e-01 6.32166674e-01 5.56219395e+01] [ 1.56303532e-01 -9.84137274e-01 -8.39227748e-02 3.33723833e+01] [ 6.36727292e-01 3.54413777e-02 7.70274149e-01 2.96177516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49037174299997 meters Centerline goodness : 0.993001 Centerline is valid? [True, True] Translation: X:55.60, Y:33.40, Z:29.61 [[-7.53029171e-01 -2.14088389e-01 6.22184241e-01 5.56026120e+01] [ 1.56041101e-01 -9.76717125e-01 -1.47223747e-01 3.34023630e+01] [ 6.39216898e-01 -1.37774626e-02 7.68903075e-01 2.96069587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52037174299997 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:55.60, Y:33.41, Z:29.61 [[-7.51356062e-01 -2.17606635e-01 6.22985891e-01 5.55958237e+01] [ 1.53021219e-01 -9.75786397e-01 -1.56286321e-01 3.34092717e+01] [ 6.41910099e-01 -2.20966142e-02 7.66461457e-01 2.96115113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55037174299997 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:55.61, Y:33.41, Z:29.60 [[-7.50108354e-01 -2.15152148e-01 6.25337517e-01 5.56069175e+01] [ 1.51096738e-01 -9.76343058e-01 -1.54673880e-01 3.34068343e+01] [ 6.43822361e-01 -2.15357108e-02 7.64871872e-01 2.96039740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58037174299997 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:55.61, Y:33.41, Z:29.61 [[-7.49288934e-01 -2.04625098e-01 6.29837013e-01 5.56089986e+01] [ 1.46737170e-01 -9.78724977e-01 -1.43407192e-01 3.34055587e+01] [ 6.45781927e-01 -1.50329211e-02 7.63373902e-01 2.96087740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61037174299997 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:55.61, Y:33.41, Z:29.60 [[-7.47474880e-01 -2.07350314e-01 6.31099954e-01 5.56129908e+01] [ 1.43607671e-01 -9.78009874e-01 -1.51239953e-01 3.34090114e+01] [ 6.48581638e-01 -2.24172711e-02 7.60814909e-01 2.96034289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64037174299997 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:55.61, Y:33.41, Z:29.61 [[-7.45210414e-01 -2.04783599e-01 6.34606269e-01 5.56122289e+01] [ 1.38868373e-01 -9.78471172e-01 -1.52675281e-01 3.34112430e+01] [ 6.52209333e-01 -2.56484692e-02 7.57604872e-01 2.96064970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67037174299998 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:55.62, Y:33.41, Z:29.61 [[-7.45255405e-01 -1.94744167e-01 6.37706116e-01 5.56180197e+01] [ 1.35487029e-01 -9.80674132e-01 -1.41143583e-01 3.34078036e+01] [ 6.52868782e-01 -1.87871109e-02 7.57238006e-01 2.96080900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70037174299998 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:55.63, Y:33.41, Z:29.60 [[-7.44618155e-01 -1.93698412e-01 6.38768134e-01 5.56295835e+01] [ 1.30157711e-01 -9.80734139e-01 -1.45669211e-01 3.34108820e+01] [ 6.54677611e-01 -2.53273410e-02 7.55483787e-01 2.95997081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73037174299998 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:55.62, Y:33.42, Z:29.61 [[-7.42863546e-01 -1.94361418e-01 6.40607049e-01 5.56243988e+01] [ 1.24638591e-01 -9.80349421e-01 -1.52905964e-01 3.34164439e+01] [ 6.57737770e-01 -3.37439068e-02 7.52490781e-01 2.96057375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76037174299998 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:55.64, Y:33.41, Z:29.60 [[-7.45479877e-01 -1.82497053e-01 6.41057392e-01 5.56395295e+01] [ 1.24037499e-01 -9.82969870e-01 -1.35591050e-01 3.34127895e+01] [ 6.54885068e-01 -2.15652438e-02 7.55420736e-01 2.95984133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79037174299998 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:55.64, Y:33.42, Z:29.59 [[-7.44689957e-01 -1.89612616e-01 6.39909309e-01 5.56407778e+01] [ 1.21026118e-01 -9.81263328e-01 -1.49916512e-01 3.34200778e+01] [ 6.56345600e-01 -3.41955810e-02 7.53685024e-01 2.95939676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82037174299998 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:55.64, Y:33.42, Z:29.60 [[-7.44473567e-01 -1.84376635e-01 6.41688682e-01 5.56427135e+01] [ 1.18192745e-01 -9.82328028e-01 -1.45127949e-01 3.34191152e+01] [ 6.57106980e-01 -3.22009749e-02 7.53109231e-01 2.95965802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85037174299998 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:55.64, Y:33.42, Z:29.60 [[-7.50083107e-01 -1.73323873e-01 6.38227364e-01 5.56376706e+01] [ 1.19036396e-01 -9.84668442e-01 -1.27508413e-01 3.34198290e+01] [ 6.50542596e-01 -1.96696217e-02 7.59215013e-01 2.96024449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88037174299998 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:55.64, Y:33.43, Z:29.59 [[-7.45469056e-01 -1.92382840e-01 6.38172962e-01 5.56374954e+01] [ 1.13522823e-01 -9.80098218e-01 -1.62849782e-01 3.34347579e+01] [ 6.56801686e-01 -4.89522776e-02 7.52472737e-01 2.95944684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91037174299998 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:55.64, Y:33.42, Z:29.60 [[-7.49418986e-01 -1.69418850e-01 6.40053463e-01 5.56406000e+01] [ 1.14664466e-01 -9.85310747e-01 -1.26549562e-01 3.34228894e+01] [ 6.52091438e-01 -2.14472559e-02 7.57836904e-01 2.96025462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940371743 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:55.64, Y:33.43, Z:29.59 [[-7.49079857e-01 -1.82821816e-01 6.36753918e-01 5.56402176e+01] [ 1.11936357e-01 -9.82276368e-01 -1.50344232e-01 3.34342929e+01] [ 6.52954531e-01 -4.13439223e-02 7.56267849e-01 2.95940876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970371743 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:55.65, Y:33.43, Z:29.59 [[-7.50571769e-01 -1.71829006e-01 6.38057060e-01 5.56450702e+01] [ 1.10389372e-01 -9.84635033e-01 -1.35307198e-01 3.34327287e+01] [ 6.51503036e-01 -3.11230448e-02 7.58007355e-01 2.95935386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000371743 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:55.65, Y:33.44, Z:29.59 [[-7.52324350e-01 -1.77434019e-01 6.34448769e-01 5.56470040e+01] [ 1.10351453e-01 -9.83381433e-01 -1.44164887e-01 3.34387918e+01] [ 6.49484895e-01 -3.84464118e-02 7.59401899e-01 2.95856403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030371743 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:55.65, Y:33.44, Z:29.59 [[-7.57475002e-01 -1.67467509e-01 6.31020012e-01 5.56459206e+01] [ 1.11158771e-01 -9.85510595e-01 -1.28111648e-01 3.34377490e+01] [ 6.43331446e-01 -2.68979620e-02 7.65115122e-01 2.95865394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060371743 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:55.64, Y:33.45, Z:29.58 [[-7.56874858e-01 -1.86289998e-01 6.26447513e-01 5.56429187e+01] [ 1.09516610e-01 -9.81114015e-01 -1.59440905e-01 3.34526487e+01] [ 6.44318680e-01 -5.20704043e-02 7.62982380e-01 2.95781486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090371743 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:55.63, Y:33.45, Z:29.60 [[-0.74784962 -0.17988089 0.6390335 55.63169252] [ 0.0878951 -0.98094561 -0.17326329 33.4504744 ] [ 0.65802386 -0.07340697 0.74941045 29.59834469] [ 0. 0. 0. 1. ]] SLAMing on 204.120371743 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:55.64, Y:33.43, Z:29.61 [[-7.46831318e-01 -1.49541829e-01 6.47981654e-01 5.56411000e+01] [ 8.68218899e-02 -9.87974464e-01 -1.27939119e-01 3.34321636e+01] [ 6.59321577e-01 -3.92899493e-02 7.50833775e-01 2.96094316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150371743 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:55.67, Y:33.42, Z:29.58 [[-7.58827190e-01 -1.40085202e-01 6.36048293e-01 5.56674869e+01] [ 1.10532123e-01 -9.90127364e-01 -8.62000765e-02 3.34233280e+01] [ 6.41844175e-01 4.89280642e-03 7.66819480e-01 2.95841273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18037174299997 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:55.66, Y:33.46, Z:29.56 [[-7.61759495e-01 -1.86066536e-01 6.20565642e-01 5.56584130e+01] [ 1.12794663e-01 -9.81331028e-01 -1.55777975e-01 3.34556677e+01] [ 6.37965388e-01 -4.86688597e-02 7.68525540e-01 2.95624404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21037174299997 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:55.66, Y:33.45, Z:29.57 [[-7.61460038e-01 -1.80943845e-01 6.22445126e-01 5.56591106e+01] [ 1.12802849e-01 -9.82587264e-01 -1.47640735e-01 3.34538218e+01] [ 6.38321335e-01 -4.22089368e-02 7.68611917e-01 2.95655699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24037174299997 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:55.66, Y:33.46, Z:29.56 [[-7.61283842e-01 -1.86821271e-01 6.20922478e-01 5.56596319e+01] [ 1.12586685e-01 -9.81133992e-01 -1.57163380e-01 3.34580618e+01] [ 6.38569612e-01 -4.97383382e-02 7.67955043e-01 2.95620976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27037174299997 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:55.66, Y:33.46, Z:29.57 [[-7.61301671e-01 -1.85138323e-01 6.21404512e-01 5.56559803e+01] [ 1.12553840e-01 -9.81553409e-01 -1.54546232e-01 3.34584111e+01] [ 6.38554148e-01 -4.77148407e-02 7.68096280e-01 2.95659500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30037174299997 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:55.67, Y:33.46, Z:29.55 [[-7.63906391e-01 -1.82593566e-01 6.18956069e-01 5.56680096e+01] [ 1.14659159e-01 -9.82278514e-01 -1.48263950e-01 3.34555991e+01] [ 6.35059291e-01 -4.22907966e-02 7.71304859e-01 2.95539373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33037174299997 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:55.66, Y:33.46, Z:29.56 [[-7.64649585e-01 -1.86953917e-01 6.16732718e-01 5.56602655e+01] [ 1.15837224e-01 -9.81281950e-01 -1.53842364e-01 3.34608815e+01] [ 6.33950116e-01 -4.61948939e-02 7.71993058e-01 2.95569630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36037174299997 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:55.65, Y:33.47, Z:29.57 [[-7.64072057e-01 -1.91997998e-01 6.15898255e-01 5.56469839e+01] [ 1.14774304e-01 -9.79912873e-01 -1.63087768e-01 3.34681420e+01] [ 6.34839154e-01 -5.39215132e-02 7.70760481e-01 2.95651030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39037174299997 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:55.67, Y:33.46, Z:29.55 [[-7.63422384e-01 -1.86960398e-01 6.18249200e-01 5.56657142e+01] [ 1.14305757e-01 -9.81189426e-01 -1.55568323e-01 3.34613960e+01] [ 6.35704694e-01 -4.80948973e-02 7.70432621e-01 2.95521115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42037174299998 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:55.66, Y:33.46, Z:29.56 [[-7.69568116e-01 -1.80028854e-01 6.12661837e-01 5.56567649e+01] [ 1.19816865e-01 -9.83104759e-01 -1.38379738e-01 3.34593954e+01] [ 6.27223113e-01 -3.30854137e-02 7.78136570e-01 2.95590301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45037174299998 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:55.66, Y:33.46, Z:29.55 [[-7.68204287e-01 -1.89995538e-01 6.11362306e-01 5.56598701e+01] [ 1.22521728e-01 -9.80928010e-01 -1.50892894e-01 3.34630749e+01] [ 6.28371387e-01 -4.10114017e-02 7.76831684e-01 2.95525963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48037174299998 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:55.64, Y:33.48, Z:29.57 [[-0.75037393 -0.21449265 0.62524545 55.64323398] [ 0.0891062 -0.97007828 -0.22585001 33.47934128] [ 0.6549802 -0.11375871 0.74703407 29.56787435] [ 0. 0. 0. 1. ]] SLAMing on 204.51037174299998 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:55.68, Y:33.42, Z:29.57 [[-7.62855860e-01 -1.37999625e-01 6.31670040e-01 5.56758930e+01] [ 1.19385041e-01 -9.90222792e-01 -7.21528532e-02 3.34246537e+01] [ 6.35451138e-01 2.03697270e-02 7.71872351e-01 2.95744781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54037174299998 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:55.66, Y:33.46, Z:29.56 [[-7.60673592e-01 -1.94267305e-01 6.19383484e-01 5.56569767e+01] [ 1.21099029e-01 -9.79886003e-01 -1.58614142e-01 3.34622386e+01] [ 6.37738749e-01 -4.56468512e-02 7.68898988e-01 2.95598177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57037174299998 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:55.67, Y:33.46, Z:29.55 [[-7.54447660e-01 -1.99662530e-01 6.25254831e-01 5.56694655e+01] [ 1.22183243e-01 -9.78680577e-01 -1.65092652e-01 3.34586280e+01] [ 6.44887575e-01 -4.81581020e-02 7.62758686e-01 2.95531276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60037174299998 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:55.67, Y:33.45, Z:29.56 [[-7.53783002e-01 -1.91531339e-01 6.28591228e-01 5.56712547e+01] [ 1.24250363e-01 -9.80866907e-01 -1.49873138e-01 3.34509308e+01] [ 6.45269737e-01 -3.48691357e-02 7.63158640e-01 2.95582674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63037174299998 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:55.68, Y:33.45, Z:29.56 [[-7.53886831e-01 -1.90858473e-01 6.28671368e-01 5.56752230e+01] [ 1.28582132e-01 -9.81232347e-01 -1.43700089e-01 3.34455634e+01] [ 6.44299062e-01 -2.74976996e-02 7.64279134e-01 2.95577968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66037174299998 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:55.68, Y:33.45, Z:29.55 [[-7.52167956e-01 -1.95184462e-01 6.29401615e-01 5.56789456e+01] [ 1.29620756e-01 -9.80290282e-01 -1.49095347e-01 3.34464325e+01] [ 6.46097381e-01 -3.05612287e-02 7.62642895e-01 2.95547474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690371743 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:55.68, Y:33.44, Z:29.55 [[-7.52417818e-01 -1.91545406e-01 6.30220426e-01 5.56841039e+01] [ 1.31873259e-01 -9.81218472e-01 -1.40782648e-01 3.34423526e+01] [ 6.45350193e-01 -2.28181511e-02 7.63545978e-01 2.95528583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720371743 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:55.69, Y:33.44, Z:29.55 [[-7.54802831e-01 -1.88639420e-01 6.28241877e-01 5.56874210e+01] [ 1.35052125e-01 -9.81928365e-01 -1.32580577e-01 3.34396747e+01] [ 6.41898442e-01 -1.52267945e-02 7.66638464e-01 2.95503585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750371743 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:55.68, Y:33.45, Z:29.55 [[-7.53413796e-01 -1.99283860e-01 6.26620774e-01 5.56818447e+01] [ 1.33298794e-01 -9.79469832e-01 -1.51229231e-01 3.34483902e+01] [ 6.43893689e-01 -3.04103956e-02 7.64510382e-01 2.95493061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780371743 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:55.68, Y:33.44, Z:29.55 [[-7.54679349e-01 -1.92532662e-01 6.27208302e-01 5.56828084e+01] [ 1.34771435e-01 -9.81079140e-01 -1.38997777e-01 3.34442694e+01] [ 6.42102593e-01 -2.03689886e-02 7.66348070e-01 2.95503253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810371743 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:55.69, Y:33.45, Z:29.54 [[-7.55303755e-01 -1.96931502e-01 6.25087371e-01 5.56907750e+01] [ 1.35659603e-01 -9.80108226e-01 -1.44859714e-01 3.34462214e+01] [ 6.41180716e-01 -2.46139809e-02 7.66995073e-01 2.95387453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840371743 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:55.69, Y:33.45, Z:29.54 [[-7.53975087e-01 -1.99270237e-01 6.25949631e-01 5.56898031e+01] [ 1.32878160e-01 -9.79446478e-01 -1.51749765e-01 3.34502557e+01] [ 6.43323373e-01 -3.12405070e-02 7.64956906e-01 2.95369228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870371743 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:55.68, Y:33.45, Z:29.55 [[-7.54429301e-01 -1.92530230e-01 6.27509793e-01 5.56828862e+01] [ 1.30691770e-01 -9.80932958e-01 -1.43840858e-01 3.34490331e+01] [ 6.43238751e-01 -2.65073924e-02 7.65206683e-01 2.95457446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900371743 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:55.69, Y:33.45, Z:29.54 [[-7.52503646e-01 -1.92677921e-01 6.29772563e-01 5.56899810e+01] [ 1.26645678e-01 -9.80734899e-01 -1.48727703e-01 3.34492484e+01] [ 6.46296476e-01 -3.21601651e-02 7.62408414e-01 2.95427744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93037174299997 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:55.69, Y:33.45, Z:29.55 [[-7.53922734e-01 -1.85694210e-01 6.30173129e-01 5.56889020e+01] [ 1.25573633e-01 -9.82268203e-01 -1.39213649e-01 3.34463993e+01] [ 6.44850195e-01 -2.58232060e-02 7.63872625e-01 2.95464314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96037174299997 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:55.70, Y:33.45, Z:29.54 [[-7.54134970e-01 -1.85929152e-01 6.29849822e-01 5.56959042e+01] [ 1.24681035e-01 -9.82177135e-01 -1.40651041e-01 3.34460024e+01] [ 6.44775222e-01 -2.75395405e-02 7.63875963e-01 2.95404618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99037174299997 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:55.70, Y:33.45, Z:29.54 [[-7.55186150e-01 -1.84263334e-01 6.29079408e-01 5.56978246e+01] [ 1.24186613e-01 -9.82516189e-01 -1.38706971e-01 3.34465254e+01] [ 6.43639312e-01 -2.66263424e-02 7.64865658e-01 2.95380724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02037174299997 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:55.70, Y:33.45, Z:29.53 [[-7.55181122e-01 -1.86427408e-01 6.28447528e-01 5.57049563e+01] [ 1.24350177e-01 -9.82040423e-01 -1.41893063e-01 3.34468976e+01] [ 6.43613632e-01 -2.90074012e-02 7.64800669e-01 2.95304270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05037174299997 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.53 [[-7.56018431e-01 -1.83233130e-01 6.28380261e-01 5.57106161e+01] [ 1.24640124e-01 -9.82752629e-01 -1.36609336e-01 3.34446540e+01] [ 6.42573709e-01 -2.49577823e-02 7.65817300e-01 2.95263665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08037174299997 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:55.71, Y:33.45, Z:29.52 [[-7.56165615e-01 -1.89837255e-01 6.26239075e-01 5.57104190e+01] [ 1.24741701e-01 -9.81263688e-01 -1.46836924e-01 3.34489988e+01] [ 6.42380783e-01 -3.29149052e-02 7.65678483e-01 2.95225914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11037174299997 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:55.72, Y:33.45, Z:29.52 [[-7.54578483e-01 -1.91642132e-01 6.27602267e-01 5.57150851e+01] [ 1.22606578e-01 -9.80736910e-01 -1.52061634e-01 3.34497225e+01] [ 6.44654124e-01 -3.77942709e-02 7.63539556e-01 2.95197650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14037174299997 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:55.71, Y:33.45, Z:29.53 [[-7.54009525e-01 -1.89162781e-01 6.29036627e-01 5.57118592e+01] [ 1.19795193e-01 -9.81176961e-01 -1.51462478e-01 3.34498997e+01] [ 6.45847310e-01 -3.88485871e-02 7.62477567e-01 2.95252194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17037174299998 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:55.72, Y:33.45, Z:29.52 [[-7.52594806e-01 -1.86537227e-01 6.31510033e-01 5.57165093e+01] [ 1.16908761e-01 -9.81651873e-01 -1.50638450e-01 3.34489286e+01] [ 6.48022685e-01 -3.95406600e-02 7.60593936e-01 2.95247045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20037174299998 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:55.72, Y:33.45, Z:29.53 [[-7.50530009e-01 -1.81003930e-01 6.35564539e-01 5.57150512e+01] [ 1.12990150e-01 -9.82744019e-01 -1.46449377e-01 3.34469090e+01] [ 6.51105162e-01 -3.81021194e-02 7.58030538e-01 2.95306314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23037174299998 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:55.71, Y:33.45, Z:29.54 [[-7.47677167e-01 -1.77342849e-01 6.39944034e-01 5.57105373e+01] [ 1.06612016e-01 -9.83236709e-01 -1.47917044e-01 3.34478701e+01] [ 6.55448497e-01 -4.23684732e-02 7.54050516e-01 2.95370101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26037174299998 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:55.72, Y:33.44, Z:29.54 [[-7.45778839e-01 -1.71588124e-01 6.43716894e-01 5.57167702e+01] [ 1.03221974e-01 -9.84354304e-01 -1.42799956e-01 3.34443358e+01] [ 6.58148272e-01 -4.00514569e-02 7.51822275e-01 2.95354674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29037174299998 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.54 [[-7.47693722e-01 -1.63141948e-01 6.43691544e-01 5.57091296e+01] [ 1.01457364e-01 -9.86036010e-01 -1.32058286e-01 3.34418857e+01] [ 6.56247287e-01 -3.34319036e-02 7.53804886e-01 2.95434268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32037174299998 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.54 [[-7.48590861e-01 -1.65251951e-01 6.42108648e-01 5.57095831e+01] [ 9.94534247e-02 -9.85472002e-01 -1.37673346e-01 3.34445139e+01] [ 6.55530883e-01 -3.92011045e-02 7.54150207e-01 2.95394660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35037174299998 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.54 [[-7.48767133e-01 -1.59984814e-01 6.43236069e-01 5.57106875e+01] [ 9.51648554e-02 -9.86327818e-01 -1.34540274e-01 3.34430517e+01] [ 6.55966029e-01 -3.95258675e-02 7.53754784e-01 2.95395690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38037174299998 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.54 [[-7.49306872e-01 -1.60935011e-01 6.42369935e-01 5.57101946e+01] [ 9.30874712e-02 -9.85986575e-01 -1.38438419e-01 3.34445826e+01] [ 6.55647721e-01 -4.39362660e-02 7.53787550e-01 2.95388603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41037174299998 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.54 [[-7.51486075e-01 -1.55793521e-01 6.41090523e-01 5.57123346e+01] [ 9.32218864e-02 -9.87044016e-01 -1.30590159e-01 3.34414127e+01] [ 6.53129665e-01 -3.83730183e-02 7.56273199e-01 2.95380415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440371743 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.54 [[-7.53293031e-01 -1.58501810e-01 6.38299918e-01 5.57096422e+01] [ 9.18600571e-02 -9.86368471e-01 -1.36524609e-01 3.34432353e+01] [ 6.51238312e-01 -4.42087695e-02 7.57584481e-01 2.95379775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470371743 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:55.70, Y:33.44, Z:29.55 [[-0.7509315 -0.1562668 0.64162494 55.69938879] [ 0.07744309 -0.9857337 -0.14943776 33.44283021] [ 0.65582349 -0.0625281 0.75232027 29.5469803 ] [ 0. 0. 0. 1. ]] SLAMing on 205.500371743 meters Centerline goodness : 0.992421 Centerline is valid? [True, True] Translation: X:55.72, Y:33.43, Z:29.55 [[-7.54796592e-01 -1.36285734e-01 6.41644998e-01 5.57159480e+01] [ 9.14118959e-02 -9.90487826e-01 -1.02848106e-01 3.34271787e+01] [ 6.49558288e-01 -1.89754140e-02 7.60074973e-01 2.95451948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530371743 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:55.71, Y:33.43, Z:29.54 [[-7.64510333e-01 -1.41510298e-01 6.28886943e-01 5.57131380e+01] [ 9.92149301e-02 -9.89812724e-01 -1.02113511e-01 3.34303473e+01] [ 6.36930411e-01 -1.56718605e-02 7.70761989e-01 2.95362387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560371743 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:55.71, Y:33.45, Z:29.52 [[-0.76130088 -0.17678145 0.62383435 55.70830941] [ 0.09629445 -0.98227157 -0.16084134 33.45349569] [ 0.64120851 -0.06237687 0.76482728 29.52256095] [ 0. 0. 0. 1. ]] SLAMing on 205.590371743 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.53 [[-7.58525554e-01 -1.62700470e-01 6.31005183e-01 5.57065665e+01] [ 9.19593299e-02 -9.85364754e-01 -1.43526249e-01 3.34446974e+01] [ 6.45122055e-01 -5.08415136e-02 7.62386172e-01 2.95339833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620371743 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:55.72, Y:33.44, Z:29.53 [[-7.58031942e-01 -1.57339793e-01 6.32954789e-01 5.57167407e+01] [ 9.14011086e-02 -9.86515910e-01 -1.35765225e-01 3.34377811e+01] [ 6.45781242e-01 -4.50616077e-02 7.62191602e-01 2.95278006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650371743 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:55.71, Y:33.44, Z:29.54 [[-0.75079515 -0.15791051 0.64138203 55.71015098] [ 0.07480597 -0.98508387 -0.15496401 33.43697087] [ 0.65628554 -0.06836702 0.75140884 29.53670087] [ 0. 0. 0. 1. ]] SLAMing on 205.68037174299997 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:55.72, Y:33.42, Z:29.55 [[-7.48866875e-01 -1.33752103e-01 6.49083029e-01 5.57162333e+01] [ 7.42079824e-02 -9.90186205e-01 -1.18424891e-01 3.34203750e+01] [ 6.58552640e-01 -4.05173359e-02 7.51443123e-01 2.95460643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71037174299997 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:55.72, Y:33.41, Z:29.54 [[-7.59359787e-01 -1.24749971e-01 6.38600156e-01 5.57159544e+01] [ 9.25531436e-02 -9.92177987e-01 -8.37660924e-02 3.34146605e+01] [ 6.44054834e-01 -4.50415018e-03 7.64966067e-01 2.95434013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74037174299997 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:55.72, Y:33.44, Z:29.52 [[-7.57794462e-01 -1.61076830e-01 6.32298828e-01 5.57188610e+01] [ 9.11832712e-02 -9.85683866e-01 -1.41820055e-01 3.34356261e+01] [ 6.46090678e-01 -4.98153770e-02 7.61633287e-01 2.95212778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77037174299997 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:55.72, Y:33.43, Z:29.53 [[-7.58027007e-01 -1.55644629e-01 6.33379670e-01 5.57162762e+01] [ 9.16859946e-02 -9.86894808e-01 -1.32786731e-01 3.34312861e+01] [ 6.45746649e-01 -4.25838835e-02 7.62363350e-01 2.95264301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80037174299997 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:55.72, Y:33.43, Z:29.52 [[-7.56409596e-01 -1.54854077e-01 6.35503531e-01 5.57244003e+01] [ 9.20254100e-02 -9.87102609e-01 -1.30995276e-01 3.34259455e+01] [ 6.47592347e-01 -4.06036110e-02 7.60904396e-01 2.95223404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83037174299997 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:55.72, Y:33.42, Z:29.52 [[-7.58036410e-01 -1.53803599e-01 6.33817998e-01 5.57247587e+01] [ 9.39447399e-02 -9.87411561e-01 -1.27250912e-01 3.34235706e+01] [ 6.45410867e-01 -3.69169572e-02 7.62942954e-01 2.95212185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86037174299997 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:55.71, Y:33.43, Z:29.53 [[-7.58574328e-01 -1.59655252e-01 6.31723982e-01 5.57144147e+01] [ 9.52308194e-02 -9.86271409e-01 -1.34906632e-01 3.34262253e+01] [ 6.44589854e-01 -4.21771156e-02 7.63364272e-01 2.95270462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89037174299997 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:55.73, Y:33.42, Z:29.52 [[-7.58934170e-01 -1.58327336e-01 6.31625981e-01 5.57272245e+01] [ 9.66100757e-02 -9.86632837e-01 -1.31233141e-01 3.34208751e+01] [ 6.43960727e-01 -3.85758814e-02 7.64085390e-01 2.95172585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92037174299998 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:55.73, Y:33.42, Z:29.51 [[-7.59347416e-01 -1.62584492e-01 6.30045860e-01 5.57313572e+01] [ 9.74282924e-02 -9.85773967e-01 -1.36957709e-01 3.34210210e+01] [ 6.43350006e-01 -4.26141904e-02 7.64385243e-01 2.95119625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95037174299998 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:55.74, Y:33.41, Z:29.51 [[-7.59730334e-01 -1.59698938e-01 6.30322194e-01 5.57375984e+01] [ 1.02093011e-01 -9.86644492e-01 -1.26923851e-01 3.34129079e+01] [ 6.42173525e-01 -3.20764092e-02 7.65887895e-01 2.95095300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98037174299998 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:55.74, Y:33.41, Z:29.51 [[-7.63016791e-01 -1.58846914e-01 6.26556489e-01 5.57380031e+01] [ 1.06651261e-01 -9.86986595e-01 -1.20345210e-01 3.34100122e+01] [ 6.37519321e-01 -2.50023768e-02 7.70028568e-01 2.95072790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01037174299998 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:55.73, Y:33.43, Z:29.51 [[-0.74961154 -0.18444217 0.63566 55.72519733] [ 0.08526928 -0.97929648 -0.18359616 33.42548698] [ 0.65636247 -0.08342353 0.74981919 29.51178123] [ 0. 0. 0. 1. ]] SLAMing on 206.04037174299998 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:55.75, Y:33.38, Z:29.52 [[-7.61903822e-01 -1.28953570e-01 6.34723202e-01 5.57510019e+01] [ 1.09646557e-01 -9.91515084e-01 -6.98245774e-02 3.33843852e+01] [ 6.38341757e-01 1.63956011e-02 7.69578447e-01 2.95165706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07037174299998 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:55.75, Y:33.41, Z:29.49 [[-7.64791630e-01 -1.70493261e-01 6.21309755e-01 5.57481190e+01] [ 1.13451091e-01 -9.84919870e-01 -1.30620443e-01 3.34092069e+01] [ 6.34210228e-01 -2.94091513e-02 7.72601119e-01 2.94896535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10037174299998 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:55.74, Y:33.41, Z:29.49 [[-7.65150234e-01 -1.70948172e-01 6.20742975e-01 5.57427859e+01] [ 1.13623381e-01 -9.84828509e-01 -1.31158435e-01 3.34091012e+01] [ 6.33746673e-01 -2.98249916e-02 7.72965474e-01 2.94926656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13037174299998 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:55.73, Y:33.42, Z:29.50 [[-0.74835653 -0.19128432 0.63511638 55.72693756] [ 0.08707073 -0.97755896 -0.19182587 33.42290823] [ 0.65755699 -0.08825409 0.7482179 29.50499498] [ 0. 0. 0. 1. ]] SLAMing on 206.16037174299998 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:55.74, Y:33.39, Z:29.53 [[-7.45619409e-01 -1.41258850e-01 6.51227790e-01 5.57380954e+01] [ 8.64259814e-02 -9.89518817e-01 -1.15685175e-01 3.33888638e+01] [ 6.60743707e-01 -2.99741109e-02 7.50012871e-01 2.95286325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190371743 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:55.74, Y:33.39, Z:29.53 [[-7.45401018e-01 -1.40620779e-01 6.51615775e-01 5.57414479e+01] [ 8.58042063e-02 -9.89605492e-01 -1.15406279e-01 3.33871091e+01] [ 6.61071071e-01 -3.01125835e-02 7.49718795e-01 2.95257446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220371743 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:55.75, Y:33.38, Z:29.52 [[-7.45870794e-01 -1.39986415e-01 6.51214683e-01 5.57469792e+01] [ 8.53524263e-02 -9.89693272e-01 -1.14987781e-01 3.33845596e+01] [ 6.60599518e-01 -3.01832742e-02 7.50131487e-01 2.95212271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250371743 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:55.75, Y:33.38, Z:29.52 [[-7.45815020e-01 -1.39055844e-01 6.51477880e-01 5.57482463e+01] [ 8.43681243e-02 -9.89812536e-01 -1.14687245e-01 3.33832849e+01] [ 6.60788904e-01 -3.05715029e-02 7.49948936e-01 2.95206990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:55.76, Y:33.38, Z:29.51 [[-7.59030363e-01 -1.27263394e-01 6.38495840e-01 5.57574198e+01] [ 1.01619799e-01 -9.91847510e-01 -7.68890956e-02 3.33760137e+01] [ 6.43075676e-01 6.52266058e-03 7.65774856e-01 2.95113545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310371743 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:55.74, Y:33.40, Z:29.50 [[-7.57325645e-01 -1.62439720e-01 6.32511822e-01 5.57415672e+01] [ 9.78474175e-02 -9.85860898e-01 -1.36030042e-01 3.34010253e+01] [ 6.45665355e-01 -4.11293908e-02 7.62512048e-01 2.95024011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340371743 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:55.75, Y:33.40, Z:29.50 [[-7.58312614e-01 -1.58125772e-01 6.32422501e-01 5.57473428e+01] [ 9.73734804e-02 -9.86726772e-01 -1.29956467e-01 3.33978410e+01] [ 6.44577679e-01 -3.69664483e-02 7.63644614e-01 2.94997654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370371743 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:55.75, Y:33.40, Z:29.50 [[-7.57052554e-01 -1.56331653e-01 6.34375161e-01 5.57515283e+01] [ 9.25206884e-02 -9.86818735e-01 -1.32773138e-01 3.33972292e+01] [ 6.46769938e-01 -4.18234166e-02 7.61537556e-01 2.94972070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400371743 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:55.75, Y:33.40, Z:29.50 [[-7.58056319e-01 -1.53189207e-01 6.33942965e-01 5.57508622e+01] [ 9.11608642e-02 -9.87369001e-01 -1.29584536e-01 3.33964523e+01] [ 6.45786585e-01 -4.04415879e-02 7.62446172e-01 2.94977979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43037174299997 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:55.75, Y:33.40, Z:29.50 [[-7.56989131e-01 -1.51573068e-01 6.35604485e-01 5.57521308e+01] [ 8.79565273e-02 -9.87507631e-01 -1.30737634e-01 3.33956981e+01] [ 6.47480583e-01 -4.30614045e-02 7.60864384e-01 2.94981617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46037174299997 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:55.75, Y:33.40, Z:29.51 [[-7.55565428e-01 -1.50032815e-01 6.37660598e-01 5.57454828e+01] [ 8.43621963e-02 -9.87598738e-01 -1.32407522e-01 3.33964385e+01] [ 6.49618276e-01 -4.62480977e-02 7.58852561e-01 2.95053714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49037174299997 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:55.75, Y:33.39, Z:29.50 [[-7.55280088e-01 -1.46138967e-01 6.38901707e-01 5.57547979e+01] [ 8.26748909e-02 -9.88280797e-01 -1.28319638e-01 3.33926167e+01] [ 6.50166787e-01 -4.40961386e-02 7.58510830e-01 2.94995496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52037174299997 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:55.76, Y:33.39, Z:29.50 [[-7.58000117e-01 -1.39390080e-01 6.37186180e-01 5.57551875e+01] [ 8.40041295e-02 -9.89625018e-01 -1.16557409e-01 3.33887376e+01] [ 6.46822331e-01 -3.48242596e-02 7.61845222e-01 2.95006400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55037174299997 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:55.76, Y:33.39, Z:29.49 [[-7.58693961e-01 -1.48877126e-01 6.34207438e-01 5.57604726e+01] [ 8.27593931e-02 -9.87675195e-01 -1.32848004e-01 3.33943538e+01] [ 6.46168984e-01 -4.83043560e-02 7.61664187e-01 2.94889317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58037174299997 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:55.76, Y:33.39, Z:29.49 [[-7.60657417e-01 -1.44727605e-01 6.32814518e-01 5.57595187e+01] [ 8.39944144e-02 -9.88578574e-01 -1.25129296e-01 3.33920417e+01] [ 6.43696537e-01 -4.20276423e-02 7.64125936e-01 2.94913622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61037174299997 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:55.76, Y:33.39, Z:29.49 [[-7.64334191e-01 -1.43161433e-01 6.28727324e-01 5.57605442e+01] [ 8.71625521e-02 -9.89032017e-01 -1.19240757e-01 3.33898777e+01] [ 6.38902132e-01 -3.63383091e-02 7.68429303e-01 2.94898300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64037174299997 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:55.76, Y:33.40, Z:29.49 [[-7.64299027e-01 -1.54777705e-01 6.26011868e-01 5.57552627e+01] [ 8.72148020e-02 -9.86659495e-01 -1.37464972e-01 3.33979900e+01] [ 6.38937067e-01 -5.04668429e-02 7.67601800e-01 2.94864623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67037174299998 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:55.76, Y:33.39, Z:29.48 [[-7.61943405e-01 -1.50530644e-01 6.29906956e-01 5.57625474e+01] [ 8.61557762e-02 -9.87528192e-01 -1.31777286e-01 3.33931008e+01] [ 6.41887397e-01 -4.61367113e-02 7.65409677e-01 2.94846700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70037174299998 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:55.77, Y:33.39, Z:29.48 [[-7.59280369e-01 -1.55372568e-01 6.31943578e-01 5.57652086e+01] [ 8.70353418e-02 -9.86601031e-01 -1.37997302e-01 3.33937515e+01] [ 6.44917181e-01 -4.97772173e-02 7.62629700e-01 2.94811437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73037174299998 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:55.77, Y:33.39, Z:29.48 [[-7.57345325e-01 -1.50452911e-01 6.35446284e-01 5.57666806e+01] [ 8.69459468e-02 -9.87665260e-01 -1.30221876e-01 3.33893593e+01] [ 6.47200480e-01 -4.33734503e-02 7.61084938e-01 2.94847228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76037174299998 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:55.77, Y:33.39, Z:29.48 [[-7.57258372e-01 -1.48877394e-01 6.35920812e-01 5.57731012e+01] [ 8.99981023e-02 -9.88170686e-01 -1.24173417e-01 3.33854292e+01] [ 6.46884920e-01 -3.67996930e-02 7.61699208e-01 2.94807092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79037174299998 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:55.78, Y:33.38, Z:29.47 [[-7.58267659e-01 -1.50124895e-01 6.34423102e-01 5.57788094e+01] [ 9.30886489e-02 -9.88086699e-01 -1.22552757e-01 3.33831329e+01] [ 6.45263249e-01 -3.38702028e-02 7.63209112e-01 2.94742886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82037174299998 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:55.78, Y:33.39, Z:29.47 [[-7.57310430e-01 -1.63332592e-01 6.32300069e-01 5.57783165e+01] [ 9.72256628e-02 -9.85626982e-01 -1.38154344e-01 3.33882263e+01] [ 6.45777116e-01 -4.31499321e-02 7.62305713e-01 2.94690756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85037174299998 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:55.79, Y:33.38, Z:29.47 [[-7.57816561e-01 -1.54917614e-01 6.33809587e-01 5.57862326e+01] [ 1.00830593e-01 -9.87540347e-01 -1.20819095e-01 3.33791946e+01] [ 6.44629546e-01 -2.76513145e-02 7.63994865e-01 2.94699279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88037174299998 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:55.77, Y:33.38, Z:29.48 [[-0.74822943 -0.17061149 0.64112747 55.77471505] [ 0.08341642 -0.98289242 -0.16420778 33.38472717] [ 0.65817507 -0.06938454 0.74966084 29.47672096] [ 0. 0. 0. 1. ]] SLAMing on 206.91037174299998 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:55.80, Y:33.36, Z:29.48 [[-7.58303666e-01 -1.30367462e-01 6.38733023e-01 5.58006755e+01] [ 1.07699655e-01 -9.91389332e-01 -7.44847481e-02 3.33564448e+01] [ 6.42943493e-01 1.23092686e-02 7.65814695e-01 2.94782981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940371743 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:55.79, Y:33.38, Z:29.46 [[-7.57436129e-01 -1.72812278e-01 6.29624036e-01 5.57888980e+01] [ 1.08907449e-01 -9.84266503e-01 -1.39135254e-01 3.33835502e+01] [ 6.43762129e-01 -3.68153200e-02 7.64339554e-01 2.94597455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970371743 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:55.80, Y:33.38, Z:29.46 [[-7.55732117e-01 -1.69325563e-01 6.32611904e-01 5.57983573e+01] [ 1.11543145e-01 -9.85161998e-01 -1.30437591e-01 3.33775612e+01] [ 6.45311626e-01 -2.80123555e-02 7.63405668e-01 2.94564499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000371743 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:55.80, Y:33.38, Z:29.45 [[-7.55855584e-01 -1.70836428e-01 6.32057949e-01 5.57998692e+01] [ 1.11247881e-01 -9.84832587e-01 -1.33149104e-01 3.33785103e+01] [ 6.45217982e-01 -3.03263867e-02 7.63396401e-01 2.94538972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030371743 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:55.79, Y:33.38, Z:29.46 [[-7.54239406e-01 -1.72328776e-01 6.33581653e-01 5.57891208e+01] [ 1.09015707e-01 -9.84417590e-01 -1.37976748e-01 3.33813779e+01] [ 6.47486288e-01 -3.49971486e-02 7.61273082e-01 2.94631091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:55.79, Y:33.38, Z:29.47 [[-7.47977426e-01 -1.67007578e-01 6.42369239e-01 5.57874760e+01] [ 9.02740302e-02 -9.84430228e-01 -1.50823491e-01 3.33762986e+01] [ 6.57556362e-01 -5.48233068e-02 7.51408035e-01 2.94705611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090371743 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:55.81, Y:33.36, Z:29.47 [[-7.54042253e-01 -1.39564591e-01 6.41827084e-01 5.58095549e+01] [ 1.07654266e-01 -9.90210736e-01 -8.88440078e-02 3.33584902e+01] [ 6.47943547e-01 2.10328807e-03 7.61685458e-01 2.94691336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120371743 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:55.80, Y:33.38, Z:29.46 [[-7.54692830e-01 -1.62087026e-01 6.35740928e-01 5.58012448e+01] [ 1.03961078e-01 -9.86303507e-01 -1.28052669e-01 3.33761998e+01] [ 6.47789183e-01 -3.05481191e-02 7.61206927e-01 2.94592882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150371743 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:55.80, Y:33.38, Z:29.46 [[-7.55502471e-01 -1.58106294e-01 6.35781736e-01 5.57983202e+01] [ 1.02744364e-01 -9.87028482e-01 -1.23362767e-01 3.33761323e+01] [ 6.47039111e-01 -2.78778847e-02 7.61946988e-01 2.94628978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18037174299997 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:55.79, Y:33.38, Z:29.47 [[-0.74930497 -0.15873504 0.64291932 55.78812259] [ 0.08105917 -0.98553146 -0.14885279 33.37945646] [ 0.65724537 -0.05942163 0.75133055 29.47048319] [ 0. 0. 0. 1. ]] SLAMing on 207.21037174299997 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:55.80, Y:33.36, Z:29.48 [[-7.58662681e-01 -1.25045165e-01 6.39370505e-01 5.58031707e+01] [ 9.91184400e-02 -9.92136398e-01 -7.64257931e-02 3.33598920e+01] [ 6.43899426e-01 5.39200997e-03 7.65091142e-01 2.94752514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24037174299997 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:55.79, Y:33.38, Z:29.47 [[-0.74971016 -0.16167127 0.64171417 55.78742869] [ 0.07773745 -0.98450059 -0.15721159 33.38419444] [ 0.65718457 -0.0679779 0.75065801 29.46753207] [ 0. 0. 0. 1. ]] SLAMing on 207.27037174299997 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:55.80, Y:33.36, Z:29.48 [[-7.57496485e-01 -1.24001535e-01 6.40954518e-01 5.58021769e+01] [ 9.28291491e-02 -9.92278036e-01 -8.22620706e-02 3.33633474e+01] [ 6.46205714e-01 -2.81396676e-03 7.63158081e-01 2.94755782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30037174299997 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:55.80, Y:33.38, Z:29.46 [[-0.75024312 -0.15287568 0.64324512 55.79517727] [ 0.07340609 -0.98614592 -0.14875405 33.38115029] [ 0.65707443 -0.06438359 0.7510712 29.46434901] [ 0. 0. 0. 1. ]] SLAMing on 207.33037174299997 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:55.80, Y:33.37, Z:29.48 [[-7.49544446e-01 -1.24081527e-01 6.50220654e-01 5.58011994e+01] [ 7.10271960e-02 -9.91679313e-01 -1.07365158e-01 3.33654033e+01] [ 6.58132404e-01 -3.42916079e-02 7.52120884e-01 2.94791975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36037174299997 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:55.80, Y:33.37, Z:29.47 [[-7.58757736e-01 -1.19115112e-01 6.40389170e-01 5.58049548e+01] [ 8.77780085e-02 -9.92867858e-01 -8.06748864e-02 3.33653465e+01] [ 6.45431421e-01 -5.00060815e-03 7.63801855e-01 2.94743886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39037174299997 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:55.81, Y:33.38, Z:29.45 [[-7.60842932e-01 -1.47593559e-01 6.31928932e-01 5.58062853e+01] [ 8.78515649e-02 -9.88254111e-01 -1.25043649e-01 3.33838479e+01] [ 6.42962002e-01 -3.96226307e-02 7.64872480e-01 2.94521390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42037174299998 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:55.80, Y:33.38, Z:29.46 [[-7.62586146e-01 -1.42865818e-01 6.30913407e-01 5.58046285e+01] [ 8.82498280e-02 -9.89165105e-01 -1.17321625e-01 3.33825245e+01] [ 6.40838776e-01 -3.37898460e-02 7.66931489e-01 2.94556454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45037174299998 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:55.82, Y:33.38, Z:29.44 [[-7.66733792e-01 -1.40394453e-01 6.26425327e-01 5.58203724e+01] [ 9.26392806e-02 -9.89777114e-01 -1.08439980e-01 3.33781268e+01] [ 6.35245824e-01 -2.51130052e-02 7.71901600e-01 2.94405282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48037174299998 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:55.79, Y:33.40, Z:29.45 [[-0.75376272 -0.16737487 0.63547417 55.79304683] [ 0.0670074 -0.98155589 -0.17904758 33.39974646] [ 0.65372148 -0.09237792 0.75107559 29.45437365] [ 0. 0. 0. 1. ]] SLAMing on 207.51037174299998 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:55.83, Y:33.36, Z:29.46 [[-7.64092915e-01 -1.12060933e-01 6.35298642e-01 5.58267363e+01] [ 8.86420654e-02 -9.93693891e-01 -6.86661158e-02 3.33627081e+01] [ 6.38987169e-01 3.84689118e-03 7.69207774e-01 2.94559972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54037174299998 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:55.82, Y:33.39, Z:29.44 [[-7.65843964e-01 -1.45489507e-01 6.26351200e-01 5.58179002e+01] [ 9.00268466e-02 -9.88733520e-01 -1.19587597e-01 3.33851743e+01] [ 6.36693167e-01 -3.51970162e-02 7.70313560e-01 2.94391466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57037174299998 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:55.82, Y:33.40, Z:29.43 [[-7.64687256e-01 -1.59990596e-01 6.24224647e-01 5.58158860e+01] [ 8.81990920e-02 -9.85557986e-01 -1.44555792e-01 3.33965911e+01] [ 6.38337153e-01 -5.54839248e-02 7.67754657e-01 2.94311921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60037174299998 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:55.83, Y:33.38, Z:29.44 [[-7.64576187e-01 -1.41657302e-01 6.28773777e-01 5.58253699e+01] [ 8.84745294e-02 -9.89380887e-01 -1.15315733e-01 3.33823942e+01] [ 6.38432073e-01 -3.25371994e-02 7.68990130e-01 2.94366271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63037174299998 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:55.82, Y:33.39, Z:29.44 [[-7.66296798e-01 -1.47503722e-01 6.25325410e-01 5.58223186e+01] [ 9.00497511e-02 -9.88339781e-01 -1.22782409e-01 3.33856574e+01] [ 6.36144841e-01 -3.77773694e-02 7.70644283e-01 2.94354462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66037174299998 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:55.81, Y:33.39, Z:29.44 [[-7.65411839e-01 -1.51391685e-01 6.25480036e-01 5.58134168e+01] [ 8.90755809e-02 -9.87503054e-01 -1.30012538e-01 3.33894743e+01] [ 6.37346262e-01 -4.37981383e-02 7.69331830e-01 2.94419153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:55.82, Y:33.39, Z:29.44 [[-7.65610023e-01 -1.47411534e-01 6.26187778e-01 5.58215681e+01] [ 9.01114786e-02 -9.88369435e-01 -1.22498084e-01 3.33853239e+01] [ 6.36962491e-01 -3.73590546e-02 7.69989017e-01 2.94377157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720371743 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:55.81, Y:33.39, Z:29.44 [[-0.7541118 -0.15923229 0.63715027 55.81263379] [ 0.07001262 -0.98412538 -0.16308115 33.39148725] [ 0.65300354 -0.07837286 0.75328884 29.44445101] [ 0. 0. 0. 1. ]] SLAMing on 207.750371743 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:55.82, Y:33.37, Z:29.46 [[-7.51623337e-01 -1.21497327e-01 6.48306068e-01 5.58247737e+01] [ 7.03369928e-02 -9.92048098e-01 -1.04370868e-01 3.33661358e+01] [ 6.55831584e-01 -3.28476809e-02 7.54192259e-01 2.94606938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780371743 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:55.84, Y:33.36, Z:29.45 [[-7.68489109e-01 -1.05698692e-01 6.31072322e-01 5.58415743e+01] [ 9.49373478e-02 -9.94180814e-01 -5.09058826e-02 3.33558693e+01] [ 6.32780680e-01 2.07917161e-02 7.74051882e-01 2.94454384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810371743 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:55.82, Y:33.39, Z:29.43 [[-7.67149672e-01 -1.54711979e-01 6.22531593e-01 5.58241786e+01] [ 9.42010203e-02 -9.87129091e-01 -1.29237479e-01 3.33890362e+01] [ 6.34513631e-01 -4.05013784e-02 7.71849785e-01 2.94277707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840371743 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:55.81, Y:33.40, Z:29.44 [[-0.75324245 -0.16586562 0.63648599 55.80956454] [ 0.07052121 -0.98246953 -0.17256994 33.39707771] [ 0.65395151 -0.08510124 0.75173479 29.44294825] [ 0. 0. 0. 1. ]] SLAMing on 207.870371743 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:55.83, Y:33.37, Z:29.46 [[-7.51209625e-01 -1.21319804e-01 6.48818622e-01 5.58317749e+01] [ 7.08548472e-02 -9.92105306e-01 -1.03472952e-01 3.33662714e+01] [ 6.56249716e-01 -3.17579333e-02 7.53875151e-01 2.94551632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900371743 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:55.85, Y:33.36, Z:29.44 [[-7.63516403e-01 -1.10597214e-01 6.36247561e-01 5.58469826e+01] [ 9.18106909e-02 -9.93808388e-01 -6.25754398e-02 3.33597452e+01] [ 6.39228832e-01 1.06369534e-02 7.68943012e-01 2.94419997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93037174299997 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:55.84, Y:33.39, Z:29.42 [[-7.64769439e-01 -1.55076415e-01 6.25363102e-01 5.58374744e+01] [ 9.42537689e-02 -9.87088146e-01 -1.29511462e-01 3.33888196e+01] [ 6.37372679e-01 -4.01035785e-02 7.69511385e-01 2.94193825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96037174299997 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:55.84, Y:33.38, Z:29.42 [[-7.65026725e-01 -1.48019967e-01 6.26756890e-01 5.58409406e+01] [ 9.52660570e-02 -9.88531238e-01 -1.17176665e-01 3.33834765e+01] [ 6.36913250e-01 -2.99346223e-02 7.70354094e-01 2.94215752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99037174299997 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:55.84, Y:33.38, Z:29.42 [[-7.71254313e-01 -1.46134944e-01 6.19525111e-01 5.58391471e+01] [ 1.02248503e-01 -9.89093122e-01 -1.06019058e-01 3.33825312e+01] [ 6.28261115e-01 -1.84221410e-02 7.77784415e-01 2.94209513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02037174299997 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:55.84, Y:33.39, Z:29.41 [[-7.66884796e-01 -1.65258740e-01 6.20142934e-01 5.58371221e+01] [ 1.00014454e-01 -9.85246876e-01 -1.38872974e-01 3.33947950e+01] [ 6.33943861e-01 -4.44763152e-02 7.72099112e-01 2.94144573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05037174299997 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:55.84, Y:33.39, Z:29.41 [[-7.66497850e-01 -1.58715595e-01 6.22326607e-01 5.58430346e+01] [ 1.00385243e-01 -9.86680955e-01 -1.27998034e-01 3.33912846e+01] [ 6.34353095e-01 -3.56378096e-02 7.72221534e-01 2.94149485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08037174299997 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:55.84, Y:33.40, Z:29.42 [[-0.7537443 -0.16798045 0.63533621 55.83541058] [ 0.07731231 -0.98273191 -0.16810948 33.39745164] [ 0.65260428 -0.07759225 0.75371553 29.42415456] [ 0. 0. 0. 1. ]] SLAMing on 208.11037174299997 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:55.87, Y:33.36, Z:29.43 [[-7.70101655e-01 -1.09065809e-01 6.28528512e-01 5.58662509e+01] [ 1.02132197e-01 -9.93646335e-01 -4.72861078e-02 3.33594602e+01] [ 6.29692350e-01 2.77778882e-02 7.76347817e-01 2.94261802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14037174299997 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:55.83, Y:33.41, Z:29.42 [[-0.75478745 -0.17305642 0.6327301 55.83469989] [ 0.0764171 -0.98120224 -0.17720774 33.40530887] [ 0.65150313 -0.08540278 0.75382361 29.42052911] [ 0. 0. 0. 1. ]] SLAMing on 208.17037174299998 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:55.87, Y:33.37, Z:29.42 [[-7.65805898e-01 -1.14674950e-01 6.32764555e-01 5.58672922e+01] [ 9.70477582e-02 -9.93311380e-01 -6.25638500e-02 3.33671462e+01] [ 6.35706739e-01 1.34966162e-02 7.71812660e-01 2.94236701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20037174299998 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:55.84, Y:33.40, Z:29.42 [[-0.7548178 -0.16111401 0.63583989 55.84113644] [ 0.07546284 -0.98425827 -0.15981555 33.39982676] [ 0.65157919 -0.07264934 0.75509379 29.42247446] [ 0. 0. 0. 1. ]] SLAMing on 208.23037174299998 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:55.85, Y:33.38, Z:29.44 [[-7.52854480e-01 -1.22805387e-01 6.46628927e-01 5.58522481e+01] [ 7.51388430e-02 -9.92052606e-01 -1.00924636e-01 3.33773418e+01] [ 6.53884001e-01 -2.73946150e-02 7.56098703e-01 2.94383088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26037174299998 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:55.87, Y:33.37, Z:29.42 [[-7.65184882e-01 -1.09913936e-01 6.34358750e-01 5.58713096e+01] [ 9.43231825e-02 -9.93825931e-01 -5.84222208e-02 3.33694880e+01] [ 6.36863591e-01 1.51309360e-02 7.70828010e-01 2.94221756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29037174299998 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:55.86, Y:33.40, Z:29.40 [[-7.64522521e-01 -1.54291953e-01 6.25858856e-01 5.58563814e+01] [ 9.39203071e-02 -9.87232349e-01 -1.28651718e-01 3.34020528e+01] [ 6.37718034e-01 -3.95762796e-02 7.69252512e-01 2.94041872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32037174299998 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:55.86, Y:33.40, Z:29.41 [[-7.63582856e-01 -1.44785303e-01 6.29268176e-01 5.58562544e+01] [ 9.27800142e-02 -9.89025897e-01 -1.14976712e-01 3.33971280e+01] [ 6.39009460e-01 -2.94107360e-02 7.68636402e-01 2.94104894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35037174299998 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:55.86, Y:33.40, Z:29.41 [[-7.60569948e-01 -1.52561569e-01 6.31077113e-01 5.58559913e+01] [ 8.99211331e-02 -9.87385104e-01 -1.30325927e-01 3.34033555e+01] [ 6.42998868e-01 -4.23748141e-02 7.64693946e-01 2.94081746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38037174299998 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:55.86, Y:33.40, Z:29.41 [[-7.61091976e-01 -1.43139381e-01 6.32653239e-01 5.58635445e+01] [ 8.98273047e-02 -9.89208589e-01 -1.15747237e-01 3.33974621e+01] [ 6.42394006e-01 -3.12647582e-02 7.65736545e-01 2.94081590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41037174299998 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:55.86, Y:33.40, Z:29.41 [[-7.63403774e-01 -1.43411302e-01 6.29799871e-01 5.58623794e+01] [ 9.21200617e-02 -9.89246813e-01 -1.13598579e-01 3.33993924e+01] [ 6.39318835e-01 -2.87043811e-02 7.68405808e-01 2.94095682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440371743 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:55.86, Y:33.40, Z:29.41 [[-7.62853876e-01 -1.48979349e-01 6.29173361e-01 5.58648541e+01] [ 9.31521073e-02 -9.88264370e-01 -1.21062876e-01 3.34033216e+01] [ 6.39825483e-01 -3.37444598e-02 7.67779045e-01 2.94064020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470371743 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:55.87, Y:33.40, Z:29.41 [[-7.62324756e-01 -1.43655313e-01 6.31050012e-01 5.58711923e+01] [ 9.38894215e-02 -9.89287029e-01 -1.11785288e-01 3.33990208e+01] [ 6.40348142e-01 -2.59677721e-02 7.67645707e-01 2.94052458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500371743 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:55.87, Y:33.40, Z:29.40 [[-7.63853657e-01 -1.46524447e-01 6.28536536e-01 5.58745460e+01] [ 9.69010572e-02 -9.88885223e-01 -1.12766132e-01 3.34004952e+01] [ 6.38073487e-01 -2.52309673e-02 7.69561968e-01 2.93996971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530371743 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:55.87, Y:33.40, Z:29.40 [[-7.64088126e-01 -1.45843095e-01 6.28410000e-01 5.58729448e+01] [ 9.87711876e-02 -9.89072761e-01 -1.09450106e-01 3.34002851e+01] [ 6.37505756e-01 -2.15607245e-02 7.70143848e-01 2.94014120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560371743 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:55.88, Y:33.41, Z:29.39 [[-7.64248504e-01 -1.55823823e-01 6.25813998e-01 5.58794058e+01] [ 1.03770943e-01 -9.87439677e-01 -1.19140572e-01 3.34054855e+01] [ 6.36518512e-01 -2.61116948e-02 7.70819281e-01 2.93899895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590371743 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:55.88, Y:33.41, Z:29.39 [[-7.63429276e-01 -1.55489994e-01 6.26896006e-01 5.58805295e+01] [ 1.04102229e-01 -9.87522412e-01 -1.18161806e-01 3.34055532e+01] [ 6.37446834e-01 -2.49469103e-02 7.70090375e-01 2.93901060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620371743 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:55.89, Y:33.40, Z:29.39 [[-7.67940546e-01 -1.48883890e-01 6.22977451e-01 5.58858282e+01] [ 1.11815941e-01 -9.88836653e-01 -9.84848696e-02 3.34000758e+01] [ 6.30685748e-01 -5.97171472e-03 7.76015351e-01 2.93881584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650371743 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:55.87, Y:33.42, Z:29.39 [[-0.75303735 -0.1739283 0.63457363 55.87438003] [ 0.09142056 -0.98273296 -0.16086704 33.41569546] [ 0.65159575 -0.06312582 0.75593525 29.39481556] [ 0. 0. 0. 1. ]] SLAMing on 208.68037174299997 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:55.90, Y:33.38, Z:29.40 [[-7.63334965e-01 -1.24043875e-01 6.33981742e-01 5.58976030e+01] [ 1.10065031e-01 -9.92015274e-01 -6.15742209e-02 3.33827383e+01] [ 6.36557476e-01 2.27774645e-02 7.70892837e-01 2.94000518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71037174299997 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:55.88, Y:33.41, Z:29.39 [[-7.53406646e-01 -1.69376949e-01 6.35365938e-01 5.58817819e+01] [ 9.50098317e-02 -9.84156460e-01 -1.49697008e-01 3.34116772e+01] [ 6.50654715e-01 -5.24167102e-02 7.57562493e-01 2.93931472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74037174299997 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:55.90, Y:33.39, Z:29.40 [[-7.63502478e-01 -1.26619883e-01 6.33270378e-01 5.59014766e+01] [ 1.12405846e-01 -9.91678428e-01 -6.27600248e-02 3.33850143e+01] [ 6.35947240e-01 2.32658584e-02 7.71381752e-01 2.93968584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77037174299997 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:55.89, Y:33.41, Z:29.38 [[-7.67850665e-01 -1.59163488e-01 6.20541973e-01 5.58929094e+01] [ 1.17149157e-01 -9.87197221e-01 -1.08248431e-01 3.34090418e+01] [ 6.29826509e-01 -1.04226607e-02 7.76665910e-01 2.93786836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80037174299997 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:55.89, Y:33.41, Z:29.38 [[-7.65727797e-01 -1.58631001e-01 6.23295392e-01 5.58904410e+01] [ 1.14798817e-01 -9.87254303e-01 -1.10227822e-01 3.34108197e+01] [ 6.32836608e-01 -1.28509334e-02 7.74178714e-01 2.93823782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83037174299997 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:55.88, Y:33.42, Z:29.39 [[-0.75373801 -0.17297968 0.63400082 55.88368004] [ 0.09539367 -0.98331744 -0.15487692 33.42065783] [ 0.65021462 -0.05625696 0.7576649 29.38822971] [ 0. 0. 0. 1. ]] SLAMing on 208.86037174299997 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:55.91, Y:33.39, Z:29.39 [[-7.66486030e-01 -1.21688999e-01 6.30627428e-01 5.59071978e+01] [ 1.12082033e-01 -9.92163233e-01 -5.52244268e-02 3.33904100e+01] [ 6.32405553e-01 2.83532523e-02 7.74118408e-01 2.93896659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89037174299997 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:55.90, Y:33.41, Z:29.37 [[-7.66498071e-01 -1.58436843e-01 6.22397361e-01 5.58991052e+01] [ 1.12982694e-01 -9.87244939e-01 -1.12171032e-01 3.34145815e+01] [ 6.32230669e-01 -1.56587486e-02 7.74621963e-01 2.93733931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92037174299998 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:55.89, Y:33.42, Z:29.38 [[-7.65223560e-01 -1.55471933e-01 6.24709037e-01 5.58907301e+01] [ 1.09589292e-01 -9.87695491e-01 -1.11569729e-01 3.34161786e+01] [ 6.34368260e-01 -1.69143641e-02 7.72845919e-01 2.93834931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95037174299998 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:55.89, Y:33.43, Z:29.39 [[-0.75403948 -0.16535974 0.63567336 55.88637376] [ 0.08662305 -0.98437332 -0.1533154 33.42759628] [ 0.65109209 -0.0605419 0.75658031 29.38749781] [ 0. 0. 0. 1. ]] SLAMing on 208.98037174299998 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:55.91, Y:33.39, Z:29.39 [[-7.68671509e-01 -1.08324688e-01 6.30404531e-01 5.59069614e+01] [ 1.03184046e-01 -9.93647151e-01 -4.49265192e-02 3.33945293e+01] [ 6.31266317e-01 3.05139548e-02 7.74965635e-01 2.93922450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01037174299998 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:55.90, Y:33.43, Z:29.37 [[-7.69957285e-01 -1.51267274e-01 6.19906438e-01 5.58959527e+01] [ 1.00175965e-01 -9.88103418e-01 -1.16689377e-01 3.34296339e+01] [ 6.30182954e-01 -2.77461102e-02 7.75950770e-01 2.93736356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04037174299998 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:55.90, Y:33.43, Z:29.37 [[-7.71019343e-01 -1.50820148e-01 6.18694154e-01 5.58988312e+01] [ 9.85560544e-02 -9.88104584e-01 -1.18050986e-01 3.34320141e+01] [ 6.29138996e-01 -3.00435392e-02 7.76711986e-01 2.93697929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07037174299998 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:55.91, Y:33.43, Z:29.36 [[-7.68785959e-01 -1.50927332e-01 6.21441140e-01 5.59063645e+01] [ 9.46854308e-02 -9.87905047e-01 -1.22793677e-01 3.34332828e+01] [ 6.32457761e-01 -3.55606329e-02 7.73778148e-01 2.93647401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10037174299998 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:55.90, Y:33.43, Z:29.38 [[-7.73946345e-01 -1.30204686e-01 6.19720740e-01 5.58993265e+01] [ 9.35375914e-02 -9.91404071e-01 -9.14805250e-02 3.34255889e+01] [ 6.26304858e-01 -1.28338326e-02 7.79472590e-01 2.93761792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13037174299998 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:55.90, Y:33.44, Z:29.36 [[-7.74750740e-01 -1.50461300e-01 6.14103157e-01 5.59030509e+01] [ 9.37071372e-02 -9.87870559e-01 -1.23817332e-01 3.34402755e+01] [ 6.25284146e-01 -3.83817209e-02 7.79452744e-01 2.93607386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16037174299998 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:55.89, Y:33.45, Z:29.38 [[-0.75883758 -0.15524162 0.63250737 55.88793709] [ 0.06776464 -0.98472482 -0.1603901 33.44583996] [ 0.64774492 -0.0788484 0.75776609 29.38385032] [ 0. 0. 0. 1. ]] SLAMing on 209.190371743 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:55.90, Y:33.42, Z:29.40 [[-7.57529553e-01 -1.10071217e-01 6.43454197e-01 5.58985768e+01] [ 6.45156152e-02 -9.93480141e-01 -9.39943874e-02 3.34196167e+01] [ 6.49605043e-01 -2.96906828e-02 7.59691879e-01 2.93987828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220371743 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:55.92, Y:33.41, Z:29.38 [[-7.69601904e-01 -9.92147529e-02 6.30768850e-01 5.59206940e+01] [ 8.17280264e-02 -9.95035140e-01 -5.67943721e-02 3.34125304e+01] [ 6.33272010e-01 7.84243626e-03 7.73889564e-01 2.93759658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250371743 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:55.91, Y:33.44, Z:29.36 [[-7.71781778e-01 -1.34834771e-01 6.21427769e-01 5.59125753e+01] [ 7.93501590e-02 -9.90043255e-01 -1.16266527e-01 3.34396877e+01] [ 6.30917141e-01 -4.04219947e-02 7.74796504e-01 2.93597267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280371743 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:55.91, Y:33.44, Z:29.36 [[-7.71841579e-01 -1.30215648e-01 6.22337900e-01 5.59091519e+01] [ 7.70442589e-02 -9.90745534e-01 -1.11747346e-01 3.34389433e+01] [ 6.31129748e-01 -3.83036859e-02 7.74730965e-01 2.93641276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310371743 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:55.89, Y:33.45, Z:29.39 [[-7.60158899e-01 -1.36462465e-01 6.35245184e-01 5.58879596e+01] [ 5.27369044e-02 -9.87428259e-01 -1.49010916e-01 3.34469104e+01] [ 6.47593443e-01 -7.97711091e-02 7.57798986e-01 2.93871071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340371743 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:55.92, Y:33.42, Z:29.38 [[-7.66125647e-01 -9.52609541e-02 6.35591728e-01 5.59166725e+01] [ 6.72480588e-02 -9.95407441e-01 -6.81302132e-02 3.34192686e+01] [ 6.39162884e-01 -9.45399373e-03 7.69013283e-01 2.93799725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370371743 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:55.91, Y:33.44, Z:29.37 [[-7.66272415e-01 -1.23648761e-01 6.30505805e-01 5.59085016e+01] [ 6.22481575e-02 -9.90978331e-01 -1.18689148e-01 3.34405775e+01] [ 6.39493357e-01 -5.17003951e-02 7.67056266e-01 2.93699597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400371743 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:55.91, Y:33.43, Z:29.37 [[-7.70697848e-01 -1.09573037e-01 6.27708990e-01 5.59085872e+01] [ 6.33353661e-02 -9.93398537e-01 -9.56450608e-02 3.34324635e+01] [ 6.34045312e-01 -3.39572638e-02 7.72549964e-01 2.93727236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43037174299997 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:55.90, Y:33.44, Z:29.38 [[-7.65241365e-01 -1.24319077e-01 6.31625222e-01 5.58989255e+01] [ 5.45982590e-02 -9.90173993e-01 -1.28741962e-01 3.34434927e+01] [ 6.41423950e-01 -6.40330373e-02 7.64509703e-01 2.93786489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46037174299997 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:55.91, Y:33.43, Z:29.38 [[-7.65460494e-01 -1.08489630e-01 6.34271419e-01 5.59051652e+01] [ 5.46442484e-02 -9.93083765e-01 -1.03916518e-01 3.34321786e+01] [ 6.41158513e-01 -4.48847039e-02 7.66094723e-01 2.93805981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49037174299997 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:55.91, Y:33.43, Z:29.38 [[-7.65071356e-01 -1.11849733e-01 6.34157281e-01 5.59061830e+01] [ 5.34580153e-02 -9.92432183e-01 -1.10546832e-01 3.34335661e+01] [ 6.41722729e-01 -5.06754246e-02 7.65260701e-01 2.93776489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52037174299997 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:55.91, Y:33.43, Z:29.38 [[-7.63708451e-01 -1.07562534e-01 6.36537275e-01 5.59084108e+01] [ 5.17923600e-02 -9.93051892e-01 -1.05666891e-01 3.34283645e+01] [ 6.43480344e-01 -4.77309303e-02 7.63973040e-01 2.93777925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55037174299997 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:55.91, Y:33.43, Z:29.38 [[-7.63983125e-01 -1.05011789e-01 6.36633575e-01 5.59063216e+01] [ 5.19465440e-02 -9.93474859e-01 -1.01534528e-01 3.34258024e+01] [ 6.43141774e-01 -4.44997518e-02 7.64453027e-01 2.93800803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58037174299997 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:55.92, Y:33.42, Z:29.37 [[-7.64840766e-01 -1.07221291e-01 6.35233971e-01 5.59153800e+01] [ 5.31471178e-02 -9.93192808e-01 -1.03650522e-01 3.34247002e+01] [ 6.42023354e-01 -4.55152898e-02 7.65332850e-01 2.93698451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61037174299997 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:55.91, Y:33.42, Z:29.37 [[-7.63153984e-01 -1.09132158e-01 6.36934981e-01 5.59111443e+01] [ 4.94260035e-02 -9.92607092e-01 -1.10852292e-01 3.34239906e+01] [ 6.44323729e-01 -5.31162175e-02 7.62906023e-01 2.93736700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64037174299997 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:55.91, Y:33.42, Z:29.38 [[-7.64140835e-01 -1.01991627e-01 6.36935234e-01 5.59116637e+01] [ 5.01475555e-02 -9.93825305e-01 -9.89771987e-02 3.34177218e+01] [ 6.43097199e-01 -4.36917743e-02 7.64537129e-01 2.93764573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67037174299998 meters Centerline goodness : 0.992217 Centerline is valid? [True, True] Translation: X:55.92, Y:33.42, Z:29.37 [[-7.63024119e-01 -1.09422401e-01 6.37040762e-01 5.59167493e+01] [ 4.95861115e-02 -9.92571598e-01 -1.11098336e-01 3.34176344e+01] [ 6.44465214e-01 -5.31823359e-02 7.62781900e-01 2.93693862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70037174299998 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:55.92, Y:33.41, Z:29.37 [[-7.65055909e-01 -1.03062747e-01 6.35663060e-01 5.59183119e+01] [ 5.09310428e-02 -9.93701691e-01 -9.98147205e-02 3.34116058e+01] [ 6.41946637e-01 -4.39888593e-02 7.65486444e-01 2.93699008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73037174299998 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:55.91, Y:33.41, Z:29.37 [[-7.67613569e-01 -1.03051624e-01 6.32573926e-01 5.59104222e+01] [ 5.27374803e-02 -9.93797712e-01 -9.79023325e-02 3.34081452e+01] [ 6.38739514e-01 -4.17908039e-02 7.68287291e-01 2.93736951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76037174299998 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:55.92, Y:33.41, Z:29.37 [[-7.65551716e-01 -1.10771739e-01 6.33766670e-01 5.59173553e+01] [ 5.18958091e-02 -9.92488731e-01 -1.10783322e-01 3.34098573e+01] [ 6.41277939e-01 -5.19205280e-02 7.65550040e-01 2.93655194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79037174299998 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:55.91, Y:33.40, Z:29.37 [[-7.65216466e-01 -1.06639923e-01 6.34879270e-01 5.59100299e+01] [ 5.31948435e-02 -9.93286334e-01 -1.02725686e-01 3.34031696e+01] [ 6.41571562e-01 -4.48350830e-02 7.65751752e-01 2.93746316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82037174299998 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:55.93, Y:33.39, Z:29.36 [[-7.72463788e-01 -9.69961229e-02 6.27607718e-01 5.59257246e+01] [ 6.09567889e-02 -9.95028633e-01 -7.87546201e-02 3.33919963e+01] [ 6.32126542e-01 -2.25781410e-02 7.74536159e-01 2.93621741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85037174299998 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:55.92, Y:33.40, Z:29.35 [[-7.72019466e-01 -1.18681219e-01 6.24420301e-01 5.59227513e+01] [ 6.13037427e-02 -9.91736027e-01 -1.12700945e-01 3.34038172e+01] [ 6.32635594e-01 -4.87280220e-02 7.72915121e-01 2.93523019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88037174299998 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:55.94, Y:33.40, Z:29.34 [[-7.71374227e-01 -1.16545250e-01 6.25618899e-01 5.59368324e+01] [ 6.17149412e-02 -9.92153410e-01 -1.08733051e-01 3.33957949e+01] [ 6.33382245e-01 -4.52638399e-02 7.72514153e-01 2.93435961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91037174299998 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:55.93, Y:33.40, Z:29.35 [[-0.76658076 -0.12050166 0.63074027 55.92920145] [ 0.05681334 -0.99111049 -0.12030063 33.39793004] [ 0.63962973 -0.05638568 0.76661233 29.35172476] [ 0. 0. 0. 1. ]] SLAMing on 209.940371743 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:55.94, Y:33.39, Z:29.35 [[-7.65734082e-01 -1.09791715e-01 6.33716889e-01 5.59374331e+01] [ 5.56728375e-02 -9.92938396e-01 -1.04756274e-01 3.33878170e+01] [ 6.40743202e-01 -4.49346322e-02 7.66439187e-01 2.93503291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:55.94, Y:33.38, Z:29.35 [[-7.68874389e-01 -1.03976111e-01 6.30889168e-01 5.59394706e+01] [ 5.89840285e-02 -9.94016249e-01 -9.19379158e-02 3.33823231e+01] [ 6.36673431e-01 -3.34763241e-02 7.70406566e-01 2.93493105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:55.94, Y:33.40, Z:29.34 [[-7.64212973e-01 -1.23745152e-01 6.32981571e-01 5.59363253e+01] [ 5.31897841e-02 -9.90170522e-01 -1.29356813e-01 3.33950649e+01] [ 6.42766971e-01 -6.51880015e-02 7.63283136e-01 2.93424590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030371743 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:55.94, Y:33.38, Z:29.35 [[-7.63216296e-01 -1.04588571e-01 6.37622237e-01 5.59410231e+01] [ 5.19317424e-02 -9.93549404e-01 -1.00810098e-01 3.33801239e+01] [ 6.44052777e-01 -4.38270761e-02 7.63724563e-01 2.93498462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060371743 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:55.95, Y:33.38, Z:29.35 [[-7.63892546e-01 -1.03904294e-01 6.36923917e-01 5.59452395e+01] [ 5.28041615e-02 -9.93707562e-01 -9.87775396e-02 3.33776263e+01] [ 6.43179523e-01 -4.18231928e-02 7.64572378e-01 2.93465224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:55.94, Y:33.38, Z:29.35 [[-7.63852677e-01 -1.08454410e-01 6.36212802e-01 5.59399591e+01] [ 5.17238852e-02 -9.92895800e-01 -1.07156757e-01 3.33797231e+01] [ 6.43314642e-01 -4.89445775e-02 7.64035798e-01 2.93481426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:55.94, Y:33.38, Z:29.35 [[-7.63556394e-01 -1.04392314e-01 6.37247109e-01 5.59396858e+01] [ 5.11345433e-02 -9.93521897e-01 -1.01486443e-01 3.33766772e+01] [ 6.43713361e-01 -4.49052826e-02 7.63948051e-01 2.93508763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:55.94, Y:33.38, Z:29.35 [[-7.63452975e-01 -1.03563230e-01 6.37506245e-01 5.59384776e+01] [ 5.04194159e-02 -9.93604832e-01 -1.01031281e-01 3.33755961e+01] [ 6.43892411e-01 -4.49899396e-02 7.63792163e-01 2.93523691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18037174299997 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:55.93, Y:33.37, Z:29.36 [[-7.64997253e-01 -1.01644818e-01 6.35961897e-01 5.59336716e+01] [ 4.94947465e-02 -9.93825384e-01 -9.93044645e-02 3.33743255e+01] [ 6.42128860e-01 -4.44908697e-02 7.65304573e-01 2.93566444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21037174299997 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:55.94, Y:33.37, Z:29.35 [[-7.66886464e-01 -9.68475643e-02 6.34433370e-01 5.59436239e+01] [ 5.07404109e-02 -9.94603508e-01 -9.04945982e-02 3.33689280e+01] [ 6.39773837e-01 -3.72076725e-02 7.67662053e-01 2.93496479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24037174299997 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:55.93, Y:33.37, Z:29.35 [[-7.62778652e-01 -1.03727002e-01 6.38286329e-01 5.59306918e+01] [ 3.48600619e-02 -9.92211927e-01 -1.19583726e-01 3.33746274e+01] [ 6.45719370e-01 -6.89652121e-02 7.60454006e-01 2.93536032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27037174299997 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:55.94, Y:33.36, Z:29.36 [[-7.60812646e-01 -8.08576376e-02 6.43914715e-01 5.59386531e+01] [ 3.30628508e-02 -9.95748712e-01 -8.59729592e-02 3.33597995e+01] [ 6.48128818e-01 -4.41196585e-02 7.60251597e-01 2.93606495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30037174299997 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:55.94, Y:33.36, Z:29.36 [[-7.60230837e-01 -7.92815044e-02 6.44797269e-01 5.59401324e+01] [ 3.11204657e-02 -9.95830424e-01 -8.57512882e-02 3.33590936e+01] [ 6.48907229e-01 -4.51243823e-02 7.59528274e-01 2.93582943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33037174299997 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:55.94, Y:33.36, Z:29.36 [[-7.59489266e-01 -7.71844339e-02 6.45924622e-01 5.59354685e+01] [ 2.84455257e-02 -9.95926786e-01 -8.55610264e-02 3.33581822e+01] [ 6.49897612e-01 -4.66090157e-02 7.58591256e-01 2.93606545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36037174299997 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:55.96, Y:33.36, Z:29.34 [[-7.62699578e-01 -7.77886497e-02 6.42057848e-01 5.59573412e+01] [ 4.00698938e-02 -9.96516828e-01 -7.31342316e-02 3.33551356e+01] [ 6.45510463e-01 -3.00522577e-02 7.63159946e-01 2.93423809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39037174299997 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:55.94, Y:33.36, Z:29.35 [[-7.61011821e-01 -9.32036320e-02 6.42007859e-01 5.59373309e+01] [ 2.57766572e-02 -9.93188504e-01 -1.13631685e-01 3.33647033e+01] [ 6.48225711e-01 -6.99262391e-02 7.58230670e-01 2.93464041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42037174299998 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:55.95, Y:33.35, Z:29.35 [[-7.61565949e-01 -7.92422608e-02 6.43224665e-01 5.59495597e+01] [ 3.60991790e-02 -9.96142637e-01 -7.99793477e-02 3.33545675e+01] [ 6.47081258e-01 -3.76896655e-02 7.61488893e-01 2.93485866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45037174299998 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:55.95, Y:33.36, Z:29.34 [[-7.63429687e-01 -9.07771698e-02 6.39479960e-01 5.59493118e+01] [ 3.65780732e-02 -9.94561675e-01 -9.75147166e-02 3.33610046e+01] [ 6.44854370e-01 -5.10546847e-02 7.62598361e-01 2.93397223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48037174299998 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:55.94, Y:33.36, Z:29.35 [[-7.62824654e-01 -9.18628696e-02 6.40046686e-01 5.59408737e+01] [ 3.47811955e-02 -9.94253114e-01 -1.01247287e-01 3.33601455e+01] [ 6.45669277e-01 -5.49723382e-02 7.61635889e-01 2.93470148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51037174299998 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:55.94, Y:33.36, Z:29.35 [[-7.63214268e-01 -8.77965195e-02 6.40152913e-01 5.59400218e+01] [ 3.51480195e-02 -9.94899921e-01 -9.45450363e-02 3.33559736e+01] [ 6.45188808e-01 -4.96580136e-02 7.62407689e-01 2.93503787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54037174299998 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:55.95, Y:33.35, Z:29.34 [[-7.64987854e-01 -8.71652149e-02 6.38118961e-01 5.59503903e+01] [ 3.79623311e-02 -9.95179134e-01 -9.04287200e-02 3.33502220e+01] [ 6.42924913e-01 -4.49523892e-02 7.64608945e-01 2.93416852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57037174299998 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:55.95, Y:33.35, Z:29.34 [[-7.66669591e-01 -9.13086045e-02 6.35515914e-01 5.59518946e+01] [ 3.90787215e-02 -9.94636841e-01 -9.57622510e-02 3.33513406e+01] [ 6.40851458e-01 -4.85828564e-02 7.66126044e-01 2.93357411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60037174299998 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:55.95, Y:33.35, Z:29.34 [[-7.65174442e-01 -9.35274415e-02 6.36993478e-01 5.59507069e+01] [ 3.77443103e-02 -9.94207073e-01 -1.00636293e-01 3.33515846e+01] [ 6.42715676e-01 -5.29614398e-02 7.64271971e-01 2.93366472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63037174299998 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:55.95, Y:33.35, Z:29.34 [[-7.64407669e-01 -9.15568597e-02 6.38199230e-01 5.59496685e+01] [ 3.80990166e-02 -9.94550413e-01 -9.70460779e-02 3.33483581e+01] [ 6.43606542e-01 -4.98680032e-02 7.63730189e-01 2.93381973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66037174299998 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:55.95, Y:33.34, Z:29.34 [[-7.65415313e-01 -8.76883733e-02 6.37534428e-01 5.59543147e+01] [ 4.17042622e-02 -9.95349515e-01 -8.68337401e-02 3.33409344e+01] [ 6.42183893e-01 -3.98759715e-02 7.65512740e-01 2.93361073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:55.95, Y:33.35, Z:29.33 [[-7.64415877e-01 -9.90332205e-02 6.37072043e-01 5.59540198e+01] [ 4.18716545e-02 -9.93671880e-01 -1.04225526e-01 3.33456300e+01] [ 6.43362364e-01 -5.29963865e-02 7.63725247e-01 2.93290750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720371743 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:55.96, Y:33.34, Z:29.33 [[-7.62247265e-01 -9.80530352e-02 6.39816153e-01 5.59592278e+01] [ 4.09869545e-02 -9.93787729e-01 -1.03469893e-01 3.33427563e+01] [ 6.45986979e-01 -5.26455276e-02 7.61530873e-01 2.93274943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750371743 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:55.97, Y:33.33, Z:29.32 [[-7.66941969e-01 -8.69179810e-02 6.35802863e-01 5.59716609e+01] [ 4.65309819e-02 -9.95708955e-01 -7.99909093e-02 3.33319400e+01] [ 6.40027252e-01 -3.17638540e-02 7.67695366e-01 2.93213577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:55.97, Y:33.34, Z:29.32 [[-7.67884666e-01 -1.02703753e-01 6.32301415e-01 5.59664557e+01] [ 4.98019436e-02 -9.93647709e-01 -1.00915796e-01 3.33387873e+01] [ 6.38649283e-01 -4.60018526e-02 7.68121685e-01 2.93153502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:55.97, Y:33.34, Z:29.31 [[-7.67923732e-01 -1.01880069e-01 6.32387218e-01 5.59686721e+01] [ 4.94531065e-02 -9.93753144e-01 -1.00045388e-01 3.33382345e+01] [ 6.38629417e-01 -4.55537149e-02 7.68164909e-01 2.93138866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840371743 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:55.97, Y:33.33, Z:29.31 [[-7.68220873e-01 -1.00550681e-01 6.32239078e-01 5.59731577e+01] [ 5.03658657e-02 -9.94019980e-01 -9.68894182e-02 3.33348890e+01] [ 6.38200572e-01 -4.25892049e-02 7.68691218e-01 2.93118767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:55.98, Y:33.33, Z:29.30 [[-7.71191733e-01 -1.05502451e-01 6.27799764e-01 5.59796297e+01] [ 5.49599688e-02 -9.93523607e-01 -9.94497055e-02 3.33337445e+01] [ 6.34226074e-01 -4.21909353e-02 7.71995604e-01 2.93016708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900371743 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:55.97, Y:33.33, Z:29.31 [[-7.61764914e-01 -1.09275658e-01 6.38571097e-01 5.59662560e+01] [ 3.60168667e-02 -9.91290868e-01 -1.26669649e-01 3.33349785e+01] [ 6.46851606e-01 -7.34931646e-02 7.59066370e-01 2.93142490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93037174299997 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:55.99, Y:33.31, Z:29.32 [[-7.75187925e-01 -7.09122682e-02 6.27738107e-01 5.59909462e+01] [ 6.01331225e-02 -9.97450747e-01 -3.84189270e-02 3.33078746e+01] [ 6.28862217e-01 7.96596415e-03 7.77475952e-01 2.93156588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96037174299997 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:55.97, Y:33.34, Z:29.30 [[-7.71319867e-01 -1.16740320e-01 6.25649551e-01 5.59674950e+01] [ 5.69683495e-02 -9.91751562e-01 -1.14819190e-01 3.33379519e+01] [ 6.33892948e-01 -5.29201000e-02 7.71608186e-01 2.93029114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99037174299997 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:55.98, Y:33.33, Z:29.29 [[-7.71217654e-01 -1.08531343e-01 6.27251367e-01 5.59847281e+01] [ 5.75731742e-02 -9.93212549e-01 -1.01065134e-01 3.33296566e+01] [ 6.33962664e-01 -4.18303637e-02 7.72231546e-01 2.92935339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02037174299997 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:55.97, Y:33.33, Z:29.30 [[-7.71022326e-01 -1.08737446e-01 6.27455768e-01 5.59746025e+01] [ 5.56044470e-02 -9.93046128e-01 -1.03766725e-01 3.33314227e+01] [ 6.34375849e-01 -4.51171304e-02 7.71707021e-01 2.92998607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05037174299997 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:55.96, Y:33.33, Z:29.31 [[-7.68922165e-01 -1.07572662e-01 6.30227598e-01 5.59628521e+01] [ 5.18444184e-02 -9.92988248e-01 -1.06237917e-01 3.33325433e+01] [ 6.37236895e-01 -4.90149058e-02 7.69107716e-01 2.93110434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08037174299997 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:55.98, Y:33.33, Z:29.31 [[-7.67453444e-01 -1.00947419e-01 6.33107281e-01 5.59755989e+01] [ 4.92697941e-02 -9.93891932e-01 -9.87487486e-02 3.33269721e+01] [ 6.39208650e-01 -4.45920018e-02 7.67739445e-01 2.93058107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11037174299997 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:55.96, Y:33.33, Z:29.32 [[-7.68831881e-01 -9.70274996e-02 6.32046837e-01 5.59639853e+01] [ 4.57633349e-02 -9.94235529e-01 -9.69609734e-02 3.33278560e+01] [ 6.37811302e-01 -4.56221165e-02 7.68840273e-01 2.93154326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14037174299997 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:55.98, Y:33.33, Z:29.30 [[-7.69220932e-01 -9.51928444e-02 6.31852419e-01 5.59803583e+01] [ 4.39541882e-02 -9.94381367e-01 -9.63001917e-02 3.33258219e+01] [ 6.37469361e-01 -4.63035631e-02 7.69083086e-01 2.93021001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17037174299998 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:55.98, Y:33.33, Z:29.31 [[-7.69277164e-01 -9.20567789e-02 6.32248523e-01 5.59758110e+01] [ 4.08842873e-02 -9.94630181e-01 -9.50751168e-02 3.33259405e+01] [ 6.37605772e-01 -4.72900860e-02 7.68909961e-01 2.93062773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20037174299998 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:55.98, Y:33.33, Z:29.30 [[-7.68383592e-01 -9.14944979e-02 6.33415671e-01 5.59809392e+01] [ 3.88507540e-02 -9.94571264e-01 -9.65330024e-02 3.33253538e+01] [ 6.38809263e-01 -4.95656987e-02 7.67766870e-01 2.93020984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23037174299998 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:55.98, Y:33.33, Z:29.30 [[-7.68348318e-01 -9.20567912e-02 6.33376988e-01 5.59789538e+01] [ 3.75198915e-02 -9.94378790e-01 -9.90105044e-02 3.33264494e+01] [ 6.38931232e-01 -5.23103187e-02 7.67483232e-01 2.93023839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26037174299998 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:55.98, Y:33.32, Z:29.30 [[-7.68602805e-01 -8.60376095e-02 6.33914235e-01 5.59804530e+01] [ 3.68142589e-02 -9.95221281e-01 -9.04395487e-02 3.33222854e+01] [ 6.38666140e-01 -4.61750081e-02 7.68097279e-01 2.93035608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29037174299998 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:55.98, Y:33.32, Z:29.30 [[-7.68085068e-01 -8.91461936e-02 6.34112202e-01 5.59772753e+01] [ 3.54475045e-02 -9.94662958e-01 -9.68972330e-02 3.33248932e+01] [ 6.39365939e-01 -5.19476226e-02 7.67145776e-01 2.93033948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32037174299998 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:55.99, Y:33.32, Z:29.30 [[-7.68361988e-01 -8.79884809e-02 6.33938390e-01 5.59869918e+01] [ 3.55848619e-02 -9.94845755e-01 -9.49507278e-02 3.33219580e+01] [ 6.39025487e-01 -5.03979199e-02 7.67532720e-01 2.92955843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35037174299998 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:55.98, Y:33.32, Z:29.30 [[-7.67529649e-01 -8.99084193e-02 6.34676858e-01 5.59810652e+01] [ 3.43001165e-02 -9.94456709e-01 -9.93949497e-02 3.33231702e+01] [ 6.40095102e-01 -5.45190807e-02 7.66358878e-01 2.93003754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38037174299998 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:55.99, Y:33.32, Z:29.30 [[-7.67921952e-01 -8.53548287e-02 6.34831024e-01 5.59880163e+01] [ 3.55364534e-02 -9.95232603e-01 -9.08252487e-02 3.33169664e+01] [ 6.39556906e-01 -4.71870592e-02 7.67294171e-01 2.92991752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41037174299998 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:55.99, Y:33.32, Z:29.30 [[-7.67377898e-01 -8.86173373e-02 6.35041833e-01 5.59905802e+01] [ 3.56139605e-02 -9.94765251e-01 -9.57796455e-02 3.33173083e+01] [ 6.40205286e-01 -5.08828282e-02 7.66516881e-01 2.92958244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440371743 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:55.97, Y:33.32, Z:29.32 [[-7.66388817e-01 -8.68826121e-02 6.36474346e-01 5.59660696e+01] [ 3.44282725e-02 -9.94942646e-01 -9.43600843e-02 3.33182506e+01] [ 6.41453720e-01 -5.04038011e-02 7.65504135e-01 2.93187352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470371743 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:55.99, Y:33.31, Z:29.30 [[-7.67789425e-01 -8.47070209e-02 6.35078042e-01 5.59934681e+01] [ 3.62599043e-02 -9.95377930e-01 -8.89269103e-02 3.33119853e+01] [ 6.39675400e-01 -4.52492724e-02 7.67312118e-01 2.92969056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.66457268e-01 -8.88874840e-02 6.36114983e-01 5.59963325e+01] [ 3.50590309e-02 -9.94691027e-01 -9.67503285e-02 3.33141316e+01] [ 6.41337759e-01 -5.18534176e-02 7.65504475e-01 2.92923870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530371743 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:55.99, Y:33.31, Z:29.30 [[-7.66144934e-01 -8.44302868e-02 6.37097690e-01 5.59924787e+01] [ 3.43853427e-02 -9.95298126e-01 -9.05499281e-02 3.33118790e+01] [ 6.41747293e-01 -4.74675464e-02 7.65445781e-01 2.92993332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560371743 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.65673765e-01 -8.23101693e-02 6.37941001e-01 5.60025255e+01] [ 3.22059808e-02 -9.95440591e-01 -8.97819843e-02 3.33096811e+01] [ 6.42422338e-01 -4.81981943e-02 7.64833625e-01 2.92908299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590371743 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:55.99, Y:33.31, Z:29.30 [[-7.65673152e-01 -8.06123968e-02 6.38158496e-01 5.59905014e+01] [ 3.02629686e-02 -9.95531809e-01 -8.94459026e-02 3.33108441e+01] [ 6.42517531e-01 -4.91737556e-02 7.64691548e-01 2.92998250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:55.99, Y:33.31, Z:29.30 [[-7.64489343e-01 -7.89493649e-02 6.39783590e-01 5.59918274e+01] [ 2.65594717e-02 -9.95486890e-01 -9.11067830e-02 3.33108402e+01] [ 6.44088999e-01 -5.26578506e-02 7.63135972e-01 2.92967972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650371743 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.64888124e-01 -7.41692787e-02 6.39878954e-01 5.60027306e+01] [ 2.61788446e-02 -9.96107716e-01 -8.41670180e-02 3.33070833e+01] [ 6.43630970e-01 -4.76270608e-02 7.63852628e-01 2.92891571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68037174299997 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:55.99, Y:33.31, Z:29.30 [[-7.65325870e-01 -7.72604615e-02 6.38989150e-01 5.59902652e+01] [ 2.37882710e-02 -9.95486532e-01 -9.18731870e-02 3.33115797e+01] [ 6.43203258e-01 -5.51124797e-02 7.63709489e-01 2.92953091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71037174299997 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.64577520e-01 -7.58463660e-02 6.40053549e-01 5.60010436e+01] [ 1.97650633e-02 -9.95344013e-01 -9.43378930e-02 3.33107101e+01] [ 6.44228654e-01 -5.94779334e-02 7.62516765e-01 2.92871868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74037174299997 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.64590655e-01 -7.00087842e-02 6.40702662e-01 5.59993178e+01] [ 1.76932684e-02 -9.95988386e-01 -8.77159275e-02 3.33080572e+01] [ 6.44273295e-01 -5.57306543e-02 7.62762096e-01 2.92921696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77037174299997 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.65405823e-01 -6.77206030e-02 6.39974880e-01 5.59992381e+01] [ 1.56073197e-02 -9.96108758e-01 -8.67395801e-02 3.33076176e+01] [ 6.43358639e-01 -5.64026872e-02 7.63484380e-01 2.92929510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80037174299997 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.65427274e-01 -6.86512036e-02 6.39850061e-01 5.60003070e+01] [ 1.43411267e-02 -9.95866170e-01 -8.96933909e-02 3.33088430e+01] [ 6.43362589e-01 -5.94775969e-02 7.63247663e-01 2.92906867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83037174299997 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.65823265e-01 -6.58795119e-02 6.39667583e-01 5.60017113e+01] [ 1.40850955e-02 -9.96218171e-01 -8.57377714e-02 3.33073851e+01] [ 6.42896833e-01 -5.66502010e-02 7.63854971e-01 2.92908444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86037174299997 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:56.00, Y:33.31, Z:29.29 [[-7.65590266e-01 -6.74245502e-02 6.39785491e-01 5.60017657e+01] [ 1.57895459e-02 -9.96162460e-01 -8.60874213e-02 3.33091878e+01] [ 6.43134694e-01 -5.58057694e-02 7.63716886e-01 2.92894432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89037174299997 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:55.99, Y:33.31, Z:29.30 [[-7.66181878e-01 -6.71074897e-02 6.39110252e-01 5.59937931e+01] [ 1.79532523e-02 -9.96379610e-01 -8.30984602e-02 3.33094632e+01] [ 6.42372953e-01 -5.21944266e-02 7.64612798e-01 2.92974157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92037174299998 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:56.01, Y:33.31, Z:29.28 [[-7.60586780e-01 -7.18362051e-02 6.45249805e-01 5.60130665e+01] [ 8.19013023e-03 -9.94842299e-01 -1.01102535e-01 3.33062152e+01] [ 6.49184621e-01 -7.16125712e-02 7.57252248e-01 2.92837029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95037174299998 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:56.02, Y:33.29, Z:29.29 [[-7.59370014e-01 -5.46822931e-02 6.48357176e-01 5.60228473e+01] [ 8.79921907e-03 -9.97234193e-01 -7.38006627e-02 3.32942260e+01] [ 6.50599535e-01 -5.03369735e-02 7.57750905e-01 2.92903237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98037174299998 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:56.03, Y:33.29, Z:29.29 [[-7.59207767e-01 -5.49088513e-02 6.48528013e-01 5.60263102e+01] [ 9.35801249e-03 -9.97252843e-01 -7.34792195e-02 3.32945492e+01] [ 6.50781064e-01 -4.97170609e-02 7.57635942e-01 2.92877061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01037174299998 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:56.03, Y:33.30, Z:29.29 [[-7.58335983e-01 -5.54276431e-02 6.49503128e-01 5.60268547e+01] [ 1.01549550e-02 -9.97262032e-01 -7.32483249e-02 3.32967067e+01] [ 6.51784791e-01 -4.89511654e-02 7.56822548e-01 2.92853950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04037174299998 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:56.04, Y:33.30, Z:29.27 [[-7.60440224e-01 -5.86106122e-02 6.46757653e-01 5.60447061e+01] [ 2.10363950e-02 -9.97619466e-01 -6.56724609e-02 3.32987640e+01] [ 6.49067128e-01 -3.63345314e-02 7.59862926e-01 2.92673859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07037174299998 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:56.03, Y:33.31, Z:29.27 [[-7.60816558e-01 -7.07714110e-02 6.45096561e-01 5.60321347e+01] [ 2.07279043e-02 -9.96178851e-01 -8.48413298e-02 3.33089398e+01] [ 6.48635891e-01 -5.11771887e-02 7.59376307e-01 2.92674746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10037174299998 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:56.04, Y:33.31, Z:29.26 [[-7.62827657e-01 -7.65933339e-02 6.42049396e-01 5.60362036e+01] [ 1.95769268e-02 -9.95240010e-01 -9.54676222e-02 3.33134309e+01] [ 6.46305430e-01 -6.02559885e-02 7.60696067e-01 2.92598074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13037174299998 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:56.04, Y:33.30, Z:29.27 [[-7.61663683e-01 -5.67643577e-02 6.45481403e-01 5.60400240e+01] [ 2.11673788e-02 -9.97803485e-01 -6.27705928e-02 3.32998271e+01] [ 6.47626725e-01 -3.41469316e-02 7.61192230e-01 2.92719675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16037174299998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:56.03, Y:33.31, Z:29.27 [[-7.64502086e-01 -6.89738762e-02 6.40920560e-01 5.60327712e+01] [ 2.33073363e-02 -9.96566659e-01 -7.94459740e-02 3.33081045e+01] [ 6.44199758e-01 -4.57984618e-02 7.63484887e-01 2.92691697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190371743 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:56.02, Y:33.31, Z:29.28 [[-7.65574804e-01 -7.00744668e-02 6.39519186e-01 5.60214848e+01] [ 2.41463860e-02 -9.96479675e-01 -8.02820592e-02 3.33100842e+01] [ 6.42893593e-01 -4.60198446e-02 7.64571777e-01 2.92780842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220371743 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:56.04, Y:33.31, Z:29.26 [[-7.66529499e-01 -7.25606599e-02 6.38096762e-01 5.60384403e+01] [ 2.52908279e-02 -9.96236486e-01 -8.29049987e-02 3.33100543e+01] [ 6.41710917e-01 -4.74111317e-02 7.65479773e-01 2.92631736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250371743 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:56.04, Y:33.31, Z:29.26 [[-7.66690764e-01 -7.24242430e-02 6.37918491e-01 5.60396634e+01] [ 2.46680886e-02 -9.96206282e-01 -8.34537499e-02 3.33101435e+01] [ 6.41542483e-01 -4.82469894e-02 7.65568723e-01 2.92618398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280371743 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:56.04, Y:33.31, Z:29.26 [[-7.67685550e-01 -7.14959469e-02 6.36825899e-01 5.60406089e+01] [ 2.56273601e-02 -9.96387011e-01 -8.09701346e-02 3.33098609e+01] [ 6.40314091e-01 -4.58394357e-02 7.66744163e-01 2.92605281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310371743 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:56.05, Y:33.31, Z:29.26 [[-7.67091512e-01 -7.08385824e-02 6.37614701e-01 5.60457718e+01] [ 2.48480456e-02 -9.96419927e-01 -8.08078142e-02 3.33099671e+01] [ 6.41056305e-01 -4.61435093e-02 7.66105469e-01 2.92563005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340371743 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:56.05, Y:33.31, Z:29.25 [[-7.67096493e-01 -7.41889956e-02 6.37227560e-01 5.60452570e+01] [ 2.43838658e-02 -9.95944785e-01 -8.65991504e-02 3.33133651e+01] [ 6.41068169e-01 -5.08918333e-02 7.65794766e-01 2.92533638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370371743 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:56.05, Y:33.31, Z:29.25 [[-7.68938418e-01 -6.80480449e-02 6.35691099e-01 5.60546045e+01] [ 2.38695317e-02 -9.96681817e-01 -7.78177470e-02 3.33114441e+01] [ 6.38877105e-01 -4.46634064e-02 7.68011214e-01 2.92470475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400371743 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:56.05, Y:33.31, Z:29.25 [[-7.70136774e-01 -6.86979634e-02 6.34168700e-01 5.60519080e+01] [ 2.32256206e-02 -9.96544445e-01 -7.97479744e-02 3.33138871e+01] [ 6.37455819e-01 -4.66878861e-02 7.69071077e-01 2.92467298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43037174299997 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:56.05, Y:33.32, Z:29.24 [[-7.71108138e-01 -7.09255674e-02 6.32741498e-01 5.60515663e+01] [ 2.06877207e-02 -9.96042483e-01 -8.64372079e-02 3.33178820e+01] [ 6.36368021e-01 -5.35624550e-02 7.69523752e-01 2.92428224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46037174299997 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:56.05, Y:33.32, Z:29.24 [[-7.71278804e-01 -6.67935286e-02 6.32983121e-01 5.60536717e+01] [ 1.92438907e-02 -9.96471075e-01 -8.17010951e-02 3.33164468e+01] [ 6.36206476e-01 -5.08332649e-02 7.69842386e-01 2.92429482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49037174299997 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:56.05, Y:33.32, Z:29.24 [[-7.70393924e-01 -7.07461295e-02 6.33630955e-01 5.60549525e+01] [ 1.66673983e-02 -9.95719702e-01 -9.09091515e-02 3.33204173e+01] [ 6.37350296e-01 -5.94748784e-02 7.68275562e-01 2.92387174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52037174299997 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:56.04, Y:33.32, Z:29.26 [[-7.62425130e-01 -6.67559257e-02 6.43623779e-01 5.60377018e+01] [-1.13628851e-03 -9.94524555e-01 -1.04496982e-01 3.33202825e+01] [ 6.47075444e-01 -8.04024671e-02 7.58174658e-01 2.92582940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55037174299997 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:56.07, Y:33.30, Z:29.25 [[-7.70843749e-01 -3.75116902e-02 6.35918853e-01 5.60708189e+01] [ 1.44866070e-02 -9.99038819e-01 -4.13711972e-02 3.33012620e+01] [ 6.36859524e-01 -2.26784222e-02 7.70646246e-01 2.92471495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58037174299997 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:56.06, Y:33.32, Z:29.24 [[-7.72121355e-01 -6.48028115e-02 6.32162328e-01 5.60598200e+01] [ 1.36443549e-02 -9.96248173e-01 -8.54599877e-02 3.33198320e+01] [ 6.35328611e-01 -5.73600344e-02 7.70108682e-01 2.92353394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61037174299997 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:56.06, Y:33.32, Z:29.24 [[-7.71948916e-01 -6.63203118e-02 6.32215538e-01 5.60567759e+01] [ 1.38222069e-02 -9.96058883e-01 -8.76107825e-02 3.33205307e+01] [ 6.35534277e-01 -5.88924346e-02 7.69823268e-01 2.92370571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64037174299997 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:56.06, Y:33.32, Z:29.23 [[-7.70945899e-01 -6.81000867e-02 6.33249398e-01 5.60605643e+01] [ 1.37642742e-02 -9.95816445e-01 -9.03335649e-02 3.33204920e+01] [ 6.36751887e-01 -6.09260730e-02 7.68657952e-01 2.92336991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67037174299998 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:56.07, Y:33.31, Z:29.23 [[-7.71616953e-01 -6.34502005e-02 6.32914962e-01 5.60677487e+01] [ 1.72312666e-02 -9.96732359e-01 -7.89157052e-02 3.33144170e+01] [ 6.35854041e-01 -4.99867695e-02 7.70188913e-01 2.92320961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70037174299998 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:56.07, Y:33.32, Z:29.23 [[-7.71967705e-01 -6.77619275e-02 6.32039700e-01 5.60682261e+01] [ 1.69738288e-02 -9.96144792e-01 -8.60664978e-02 3.33174017e+01] [ 6.35435088e-01 -5.57124232e-02 7.70141789e-01 2.92281184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73037174299998 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:56.05, Y:33.32, Z:29.24 [[-7.71746096e-01 -6.87473883e-02 6.32203892e-01 5.60528108e+01] [ 1.81633603e-02 -9.96116791e-01 -8.61477225e-02 3.33185167e+01] [ 6.35671343e-01 -5.50012214e-02 7.69997928e-01 2.92411237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76037174299998 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:56.07, Y:33.31, Z:29.23 [[-7.71307616e-01 -7.06474128e-02 6.32529450e-01 5.60654783e+01] [ 2.23854741e-02 -9.96216735e-01 -8.39708702e-02 3.33144731e+01] [ 6.36068748e-01 -5.06079001e-02 7.69971031e-01 2.92322004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79037174299998 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:56.06, Y:33.32, Z:29.24 [[-7.70834201e-01 -7.34334260e-02 6.32789196e-01 5.60578759e+01] [ 2.41394994e-02 -9.95987444e-01 -8.61759632e-02 3.33151556e+01] [ 6.36578290e-01 -5.11521653e-02 7.69513832e-01 2.92380142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82037174299998 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:56.07, Y:33.31, Z:29.23 [[-7.71225923e-01 -7.47934628e-02 6.32152287e-01 5.60726141e+01] [ 2.69460439e-02 -9.96019048e-01 -8.49703895e-02 3.33125224e+01] [ 6.35990949e-01 -4.84973637e-02 7.70171097e-01 2.92257445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85037174299998 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:56.08, Y:33.31, Z:29.22 [[-7.72350344e-01 -7.71715194e-02 6.30491477e-01 5.60786678e+01] [ 3.19524262e-02 -9.96055926e-01 -8.27746032e-02 3.33093405e+01] [ 6.34392614e-01 -4.37852609e-02 7.71769954e-01 2.92211363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88037174299998 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:56.08, Y:33.31, Z:29.22 [[-7.72911762e-01 -7.87060705e-02 6.29613185e-01 5.60824479e+01] [ 3.46719432e-02 -9.96033327e-01 -8.19479607e-02 3.33080850e+01] [ 6.33565517e-01 -4.15086301e-02 7.72574766e-01 2.92179327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91037174299998 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:56.09, Y:33.31, Z:29.22 [[-7.73231867e-01 -8.15410047e-02 6.28858922e-01 5.60851292e+01] [ 3.86452415e-02 -9.95914189e-01 -8.16178470e-02 3.33064819e+01] [ 6.32944725e-01 -3.88071154e-02 7.73223760e-01 2.92152882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940371743 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:56.08, Y:33.31, Z:29.21 [[-7.72812967e-01 -8.44288786e-02 6.28992753e-01 5.60841273e+01] [ 3.91734958e-02 -9.95567501e-01 -8.55031507e-02 3.33078585e+01] [ 6.33423678e-01 -4.14380987e-02 7.72694848e-01 2.92145229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970371743 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:56.09, Y:33.31, Z:29.21 [[-7.72242414e-01 -8.49423724e-02 6.29624053e-01 5.60865254e+01] [ 3.98036467e-02 -9.95543741e-01 -8.54887655e-02 3.33074258e+01] [ 6.34079904e-01 -4.09567173e-02 7.72182118e-01 2.92116472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000371743 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:56.10, Y:33.31, Z:29.20 [[-7.71946284e-01 -8.48677449e-02 6.29997143e-01 5.60956410e+01] [ 4.07748975e-02 -9.95617750e-01 -8.41587986e-02 3.33060472e+01] [ 6.34378705e-01 -3.92780030e-02 7.72023897e-01 2.92028038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030371743 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:56.10, Y:33.31, Z:29.20 [[-7.71500175e-01 -8.42914508e-02 6.30620671e-01 5.60957132e+01] [ 4.05069802e-02 -9.95681564e-01 -8.35308824e-02 3.33054837e+01] [ 6.34938316e-01 -3.88995513e-02 7.71582893e-01 2.92023725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060371743 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:56.09, Y:33.31, Z:29.21 [[-7.69462423e-01 -8.52731984e-02 6.32973981e-01 5.60856206e+01] [ 3.83518280e-02 -9.95427679e-01 -8.74807071e-02 3.33076453e+01] [ 6.37539580e-01 -4.30374077e-02 7.69214577e-01 2.92098196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090371743 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:56.08, Y:33.30, Z:29.22 [[-7.61310796e-01 -8.13443447e-02 6.43264308e-01 5.60792744e+01] [ 2.22376797e-02 -9.94791209e-01 -9.94783212e-02 3.33038641e+01] [ 6.48005677e-01 -6.14292143e-02 7.59154197e-01 2.92211763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120371743 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:56.08, Y:33.29, Z:29.23 [[-7.68714316e-01 -5.71866251e-02 6.37030604e-01 5.60826081e+01] [ 3.69302345e-02 -9.98301710e-01 -4.50538883e-02 3.32903145e+01] [ 6.38525221e-01 -1.11078793e-02 7.69520732e-01 2.92349316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150371743 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:56.10, Y:33.30, Z:29.20 [[-7.71033852e-01 -7.77488588e-02 6.32029994e-01 5.61037396e+01] [ 3.74881320e-02 -9.96339104e-01 -7.68311788e-02 3.33007931e+01] [ 6.35689735e-01 -3.55458158e-02 7.71125837e-01 2.92014736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18037174299997 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:56.10, Y:33.30, Z:29.20 [[-7.72068668e-01 -8.07774264e-02 6.30384787e-01 5.61015653e+01] [ 3.71747295e-02 -9.95931483e-01 -8.20884945e-02 3.33035717e+01] [ 6.34450953e-01 -3.99435707e-02 7.71930372e-01 2.92003910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21037174299997 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:56.09, Y:33.30, Z:29.21 [[-7.71574205e-01 -7.87679164e-02 6.31243901e-01 5.60941504e+01] [ 3.46797241e-02 -9.96037142e-01 -8.18982801e-02 3.33044009e+01] [ 6.35193328e-01 -4.12992361e-02 7.71248215e-01 2.92080722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24037174299997 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:56.11, Y:33.31, Z:29.19 [[-7.67694693e-01 -8.33682245e-02 6.35369655e-01 5.61100558e+01] [ 3.14328876e-02 -9.95206751e-01 -9.26039800e-02 3.33061169e+01] [ 6.40044399e-01 -5.11200810e-02 7.66635445e-01 2.91936037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27037174299997 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:56.11, Y:33.30, Z:29.20 [[-7.71859622e-01 -6.76704802e-02 6.32181485e-01 5.61121445e+01] [ 3.33366977e-02 -9.97259465e-01 -6.60471353e-02 3.32978516e+01] [ 6.34918410e-01 -2.99042739e-02 7.72000224e-01 2.91993121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30037174299997 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:56.11, Y:33.31, Z:29.19 [[-7.67204446e-01 -8.22078453e-02 6.36112576e-01 5.61052275e+01] [ 2.76720187e-02 -9.95071270e-01 -9.52230338e-02 3.33095322e+01] [ 6.40805429e-01 -5.54530158e-02 7.65697959e-01 2.91948669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33037174299997 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:56.10, Y:33.30, Z:29.21 [[-7.70530183e-01 -6.44906022e-02 6.34132635e-01 5.60993164e+01] [ 2.89833429e-02 -9.97384319e-01 -6.62154454e-02 3.33004559e+01] [ 6.36744221e-01 -3.26417156e-02 7.70383875e-01 2.92094999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36037174299997 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:56.11, Y:33.31, Z:29.19 [[-7.70612545e-01 -7.39670304e-02 6.32996985e-01 5.61088410e+01] [ 2.77878355e-02 -9.96197064e-01 -8.25787248e-02 3.33068338e+01] [ 6.36697841e-01 -4.60465852e-02 7.69737339e-01 2.91931232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39037174299997 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:56.10, Y:33.31, Z:29.19 [[-7.70131125e-01 -8.16910813e-02 6.32633083e-01 5.61015125e+01] [ 2.72732489e-02 -9.95075684e-01 -9.52919351e-02 3.33133672e+01] [ 6.37302299e-01 -5.61333256e-02 7.68566737e-01 2.91915740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42037174299998 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:56.12, Y:33.30, Z:29.20 [[-7.69246494e-01 -5.90270509e-02 6.36219803e-01 5.61165002e+01] [ 2.53357396e-02 -9.97758465e-01 -6.19366304e-02 3.32980136e+01] [ 6.38449631e-01 -3.15254365e-02 7.69017695e-01 2.91978882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45037174299998 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:56.11, Y:33.31, Z:29.19 [[-7.69335255e-01 -7.08371749e-02 6.34905789e-01 5.61143402e+01] [ 2.58066643e-02 -9.96468257e-01 -7.99063742e-02 3.33056261e+01] [ 6.38323806e-01 -4.50899902e-02 7.68446232e-01 2.91902950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48037174299998 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:56.12, Y:33.30, Z:29.19 [[-7.68680245e-01 -7.14784110e-02 6.35626870e-01 5.61175230e+01] [ 2.59962621e-02 -9.96406545e-01 -8.06113553e-02 3.33048938e+01] [ 6.39104746e-01 -4.54404336e-02 7.67776199e-01 2.91882624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51037174299998 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:56.11, Y:33.30, Z:29.19 [[-7.70466898e-01 -6.90834037e-02 6.33725683e-01 5.61122300e+01] [ 2.97251074e-02 -9.96922661e-01 -7.25370623e-02 3.33016914e+01] [ 6.36786602e-01 -3.70498415e-02 7.70149422e-01 2.91947394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54037174299998 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:56.11, Y:33.30, Z:29.19 [[-7.70489515e-01 -7.41893236e-02 6.33120724e-01 5.61140692e+01] [ 3.11806582e-02 -9.96401683e-01 -7.88127679e-02 3.33036153e+01] [ 6.36689621e-01 -4.09832904e-02 7.70030322e-01 2.91907829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57037174299998 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:56.13, Y:33.30, Z:29.18 [[-7.71484649e-01 -7.38992343e-02 6.31941721e-01 5.61253806e+01] [ 3.33498719e-02 -9.96563348e-01 -7.58240079e-02 3.33012377e+01] [ 6.35373293e-01 -3.74218827e-02 7.71297855e-01 2.91817367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60037174299998 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:56.13, Y:33.30, Z:29.18 [[-7.73221072e-01 -7.43483361e-02 6.29763049e-01 5.61304149e+01] [ 3.91413777e-02 -9.96805205e-01 -6.96228057e-02 3.32982926e+01] [ 6.32927425e-01 -2.91840270e-02 7.73660886e-01 2.91784420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63037174299998 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:56.13, Y:33.30, Z:29.17 [[-7.73980483e-01 -8.55580553e-02 6.27402607e-01 5.61292489e+01] [ 4.11850281e-02 -9.95533448e-01 -8.49526241e-02 3.33043247e+01] [ 6.31868662e-01 -3.99120790e-02 7.74047169e-01 2.91709168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66037174299998 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:56.13, Y:33.30, Z:29.17 [[-7.75108436e-01 -8.27488147e-02 6.26386100e-01 5.61346477e+01] [ 4.64823204e-02 -9.96168406e-01 -7.40803734e-02 3.32988678e+01] [ 6.30116105e-01 -2.83044430e-02 7.75984892e-01 2.91694399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690371743 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:56.14, Y:33.30, Z:29.17 [[-7.75995541e-01 -8.35247511e-02 6.25183602e-01 5.61351940e+01] [ 4.89625779e-02 -9.96179220e-01 -7.23161631e-02 3.32984737e+01] [ 6.28835102e-01 -2.55064193e-02 7.77120220e-01 2.91686534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720371743 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:56.13, Y:33.31, Z:29.17 [[-7.62480683e-01 -1.02422835e-01 6.38852698e-01 5.61274558e+01] [ 3.30469814e-02 -9.92267038e-01 -1.19641223e-01 3.33084257e+01] [ 6.46166468e-01 -7.01119682e-02 7.59969215e-01 2.91682995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750371743 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:56.14, Y:33.28, Z:29.19 [[-7.60606393e-01 -6.55739630e-02 6.45893158e-01 5.61360858e+01] [ 3.43993314e-02 -9.97558997e-01 -6.07678607e-02 3.32834735e+01] [ 6.48301320e-01 -2.40021306e-02 7.61005451e-01 2.91920170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780371743 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:56.14, Y:33.28, Z:29.19 [[-7.76418834e-01 -5.22984124e-02 6.28043525e-01 5.61411228e+01] [ 5.52409953e-02 -9.98362705e-01 -1.48439319e-02 3.32754755e+01] [ 6.27791547e-01 2.31686411e-02 7.78036624e-01 2.91899147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810371743 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:56.13, Y:33.31, Z:29.16 [[-7.74999111e-01 -1.01222918e-01 6.23803093e-01 5.61324616e+01] [ 5.73222007e-02 -9.94279612e-01 -9.01233570e-02 3.33067297e+01] [ 6.29357246e-01 -3.40877555e-02 7.76368135e-01 2.91605499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840371743 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:56.13, Y:33.30, Z:29.16 [[-7.75523184e-01 -9.32530742e-02 6.24393830e-01 5.61348717e+01] [ 5.82925048e-02 -9.95382657e-01 -7.62584470e-02 3.33015554e+01] [ 6.28622124e-01 -2.27427133e-02 7.77378283e-01 2.91649038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870371743 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:56.15, Y:33.30, Z:29.15 [[-7.76692012e-01 -9.70891337e-02 6.22352970e-01 5.61460117e+01] [ 5.98741811e-02 -9.94955192e-01 -8.04937743e-02 3.33040993e+01] [ 6.27028389e-01 -2.52559971e-02 7.78586883e-01 2.91514979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900371743 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:56.15, Y:33.30, Z:29.15 [[-7.79001483e-01 -9.36189580e-02 6.19993693e-01 5.61508709e+01] [ 6.18495877e-02 -9.95441575e-01 -7.25995811e-02 3.33020341e+01] [ 6.23964196e-01 -1.82088270e-02 7.81240757e-01 2.91484412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93037174299997 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:56.15, Y:33.31, Z:29.15 [[-7.78130523e-01 -1.03836234e-01 6.19460189e-01 5.61454296e+01] [ 6.21849703e-02 -9.94130801e-01 -8.85267144e-02 3.33095964e+01] [ 6.25016735e-01 -3.03642251e-02 7.80020574e-01 2.91462125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96037174299997 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:56.16, Y:33.30, Z:29.14 [[-7.80141297e-01 -9.59837638e-02 6.18196307e-01 5.61555275e+01] [ 6.40483752e-02 -9.95221965e-01 -7.36956320e-02 3.33049820e+01] [ 6.22316128e-01 -1.78985369e-02 7.82561358e-01 2.91432813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99037174299997 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:56.15, Y:33.31, Z:29.14 [[-7.81231462e-01 -1.00661418e-01 6.16071977e-01 5.61503441e+01] [ 6.51816636e-02 -9.94672201e-01 -7.98659073e-02 3.33098430e+01] [ 6.20829085e-01 -2.22371632e-02 7.83630497e-01 2.91429743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02037174299997 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:56.14, Y:33.32, Z:29.15 [[-7.62855013e-01 -1.17214168e-01 6.35856169e-01 5.61422128e+01] [ 4.02718801e-02 -9.90134696e-01 -1.34206781e-01 3.33218743e+01] [ 6.45314191e-01 -7.67731920e-02 7.60049651e-01 2.91490338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05037174299997 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:56.17, Y:33.28, Z:29.16 [[-7.81623268e-01 -5.16067278e-02 6.21612269e-01 5.61738855e+01] [ 6.27729588e-02 -9.98020116e-01 -3.92486986e-03 3.32796435e+01] [ 6.20584099e-01 3.59526717e-02 7.83315251e-01 2.91615023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08037174299997 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:56.16, Y:33.32, Z:29.13 [[-7.70599695e-01 -1.17318585e-01 6.26428335e-01 5.61619290e+01] [ 5.59068953e-02 -9.91565521e-01 -1.16928342e-01 3.33240645e+01] [ 6.34862606e-01 -5.50832817e-02 7.70659006e-01 2.91282960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11037174299997 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:56.15, Y:33.31, Z:29.16 [[-7.62823717e-01 -8.90090992e-02 6.40450901e-01 5.61526333e+01] [ 3.77211663e-02 -9.94919097e-01 -9.33440053e-02 3.33091518e+01] [ 6.45505298e-01 -4.70464662e-02 7.62305411e-01 2.91604367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14037174299997 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:56.17, Y:33.30, Z:29.17 [[-7.61957386e-01 -6.61565411e-02 6.44239283e-01 5.61653838e+01] [ 3.68531062e-02 -9.97586088e-01 -5.88544498e-02 3.32957641e+01] [ 6.46577753e-01 -2.11023640e-02 7.62556162e-01 2.91671993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17037174299998 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:56.19, Y:33.29, Z:29.15 [[-7.75018618e-01 -5.70002538e-02 6.29362465e-01 5.61882121e+01] [ 5.49532515e-02 -9.98230027e-01 -2.27366147e-02 3.32924451e+01] [ 6.29544503e-01 1.69642141e-02 7.76779205e-01 2.91465992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20037174299998 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:56.15, Y:33.32, Z:29.15 [[-7.62829477e-01 -1.00308985e-01 6.38771709e-01 5.61546585e+01] [ 3.47470611e-02 -9.92825516e-01 -1.14412138e-01 3.33238583e+01] [ 6.45665417e-01 -6.50815121e-02 7.60842011e-01 2.91487374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23037174299998 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:56.18, Y:33.30, Z:29.16 [[-7.71967449e-01 -5.82491882e-02 6.32987591e-01 5.61772694e+01] [ 5.04349191e-02 -9.98265956e-01 -3.03545693e-02 3.32977857e+01] [ 6.33658091e-01 8.49193849e-03 7.73566617e-01 2.91566235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26037174299998 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:56.17, Y:33.32, Z:29.14 [[-7.73137063e-01 -8.85202458e-02 6.28031247e-01 5.61652714e+01] [ 5.23155748e-02 -9.95738629e-01 -7.59451358e-02 3.33196349e+01] [ 6.32077655e-01 -2.58601836e-02 7.74473427e-01 2.91439705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29037174299998 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:56.16, Y:33.32, Z:29.15 [[-7.63336639e-01 -9.34916715e-02 6.39199877e-01 5.61609288e+01] [ 3.58762026e-02 -9.94080250e-01 -1.02554157e-01 3.33227660e+01] [ 6.45003933e-01 -5.53512809e-02 7.62172003e-01 2.91499839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32037174299998 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:56.17, Y:33.31, Z:29.16 [[-7.68706735e-01 -6.46435682e-02 6.36326304e-01 5.61669456e+01] [ 4.82277811e-02 -9.97905400e-01 -4.31149010e-02 3.33068202e+01] [ 6.37780556e-01 -2.45410904e-03 7.70214217e-01 2.91648836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35037174299998 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:56.18, Y:33.32, Z:29.14 [[-7.71585670e-01 -7.99597660e-02 6.31080018e-01 5.61787917e+01] [ 5.11299013e-02 -9.96654249e-01 -6.37655134e-02 3.33161660e+01] [ 6.34067257e-01 -1.69334974e-02 7.73092472e-01 2.91423934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38037174299998 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:56.17, Y:33.32, Z:29.15 [[-7.70386601e-01 -8.48649886e-02 6.31903805e-01 5.61677948e+01] [ 4.79272530e-02 -9.96005946e-01 -7.53334911e-02 3.33219364e+01] [ 6.35773123e-01 -2.77504986e-02 7.71376980e-01 2.91482835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41037174299998 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:56.17, Y:33.32, Z:29.15 [[-7.73169266e-01 -7.47654751e-02 6.29777270e-01 5.61685122e+01] [ 4.95635596e-02 -9.97112936e-01 -5.75260542e-02 3.33178295e+01] [ 6.32260025e-01 -1.32633738e-02 7.74642720e-01 2.91533408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440371743 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:56.17, Y:33.33, Z:29.15 [[-7.70372377e-01 -8.72659098e-02 6.31594065e-01 5.61663601e+01] [ 4.59523579e-02 -9.95612449e-01 -8.15121640e-02 3.33275602e+01] [ 6.35936146e-01 -3.37714830e-02 7.71002402e-01 2.91477770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:56.18, Y:33.32, Z:29.15 [[-7.73182859e-01 -7.35993376e-02 6.29897932e-01 5.61756735e+01] [ 4.78500284e-02 -9.97181988e-01 -5.77793802e-02 3.33207718e+01] [ 6.32375396e-01 -1.45333924e-02 7.74525751e-01 2.91468050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500371743 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:56.16, Y:33.33, Z:29.15 [[-7.73034896e-01 -8.02767795e-02 6.29263608e-01 5.61643750e+01] [ 4.75429591e-02 -9.96502427e-01 -6.87210235e-02 3.33283423e+01] [ 6.32579416e-01 -2.32066952e-02 7.74147746e-01 2.91513200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530371743 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:56.17, Y:33.33, Z:29.14 [[-7.72320457e-01 -8.01905707e-02 6.30151239e-01 5.61729456e+01] [ 4.64755161e-02 -9.96474531e-01 -6.98465174e-02 3.33292846e+01] [ 6.33530692e-01 -2.46572903e-02 7.73324564e-01 2.91445394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:56.18, Y:33.33, Z:29.14 [[-7.65182378e-01 -8.52091941e-02 6.38149921e-01 5.61812298e+01] [ 3.55589907e-02 -9.95283396e-01 -9.02580744e-02 3.33333123e+01] [ 6.42830838e-01 -4.63719209e-02 7.64603269e-01 2.91384758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590371743 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:56.20, Y:33.32, Z:29.14 [[-7.74646215e-01 -5.73734781e-02 6.29786889e-01 5.61953499e+01] [ 5.03006476e-02 -9.98310804e-01 -2.90754811e-02 3.33170519e+01] [ 6.30391217e-01 9.15547699e-03 7.76223609e-01 2.91424259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620371743 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:56.19, Y:33.33, Z:29.13 [[-7.75082580e-01 -8.34520176e-02 6.26324800e-01 5.61880332e+01] [ 5.07268957e-02 -9.96258680e-01 -6.99673136e-02 3.33343948e+01] [ 6.29820432e-01 -2.24589331e-02 7.76416009e-01 2.91292112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:56.20, Y:33.34, Z:29.12 [[-7.75982891e-01 -8.63298746e-02 6.24818138e-01 5.61973355e+01] [ 5.60857904e-02 -9.96109283e-01 -6.79755806e-02 3.33365469e+01] [ 6.28255471e-01 -1.77044685e-02 7.77805641e-01 2.91202037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68037174299997 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:56.21, Y:33.34, Z:29.11 [[-7.76602288e-01 -9.08224539e-02 6.23410112e-01 5.62080647e+01] [ 5.89028186e-02 -9.95686845e-01 -7.16809978e-02 3.33389755e+01] [ 6.27231491e-01 -1.89470142e-02 7.78602381e-01 2.91082051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71037174299997 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:56.21, Y:33.34, Z:29.11 [[-7.75509147e-01 -9.20484490e-02 6.24589982e-01 5.62078667e+01] [ 6.08421056e-02 -9.95605934e-01 -7.11832945e-02 3.33402798e+01] [ 6.28397804e-01 -1.72019264e-02 7.77701931e-01 2.91103019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74037174299997 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:56.21, Y:33.35, Z:29.10 [[-7.74371046e-01 -1.01687634e-01 6.24507092e-01 5.62136765e+01] [ 6.58182691e-02 -9.94592473e-01 -8.03353459e-02 3.33469771e+01] [ 6.29299164e-01 -2.11053900e-02 7.76876518e-01 2.91022724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77037174299997 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:56.21, Y:33.35, Z:29.10 [[-7.74198876e-01 -1.02454741e-01 6.24595170e-01 5.62146449e+01] [ 6.78811478e-02 -9.94560664e-01 -7.90014872e-02 3.33487895e+01] [ 6.29291864e-01 -1.87646256e-02 7.76942494e-01 2.91021841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80037174299997 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:56.22, Y:33.35, Z:29.10 [[-7.75289312e-01 -9.74517455e-02 6.24042980e-01 5.62192881e+01] [ 7.26059988e-02 -9.95226404e-01 -6.52132894e-02 3.33475021e+01] [ 6.27419200e-01 -5.24990244e-03 7.78663975e-01 2.91039531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83037174299997 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:56.20, Y:33.36, Z:29.11 [[-7.65184139e-01 -1.11383426e-01 6.34103277e-01 5.62023338e+01] [ 5.57679726e-02 -9.92685797e-01 -1.07074004e-01 3.33586877e+01] [ 6.41391586e-01 -4.65686756e-02 7.65799055e-01 2.91144552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86037174299997 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:56.22, Y:33.34, Z:29.13 [[-7.64912814e-01 -7.85614477e-02 6.39325024e-01 5.62174771e+01] [ 5.72955903e-02 -9.96898491e-01 -5.39501131e-02 3.33378373e+01] [ 6.41580550e-01 -4.63662818e-03 7.67041654e-01 2.91260118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89037174299997 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:56.22, Y:33.34, Z:29.12 [[-7.64456726e-01 -7.96226162e-02 6.39739129e-01 5.62210088e+01] [ 5.89163009e-02 -9.96819510e-01 -5.36631469e-02 3.33419068e+01] [ 6.41977245e-01 -3.33209060e-03 7.66716450e-01 2.91236804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92037174299998 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:56.22, Y:33.34, Z:29.12 [[-7.64636795e-01 -7.94386808e-02 6.39546768e-01 5.62240572e+01] [ 5.89597779e-02 -9.96835035e-01 -5.33259587e-02 3.33442623e+01] [ 6.41758769e-01 -3.06745467e-03 7.66900433e-01 2.91207862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95037174299998 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:56.23, Y:33.35, Z:29.12 [[-7.64474764e-01 -7.86634986e-02 6.39836221e-01 5.62264025e+01] [ 5.81961233e-02 -9.96895753e-01 -5.30289454e-02 3.33506550e+01] [ 6.42021453e-01 -3.30330292e-03 7.66679556e-01 2.91190074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98037174299998 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:56.23, Y:33.35, Z:29.12 [[-7.64901576e-01 -7.71524693e-02 6.39510027e-01 5.62273477e+01] [ 5.65190405e-02 -9.97010662e-01 -5.26814746e-02 3.33540353e+01] [ 6.41662822e-01 -4.15164984e-03 7.66975611e-01 2.91180776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01037174299998 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:56.24, Y:33.36, Z:29.11 [[-7.68988896e-01 -7.64788716e-02 6.34670828e-01 5.62423505e+01] [ 6.52157196e-02 -9.97023378e-01 -4.11253480e-02 3.33623169e+01] [ 6.35926873e-01 9.76557881e-03 7.71687531e-01 2.91056358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04037174299998 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:56.22, Y:33.38, Z:29.11 [[-7.66225254e-01 -8.93731448e-02 6.36326411e-01 5.62220428e+01] [ 4.98785858e-02 -9.95564756e-01 -7.97680565e-02 3.33768069e+01] [ 6.40633270e-01 -2.93812379e-02 7.67284665e-01 2.91107430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07037174299998 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:56.24, Y:33.37, Z:29.11 [[-7.66297534e-01 -7.69453907e-02 6.37861660e-01 5.62417446e+01] [ 5.76020977e-02 -9.97032435e-01 -5.10717399e-02 3.33735962e+01] [ 6.39898498e-01 -2.39397867e-03 7.68455712e-01 2.91051770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10037174299998 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:56.24, Y:33.39, Z:29.10 [[-7.67427879e-01 -7.97046912e-02 6.36161625e-01 5.62369559e+01] [ 5.19464287e-02 -9.96710162e-01 -6.22127090e-02 3.33868677e+01] [ 6.39027401e-01 -1.46974428e-02 7.69043539e-01 2.91034099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13037174299998 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:56.22, Y:33.39, Z:29.11 [[-7.66280057e-01 -7.25255364e-02 6.38400283e-01 5.62228119e+01] [ 3.73937502e-02 -9.96958631e-01 -6.83753997e-02 3.33883497e+01] [ 6.41417635e-01 -2.85225244e-02 7.66661518e-01 2.91143501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16037174299998 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:56.24, Y:33.39, Z:29.11 [[-7.65879182e-01 -6.58688411e-02 6.39601731e-01 5.62369060e+01] [ 4.34240501e-02 -9.97766554e-01 -5.07568211e-02 3.33937961e+01] [ 6.41516508e-01 -1.10994951e-02 7.67028925e-01 2.91085948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190371743 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:56.24, Y:33.40, Z:29.10 [[-7.68461872e-01 -7.02034593e-02 6.36032881e-01 5.62359303e+01] [ 4.25836696e-02 -9.97370720e-01 -5.86368242e-02 3.34007263e+01] [ 6.38477081e-01 -1.79755496e-02 7.69430892e-01 2.91036733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220371743 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:56.22, Y:33.41, Z:29.11 [[-7.66375518e-01 -7.03499085e-02 6.38529135e-01 5.62210896e+01] [ 2.76848495e-02 -9.96678925e-01 -7.65811262e-02 3.34062622e+01] [ 6.41796008e-01 -4.10123172e-02 7.65777954e-01 2.91124834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250371743 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:56.23, Y:33.40, Z:29.12 [[-7.66052658e-01 -5.20246550e-02 6.40668994e-01 5.62286830e+01] [ 2.53505420e-02 -9.98389038e-01 -5.07609944e-02 3.34013421e+01] [ 6.42277724e-01 -2.26442884e-02 7.66137430e-01 2.91157355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280371743 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:56.24, Y:33.41, Z:29.11 [[-7.62592132e-01 -6.41126430e-02 6.43694656e-01 5.62399170e+01] [ 3.34778045e-02 -9.97654472e-01 -5.97058781e-02 3.34122567e+01] [ 6.46012753e-01 -2.39817490e-02 7.62949801e-01 2.91075877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310371743 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:56.23, Y:33.41, Z:29.12 [[-7.66397045e-01 -5.27297557e-02 6.40199299e-01 5.62273613e+01] [ 2.32329653e-02 -9.98248486e-01 -5.44076242e-02 3.34087883e+01] [ 6.41946881e-01 -2.68241143e-02 7.66279759e-01 2.91155835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:56.23, Y:33.41, Z:29.12 [[-7.66535820e-01 -4.88499898e-02 6.40340937e-01 5.62268398e+01] [ 2.20246592e-02 -9.98515883e-01 -4.98090918e-02 3.34124669e+01] [ 6.41823770e-01 -2.40771621e-02 7.66474095e-01 2.91178385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370371743 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:56.23, Y:33.41, Z:29.11 [[-7.66531398e-01 -4.81437776e-02 6.40399713e-01 5.62331154e+01] [ 2.13728185e-02 -9.98546110e-01 -4.94860394e-02 3.34145351e+01] [ 6.41851088e-01 -2.42454561e-02 7.66445914e-01 2.91123617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400371743 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:56.23, Y:33.42, Z:29.11 [[-7.66523528e-01 -4.72520046e-02 6.40475549e-01 5.62343722e+01] [ 2.04773465e-02 -9.98580765e-01 -4.91643671e-02 3.34196482e+01] [ 6.41889679e-01 -2.45704043e-02 7.66403246e-01 2.91109393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43037174299997 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:56.24, Y:33.42, Z:29.11 [[-7.66277046e-01 -4.70476509e-02 6.40785462e-01 5.62371975e+01] [ 2.04523920e-02 -9.98596167e-01 -4.88609796e-02 3.34217081e+01] [ 6.42184700e-01 -2.43354516e-02 7.66163557e-01 2.91085947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46037174299997 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:56.24, Y:33.42, Z:29.11 [[-7.66127549e-01 -4.66948401e-02 6.40989992e-01 5.62395732e+01] [ 2.02453658e-02 -9.98615583e-01 -4.85493735e-02 3.34233321e+01] [ 6.42369600e-01 -2.42179356e-02 7.66012264e-01 2.91067317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49037174299997 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:56.26, Y:33.43, Z:29.09 [[-7.63961872e-01 -5.97499017e-02 6.42489072e-01 5.62558772e+01] [ 3.33056804e-02 -9.98027691e-01 -5.32114676e-02 3.34342613e+01] [ 6.44401265e-01 -1.92529967e-02 7.64445114e-01 2.90924887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52037174299997 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:56.26, Y:33.44, Z:29.09 [[-7.63264180e-01 -6.81624333e-02 6.42480875e-01 5.62561682e+01] [ 3.38760497e-02 -9.97273518e-01 -6.55587054e-02 3.34409984e+01] [ 6.45197803e-01 -2.82738975e-02 7.63492228e-01 2.90893968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55037174299997 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:56.26, Y:33.44, Z:29.09 [[-7.62780860e-01 -7.04551331e-02 6.42807462e-01 5.62607270e+01] [ 3.80349824e-02 -9.97214140e-01 -6.41661785e-02 3.34435935e+01] [ 6.45537528e-01 -2.44955623e-02 7.63335619e-01 2.90864427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58037174299997 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:56.25, Y:33.44, Z:29.10 [[-7.64912776e-01 -5.87328250e-02 6.41450621e-01 5.62489966e+01] [ 2.86849243e-02 -9.97952343e-01 -5.71690074e-02 3.34363604e+01] [ 6.43494848e-01 -2.53293417e-02 7.65031244e-01 2.90967577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61037174299997 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:56.26, Y:33.43, Z:29.09 [[-7.64996457e-01 -5.69588610e-02 6.41510802e-01 5.62574159e+01] [ 3.43954410e-02 -9.98273201e-01 -4.76190171e-02 3.34347851e+01] [ 6.43115367e-01 -1.43633324e-02 7.65634586e-01 2.90933273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64037174299997 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:56.26, Y:33.44, Z:29.09 [[-7.65386195e-01 -5.85172890e-02 6.40905375e-01 5.62618415e+01] [ 3.67525824e-02 -9.98206760e-01 -4.72494622e-02 3.34358629e+01] [ 6.42520989e-01 -1.26091585e-02 7.66164335e-01 2.90904261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67037174299998 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:56.28, Y:33.44, Z:29.08 [[-7.65841144e-01 -7.05733878e-02 6.39145320e-01 5.62761276e+01] [ 5.20656742e-02 -9.97501145e-01 -4.77559620e-02 3.34443041e+01] [ 6.40918488e-01 -3.29594856e-03 7.67601869e-01 2.90766974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70037174299998 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:56.27, Y:33.45, Z:29.08 [[-7.66359826e-01 -7.17940637e-02 6.38387210e-01 5.62658110e+01] [ 4.20823028e-02 -9.97211535e-01 -6.16298097e-02 3.34463022e+01] [ 6.41031744e-01 -2.03658064e-02 7.67244118e-01 2.90820335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73037174299998 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:56.27, Y:33.44, Z:29.08 [[-7.66311578e-01 -6.26860972e-02 6.39403643e-01 5.62703202e+01] [ 4.28431016e-02 -9.97999308e-01 -4.64956951e-02 3.34419670e+01] [ 6.41039026e-01 -8.23615431e-03 7.67464092e-01 2.90826981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76037174299998 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:56.27, Y:33.45, Z:29.08 [[-7.66222047e-01 -6.29752086e-02 6.39482523e-01 5.62723284e+01] [ 4.34825946e-02 -9.97986325e-01 -4.61796424e-02 3.34460297e+01] [ 6.41102986e-01 -7.57750085e-03 7.67417450e-01 2.90808784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79037174299998 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:56.28, Y:33.45, Z:29.08 [[-7.66128760e-01 -6.21020655e-02 6.39679652e-01 5.62752746e+01] [ 4.25996292e-02 -9.98038587e-01 -4.58721119e-02 3.34477778e+01] [ 6.41273729e-01 -7.89382825e-03 7.67271590e-01 2.90787456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82037174299998 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:56.28, Y:33.45, Z:29.08 [[-7.66077475e-01 -6.07932188e-02 6.39866773e-01 5.62755837e+01] [ 4.11495845e-02 -9.98113546e-01 -4.55638058e-02 3.34497594e+01] [ 6.41429664e-01 -8.57515343e-03 7.67133921e-01 2.90783333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85037174299998 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:56.29, Y:33.46, Z:29.06 [[-7.65881725e-01 -6.91262203e-02 6.39254839e-01 5.62938266e+01] [ 5.18200334e-02 -9.97606026e-01 -4.57919370e-02 3.34617188e+01] [ 6.40889903e-01 -1.94500051e-03 7.67630347e-01 2.90612399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88037174299998 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:56.27, Y:33.46, Z:29.08 [[-7.66229897e-01 -6.70343863e-02 6.39060354e-01 5.62715098e+01] [ 3.40170879e-02 -9.97380588e-01 -6.38341678e-02 3.34644917e+01] [ 6.41665476e-01 -2.71726756e-02 7.66503139e-01 2.90761427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91037174299998 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:56.27, Y:33.46, Z:29.08 [[-7.66664882e-01 -5.08242377e-02 6.40032699e-01 5.62727117e+01] [ 2.87532690e-02 -9.98579682e-01 -4.48538482e-02 3.34621517e+01] [ 6.41403312e-01 -1.59848379e-02 7.67037337e-01 2.90808138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940371743 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:56.27, Y:33.46, Z:29.08 [[-7.67309611e-01 -4.82541007e-02 6.39458758e-01 5.62741876e+01] [ 2.57272409e-02 -9.98678498e-01 -4.44900836e-02 3.34647570e+01] [ 6.40760541e-01 -1.76861592e-02 7.67537054e-01 2.90792229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970371743 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:56.30, Y:33.47, Z:29.06 [[-7.72755045e-01 -5.08936546e-02 6.32660632e-01 5.62984920e+01] [ 4.12824109e-02 -9.98699571e-01 -2.99153745e-02 3.34699327e+01] [ 6.33360405e-01 3.00049959e-03 7.73851145e-01 2.90553784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000371743 meters Centerline goodness : 0.989293 Centerline is valid? [True, True] Translation: X:56.29, Y:33.49, Z:29.05 [[-7.73329278e-01 -7.29121169e-02 6.29798103e-01 5.62929189e+01] [ 3.67440649e-02 -9.96849783e-01 -7.02878691e-02 3.34915337e+01] [ 6.32938940e-01 -3.12143247e-02 7.73572210e-01 2.90498004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030371743 meters Centerline goodness : 0.989718 Centerline is valid? [True, True] Translation: X:56.29, Y:33.49, Z:29.05 [[-7.74492420e-01 -6.40828431e-02 6.29328913e-01 5.62913894e+01] [ 3.44215909e-02 -9.97650920e-01 -5.92266545e-02 3.34883900e+01] [ 6.31645981e-01 -2.42080926e-02 7.74878908e-01 2.90531688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060371743 meters Centerline goodness : 0.988654 Centerline is valid? [True, True] Translation: X:56.29, Y:33.49, Z:29.05 [[-7.76071860e-01 -6.31413360e-02 6.27475609e-01 5.62885285e+01] [ 3.02613603e-02 -9.97557537e-01 -6.29540414e-02 3.34936707e+01] [ 6.29918025e-01 -2.98685945e-02 7.76087075e-01 2.90534536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090371743 meters Centerline goodness : 0.989078 Centerline is valid? [True, True] Translation: X:56.29, Y:33.50, Z:29.05 [[-7.75798012e-01 -6.31373594e-02 6.27814557e-01 5.62910402e+01] [ 2.78704643e-02 -9.97438946e-01 -6.58694672e-02 3.34965947e+01] [ 6.30365514e-01 -3.36039186e-02 7.75570819e-01 2.90516600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120371743 meters Centerline goodness : 0.987867 Centerline is valid? [True, True] Translation: X:56.28, Y:33.50, Z:29.06 [[-7.74537677e-01 -6.24896887e-02 6.29433416e-01 5.62841886e+01] [ 2.37521026e-02 -9.97279492e-01 -6.97814661e-02 3.34998488e+01] [ 6.32081660e-01 -3.90980076e-02 7.73914802e-01 2.90586209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150371743 meters Centerline goodness : 0.988045 Centerline is valid? [True, True] Translation: X:56.29, Y:33.50, Z:29.05 [[-7.75624482e-01 -5.22839769e-02 6.29025476e-01 5.62916063e+01] [ 2.10836789e-02 -9.98153350e-01 -5.69681365e-02 3.34974391e+01] [ 6.30842407e-01 -3.09237102e-02 7.75294513e-01 2.90547543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18037174299997 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:56.27, Y:33.50, Z:29.07 [[-7.69894562e-01 -5.21249719e-02 6.36038797e-01 5.62720761e+01] [ 2.14945290e-03 -9.96864864e-01 -7.90937616e-02 3.35003419e+01] [ 6.38167488e-01 -5.95267215e-02 7.67592878e-01 2.90741563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21037174299997 meters Centerline goodness : 0.988044 Centerline is valid? [True, True] Translation: X:56.27, Y:33.49, Z:29.08 [[-7.69702148e-01 -2.52498422e-02 6.37903636e-01 5.62731559e+01] [-2.21783334e-03 -9.99105741e-01 -4.22232009e-02 3.34876771e+01] [ 6.38399315e-01 -3.39140524e-02 7.68957835e-01 2.90811793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24037174299997 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:56.30, Y:33.49, Z:29.06 [[-7.72896869e-01 -3.05359797e-02 6.33796484e-01 5.62989672e+01] [ 1.06032337e-02 -9.99323455e-01 -3.52165326e-02 3.34918271e+01] [ 6.34443064e-01 -2.04984555e-02 7.72697750e-01 2.90562011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27037174299997 meters Centerline goodness : 0.988245 Centerline is valid? [True, True] Translation: X:56.27, Y:33.50, Z:29.08 [[-7.70847451e-01 -3.66985103e-02 6.35961813e-01 5.62723144e+01] [-6.89355183e-03 -9.97800158e-01 -6.59342360e-02 3.34991585e+01] [ 6.36982486e-01 -5.52092734e-02 7.68898725e-01 2.90758433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30037174299997 meters Centerline goodness : 0.988653 Centerline is valid? [True, True] Translation: X:56.27, Y:33.49, Z:29.08 [[-7.69741551e-01 -1.72786278e-02 6.38121770e-01 5.62718932e+01] [-1.20156593e-02 -9.99064339e-01 -4.15460095e-02 3.34901597e+01] [ 6.38242562e-01 -3.96471436e-02 7.68813720e-01 2.90813350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33037174299997 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:56.30, Y:33.49, Z:29.06 [[-7.72010718e-01 -2.27609420e-02 6.35201850e-01 5.62976552e+01] [-1.41154759e-04 -9.99352465e-01 -3.59809664e-02 3.34942487e+01] [ 6.35609496e-01 -2.78673535e-02 7.71507602e-01 2.90572686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36037174299997 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:56.29, Y:33.50, Z:29.05 [[-7.72715922e-01 -3.16603131e-02 6.33961930e-01 5.62935419e+01] [-4.43056113e-03 -9.98461955e-01 -5.52638598e-02 3.35025306e+01] [ 6.34736539e-01 -4.55120715e-02 7.71387177e-01 2.90545798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39037174299997 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:56.27, Y:33.50, Z:29.08 [[-7.69615947e-01 -2.56404295e-02 6.37992055e-01 5.62692276e+01] [-2.24237822e-02 -9.97491654e-01 -6.71384768e-02 3.35009454e+01] [ 6.38113210e-01 -6.59770373e-02 7.67110528e-01 2.90767446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42037174299998 meters Centerline goodness : 0.988965 Centerline is valid? [True, True] Translation: X:56.27, Y:33.49, Z:29.08 [[-7.68414437e-01 -6.68135912e-03 6.39917661e-01 5.62733592e+01] [-2.51064740e-02 -9.98860938e-01 -4.05769794e-02 3.34891764e+01] [ 6.39459865e-01 -4.72460129e-02 7.67371420e-01 2.90795960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45037174299998 meters Centerline goodness : 0.988773 Centerline is valid? [True, True] Translation: X:56.27, Y:33.49, Z:29.08 [[-7.68162531e-01 -3.08942418e-03 6.40247438e-01 5.62729263e+01] [-2.95429518e-02 -9.98752206e-01 -4.02646794e-02 3.34869388e+01] [ 6.39572936e-01 -4.98446172e-02 7.67112752e-01 2.90805697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48037174299998 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:56.27, Y:33.49, Z:29.08 [[-7.68110015e-01 -1.18641662e-03 6.40316795e-01 5.62741956e+01] [-3.17486506e-02 -9.98697744e-01 -3.99354325e-02 3.34853558e+01] [ 6.39530318e-01 -5.10039999e-02 7.67072072e-01 2.90798939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51037174299998 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:56.28, Y:33.49, Z:29.08 [[-7.68093447e-01 -6.67064747e-04 6.40337420e-01 5.62762342e+01] [-3.21481373e-02 -9.98698222e-01 -3.96025114e-02 3.34851680e+01] [ 6.39530260e-01 -5.10040848e-02 7.67072115e-01 2.90782842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54037174299998 meters Centerline goodness : 0.987751 Centerline is valid? [True, True] Translation: X:56.04, Y:33.50, Z:29.28 [[-7.63500840e-01 -9.63154547e-03 6.45735008e-01 5.60415240e+01] [-3.30077907e-02 -9.97999916e-01 -5.39133810e-02 3.35030517e+01] [ 6.44962753e-01 -6.24771976e-02 7.61655859e-01 2.92765341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57037174299998 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:56.28, Y:33.48, Z:29.08 [[-7.67671946e-01 8.71262319e-03 6.40783797e-01 5.62780331e+01] [-3.67443411e-02 -9.98861008e-01 -3.04391284e-02 3.34755992e+01] [ 6.39788744e-01 -4.69124433e-02 7.67117713e-01 2.90799277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60037174299998 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:56.28, Y:33.48, Z:29.08 [[-7.68424891e-01 4.26094391e-03 6.39925801e-01 5.62779870e+01] [-3.78565553e-02 -9.98529268e-01 -3.88095653e-02 3.34766876e+01] [ 6.38819276e-01 -5.40476224e-02 7.67456049e-01 2.90774672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63037174299998 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:56.28, Y:33.47, Z:29.08 [[-7.68806521e-01 5.33821362e-03 6.39459175e-01 5.62790354e+01] [-3.89113534e-02 -9.98502759e-01 -3.84466784e-02 3.34707687e+01] [ 6.38296514e-01 -5.44402790e-02 7.67863150e-01 2.90766817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66037174299998 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:56.29, Y:33.48, Z:29.07 [[-7.66442081e-01 -7.33175416e-03 6.42271580e-01 5.62893532e+01] [-2.89566260e-02 -9.98523814e-01 -4.59533143e-02 3.34757047e+01] [ 6.41660386e-01 -5.38185717e-02 7.65098366e-01 2.90693529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690371743 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:56.28, Y:33.47, Z:29.07 [[-7.69128733e-01 1.52548448e-03 6.39092063e-01 5.62828392e+01] [-3.90138844e-02 -9.98244205e-01 -4.45693119e-02 3.34665322e+01] [ 6.37901958e-01 -5.92130022e-02 7.67837816e-01 2.90720452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720371743 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:56.30, Y:33.46, Z:29.06 [[-7.66933291e-01 -6.12629144e-03 6.41697589e-01 5.62983156e+01] [-2.87725043e-02 -9.98620563e-01 -4.39216735e-02 3.34647442e+01] [ 6.41081485e-01 -5.21482402e-02 7.65699086e-01 2.90618282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750371743 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:56.29, Y:33.46, Z:29.07 [[-7.68769791e-01 2.11896625e-03 6.39522101e-01 5.62881211e+01] [-3.92417845e-02 -9.98266472e-01 -4.38649508e-02 3.34561175e+01] [ 6.38320523e-01 -5.88180375e-02 7.67520259e-01 2.90678231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780371743 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:56.02, Y:33.47, Z:29.30 [[-7.66891855e-01 1.20460097e-04 6.41776338e-01 5.60166466e+01] [-3.54101121e-02 -9.98484615e-01 -4.21259673e-02 3.34672183e+01] [ 6.40798725e-01 -5.50314332e-02 7.65733985e-01 2.92958830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810371743 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:56.31, Y:33.45, Z:29.05 [[-7.66599360e-01 -8.30919366e-03 6.42071942e-01 5.63053603e+01] [-2.67639161e-02 -9.98633886e-01 -4.48782160e-02 3.34500992e+01] [ 6.41567701e-01 -5.15879712e-02 7.65329711e-01 2.90532350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840371743 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:56.31, Y:33.45, Z:29.05 [[-7.67115126e-01 -1.43875571e-02 6.41348098e-01 5.63065382e+01] [-2.71849399e-02 -9.98121335e-01 -5.49070098e-02 3.34503278e+01] [ 6.40933197e-01 -5.95550072e-02 7.65282848e-01 2.90490146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870371743 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:56.29, Y:33.44, Z:29.06 [[-7.68127577e-01 -2.40318216e-03 6.40292316e-01 5.62894489e+01] [-3.82231079e-02 -9.98037477e-01 -4.96002971e-02 3.34357763e+01] [ 6.39154926e-01 -6.25733184e-02 7.66528251e-01 2.90636812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900371743 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:56.30, Y:33.43, Z:29.06 [[-7.67343740e-01 3.95003629e-03 6.41223816e-01 5.62962817e+01] [-3.75568672e-02 -9.98541243e-01 -3.87926215e-02 3.34269331e+01] [ 6.40135194e-01 -5.38496329e-02 7.66372723e-01 2.90610672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93037174299997 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:56.31, Y:33.42, Z:29.04 [[-7.73202447e-01 1.38569445e-04 6.34159252e-01 5.63119557e+01] [-1.83169050e-02 -9.99587633e-01 -2.21145767e-02 3.34186663e+01] [ 6.33894681e-01 -2.87148796e-02 7.72886142e-01 2.90447227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96037174299997 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:56.30, Y:33.43, Z:29.05 [[-7.68403753e-01 -2.24484740e-02 6.39571528e-01 5.62976459e+01] [-3.23085048e-02 -9.96749450e-01 -7.38017225e-02 3.34281644e+01] [ 6.39149305e-01 -7.73731203e-02 7.65180741e-01 2.90479127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99037174299997 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:56.31, Y:33.41, Z:29.05 [[-7.67006917e-01 -1.17298456e-03 6.41637758e-01 5.63059243e+01] [-3.03881650e-02 -9.98809798e-01 -3.81516220e-02 3.34084438e+01] [ 6.40918831e-01 -4.87607521e-02 7.66058380e-01 2.90531080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02037174299997 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:56.32, Y:33.40, Z:29.04 [[-7.78204969e-01 1.07723878e-03 6.28009447e-01 5.63212027e+01] [-8.43823533e-03 -9.99926192e-01 -8.74113825e-03 3.33955996e+01] [ 6.27953678e-01 -1.21016887e-02 7.78156621e-01 2.90392585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05037174299997 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:56.32, Y:33.41, Z:29.02 [[-7.79803510e-01 -3.38001055e-02 6.25111221e-01 5.63209729e+01] [-5.48327383e-03 -9.98134307e-01 -6.08098524e-02 3.34127539e+01] [ 6.26000335e-01 -5.08473923e-02 7.78163301e-01 2.90212169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08037174299997 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:56.32, Y:33.40, Z:29.02 [[-7.83251442e-01 -3.04231169e-02 6.20960235e-01 5.63212405e+01] [ 1.37173416e-03 -9.98884104e-01 -4.72087477e-02 3.34008277e+01] [ 6.21703545e-01 -3.61245273e-02 7.82419147e-01 2.90203764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11037174299997 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:56.31, Y:33.41, Z:29.03 [[-7.69828758e-01 -5.00059605e-02 6.36288526e-01 5.63100304e+01] [-1.81233314e-02 -9.94811382e-01 -1.00109239e-01 3.34084952e+01] [ 6.37993126e-01 -8.85986391e-02 7.64928135e-01 2.90274934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14037174299997 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:56.32, Y:33.38, Z:29.04 [[-7.67145592e-01 -1.13099669e-02 6.41373312e-01 5.63210954e+01] [-1.64344617e-02 -9.99169838e-01 -3.72765786e-02 3.33781869e+01] [ 6.41262466e-01 -3.91371881e-02 7.66322863e-01 2.90415955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17037174299998 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:56.34, Y:33.37, Z:29.02 [[-7.81904452e-01 -4.17826742e-03 6.23384287e-01 5.63387424e+01] [ 7.57750637e-03 -9.99967364e-01 2.80205155e-03 3.33652344e+01] [ 6.23352235e-01 6.91463499e-03 7.81910595e-01 2.90235991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20037174299998 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:56.33, Y:33.38, Z:29.01 [[-7.86905455e-01 -3.96747234e-02 6.15796819e-01 5.63277916e+01] [ 1.33926478e-02 -9.98793945e-01 -4.72365640e-02 3.33846463e+01] [ 6.16928231e-01 -2.89235600e-02 7.86487753e-01 2.90081718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23037174299998 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:56.32, Y:33.39, Z:29.01 [[-7.69153479e-01 -6.62210972e-02 6.35623860e-01 5.63170948e+01] [-6.93635152e-03 -9.93693092e-01 -1.11919282e-01 3.33933670e+01] [ 6.39026457e-01 -9.04920153e-02 7.63843166e-01 2.90144148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26037174299998 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:56.33, Y:33.36, Z:29.04 [[-7.66394126e-01 -1.91679828e-02 6.42084599e-01 5.63282930e+01] [-5.64731929e-03 -9.99315029e-01 -3.65729464e-02 3.33582201e+01] [ 6.42345819e-01 -3.16553480e-02 7.65760921e-01 2.90354812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29037174299998 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:56.34, Y:33.35, Z:29.03 [[-7.66524956e-01 -2.01707634e-02 6.41897681e-01 5.63359425e+01] [-4.04525167e-03 -9.99335167e-01 -3.62334064e-02 3.33548628e+01] [ 6.42201781e-01 -3.03704479e-02 7.65933749e-01 2.90289348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32037174299998 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:56.34, Y:33.35, Z:29.03 [[-7.66154036e-01 -2.18241073e-02 6.42286307e-01 5.63356914e+01] [-1.65104293e-03 -9.99353080e-01 -3.59262556e-02 3.33490242e+01] [ 6.42654858e-01 -2.85854880e-02 7.65622363e-01 2.90286975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35037174299998 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:56.34, Y:33.34, Z:29.02 [[-7.65748177e-01 -2.30309536e-02 6.42728017e-01 5.63442361e+01] [ 1.57902268e-04 -9.99365314e-01 -3.56222572e-02 3.33439128e+01] [ 6.43140501e-01 -2.71761903e-02 7.65265804e-01 2.90217341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38037174299998 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:56.34, Y:33.34, Z:29.02 [[-7.65937042e-01 -2.33920836e-02 6.42489889e-01 5.63448975e+01] [ 9.26264853e-04 -9.99376983e-01 -3.52815658e-02 3.33416429e+01] [ 6.42914916e-01 -2.64283424e-02 7.65481517e-01 2.90208300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41037174299998 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:56.35, Y:33.34, Z:29.02 [[-7.65932497e-01 -2.33908280e-02 6.42495354e-01 5.63457215e+01] [ 1.19858326e-03 -9.99388165e-01 -3.49550899e-02 3.33393172e+01] [ 6.42919881e-01 -2.60031551e-02 7.65491909e-01 2.90205184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440371743 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:56.35, Y:33.34, Z:29.02 [[-7.66374498e-01 -2.33158377e-02 6.41970794e-01 5.63498485e+01] [ 1.42184479e-03 -9.99400229e-01 -3.45999976e-02 3.33375603e+01] [ 6.42392487e-01 -2.56037730e-02 7.65948001e-01 2.90171409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470371743 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:56.35, Y:33.33, Z:29.02 [[-7.66842185e-01 -2.33215566e-02 6.41411855e-01 5.63532330e+01] [ 1.75198316e-03 -9.99411975e-01 -3.42437518e-02 3.33342890e+01] [ 6.41833307e-01 -2.51358107e-02 7.66432122e-01 2.90154001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500371743 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:56.36, Y:33.33, Z:29.01 [[-7.67235471e-01 -2.30796626e-02 6.40950124e-01 5.63565094e+01] [ 1.74941083e-03 -9.99423913e-01 -3.38936773e-02 3.33316184e+01] [ 6.41363135e-01 -2.48831464e-02 7.66833853e-01 2.90126696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530371743 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:56.38, Y:33.32, Z:28.99 [[-7.86952328e-01 -1.03936257e-02 6.16926256e-01 5.63762780e+01] [ 2.60333070e-02 -9.99527055e-01 1.63686686e-02 3.33231515e+01] [ 6.16464354e-01 2.89419925e-02 7.86850724e-01 2.89924447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560371743 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:56.34, Y:33.36, Z:28.99 [[-7.68595714e-01 -7.06086978e-02 6.35826266e-01 5.63413322e+01] [ 1.85877946e-03 -9.94132653e-01 -1.08151811e-01 3.33624113e+01] [ 6.39732111e-01 -8.19431575e-02 7.64217341e-01 2.89918350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590371743 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:56.36, Y:33.33, Z:29.01 [[-7.66050377e-01 -2.36206543e-02 6.42346390e-01 5.63605539e+01] [ 2.83524299e-03 -9.99439026e-01 -3.33705694e-02 3.33291450e+01] [ 6.42774285e-01 -2.37423292e-02 7.65687613e-01 2.90080929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:56.37, Y:33.32, Z:28.99 [[-7.86532228e-01 -1.24882030e-02 6.17422950e-01 5.63741503e+01] [ 2.73554526e-02 -9.99518685e-01 1.46313849e-02 3.33223642e+01] [ 6.16943056e-01 2.83979400e-02 7.86495279e-01 2.89915170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650371743 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:56.35, Y:33.36, Z:28.98 [[-7.67721712e-01 -7.03040177e-02 6.36915001e-01 5.63511223e+01] [ 5.58153363e-03 -9.94658993e-01 -1.03064709e-01 3.33581185e+01] [ 6.40759097e-01 -7.55700519e-02 7.64013709e-01 2.89848093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68037174299997 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:56.37, Y:33.33, Z:29.00 [[-7.66284888e-01 -2.62607934e-02 6.41964050e-01 5.63665122e+01] [ 6.89927604e-03 -9.99443073e-01 -3.26488019e-02 3.33283730e+01] [ 6.42463906e-01 -2.05891963e-02 7.66039303e-01 2.90026900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71037174299997 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:56.37, Y:33.33, Z:29.00 [[-7.66241771e-01 -2.66770728e-02 6.41998351e-01 5.63702771e+01] [ 7.71210201e-03 -9.99447636e-01 -3.23256322e-02 3.33284804e+01] [ 6.42506087e-01 -1.98180929e-02 7.66024263e-01 2.89994032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74037174299997 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:56.37, Y:33.33, Z:29.00 [[-7.65932714e-01 -2.76493006e-02 6.42325925e-01 5.63711856e+01] [ 9.22868231e-03 -9.99444715e-01 -3.20170755e-02 3.33294017e+01] [ 6.42854500e-01 -1.85951037e-02 7.65762570e-01 2.89983191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77037174299997 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:56.39, Y:33.32, Z:28.98 [[-7.84780697e-01 -1.40214089e-02 6.19614927e-01 5.63905353e+01] [ 3.38009975e-02 -9.99224438e-01 2.01993777e-02 3.33217713e+01] [ 6.18851153e-01 3.67956843e-02 7.84645989e-01 2.89809302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80037174299997 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:56.37, Y:33.36, Z:28.96 [[-7.86006634e-01 -6.24351236e-02 6.15057255e-01 5.63701502e+01] [ 3.70447984e-02 -9.97856113e-01 -5.39523958e-02 3.33553316e+01] [ 6.17107167e-01 -1.96222690e-02 7.86634421e-01 2.89633781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83037174299997 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:56.36, Y:33.37, Z:28.97 [[-7.67217007e-01 -8.11812519e-02 6.36229258e-01 5.63605374e+01] [ 1.08514087e-02 -9.93458465e-01 -1.13677288e-01 3.33680918e+01] [ 6.41295806e-01 -8.03111651e-02 7.63079161e-01 2.89710049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86037174299997 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:56.40, Y:33.33, Z:28.97 [[-7.83012193e-01 -2.19678919e-02 6.21618305e-01 5.63980752e+01] [ 3.38828339e-02 -9.99398701e-01 7.36141364e-03 3.33302719e+01] [ 6.21082811e-01 2.68262664e-02 7.83285703e-01 2.89704342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89037174299997 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:56.38, Y:33.36, Z:28.96 [[-7.85568458e-01 -5.59024772e-02 6.16244360e-01 5.63822021e+01] [ 3.52011709e-02 -9.98335244e-01 -4.56904527e-02 3.33573334e+01] [ 6.17772673e-01 -1.42004555e-02 7.86228511e-01 2.89585436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92037174299998 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:56.38, Y:33.37, Z:28.95 [[-7.85073168e-01 -6.51597576e-02 6.15966174e-01 5.63814004e+01] [ 3.28404238e-02 -9.97431379e-01 -6.36565010e-02 3.33687108e+01] [ 6.18531832e-01 -2.97464208e-02 7.85196487e-01 2.89523597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95037174299998 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:56.38, Y:33.37, Z:28.95 [[-7.85037434e-01 -6.13821233e-02 6.16399596e-01 5.63843319e+01] [ 3.09018869e-02 -9.97720029e-01 -5.99984751e-02 3.33692897e+01] [ 6.18677057e-01 -2.80531383e-02 7.85144395e-01 2.89509529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98037174299998 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:56.38, Y:33.37, Z:28.96 [[-7.86056689e-01 -5.46514470e-02 6.15733791e-01 5.63790700e+01] [ 2.83082104e-02 -9.98221630e-01 -5.24616301e-02 3.33688052e+01] [ 6.17505893e-01 -2.38074935e-02 7.86205874e-01 2.89568315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01037174299998 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:56.38, Y:33.37, Z:28.96 [[-7.84155960e-01 -5.01367834e-02 6.18535151e-01 5.63754491e+01] [ 2.08151298e-02 -9.98295127e-01 -5.45304473e-02 3.33734823e+01] [ 6.20214609e-01 -2.98854857e-02 7.83862677e-01 2.89603562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04037174299998 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:56.38, Y:33.38, Z:28.95 [[-7.83228921e-01 -5.08189109e-02 6.19653044e-01 5.63828985e+01] [ 1.63013564e-02 -9.97989795e-01 -6.12424339e-02 3.33780621e+01] [ 6.21519688e-01 -3.78656603e-02 7.82482887e-01 2.89526184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07037174299998 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:56.37, Y:33.38, Z:28.96 [[-7.80975789e-01 -4.01799713e-02 6.23267508e-01 5.63746047e+01] [ 4.67456583e-03 -9.98276572e-01 -5.84981582e-02 3.33805650e+01] [ 6.24543806e-01 -4.27721402e-02 7.79817657e-01 2.89628840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10037174299998 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:56.37, Y:33.38, Z:28.98 [[-7.69212155e-01 -3.74792840e-02 6.37893379e-01 5.63659104e+01] [-2.05234185e-02 -9.96314269e-01 -8.32866590e-02 3.33821852e+01] [ 6.38663800e-01 -7.71568633e-02 7.65607843e-01 2.89756093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13037174299998 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:56.38, Y:33.36, Z:28.98 [[-7.76843455e-01 3.75398272e-03 6.29682582e-01 5.63836198e+01] [-7.63767768e-03 -9.99964843e-01 -3.46115526e-03 3.33593064e+01] [ 6.29647451e-01 -7.49808842e-03 7.76844815e-01 2.89815509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16037174299998 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:56.37, Y:33.38, Z:28.97 [[-7.75629140e-01 -2.39684536e-02 6.30733660e-01 5.63696933e+01] [-1.60073453e-02 -9.98210391e-01 -5.76175416e-02 3.33844662e+01] [ 6.30985896e-01 -5.47862157e-02 7.73857396e-01 2.89743977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190371743 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:56.37, Y:33.38, Z:28.97 [[-7.74948112e-01 -1.61344470e-02 6.31818885e-01 5.63741518e+01] [-1.91532097e-02 -9.98615450e-01 -4.89932359e-02 3.33812571e+01] [ 6.31734579e-01 -5.00685752e-02 7.73566131e-01 2.89744986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220371743 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:56.38, Y:33.38, Z:28.97 [[-7.75929498e-01 -1.04522576e-02 6.30733038e-01 5.63796307e+01] [-2.05895121e-02 -9.98910357e-01 -4.18828198e-02 3.33798497e+01] [ 6.30483534e-01 -4.54846008e-02 7.74868805e-01 2.89715916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250371743 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:56.38, Y:33.38, Z:28.97 [[-7.75585731e-01 -1.16609640e-02 6.31134531e-01 5.63758280e+01] [-2.22551107e-02 -9.98702648e-01 -4.58009830e-02 3.33816076e+01] [ 6.30849811e-01 -4.95685577e-02 7.74320007e-01 2.89742974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280371743 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:56.38, Y:33.37, Z:28.97 [[-7.82667155e-01 -2.70840355e-03 6.22434566e-01 5.63844015e+01] [-1.71057833e-02 -9.99519249e-01 -2.58585193e-02 3.33749079e+01] [ 6.22205366e-01 -3.08858446e-02 7.82244557e-01 2.89678765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310371743 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:56.38, Y:33.39, Z:28.96 [[-7.77396991e-01 -2.22876304e-02 6.28615287e-01 5.63809069e+01] [-2.07033054e-02 -9.97923952e-01 -6.09849112e-02 3.33877410e+01] [ 6.28669461e-01 -6.04239008e-02 7.75321650e-01 2.89638242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340371743 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:56.39, Y:33.38, Z:28.96 [[-7.78581899e-01 -1.10893562e-02 6.27445019e-01 5.63871797e+01] [-1.90705535e-02 -9.98963961e-01 -4.13197239e-02 3.33796117e+01] [ 6.27253171e-01 -4.41365129e-02 7.77563778e-01 2.89640843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370371743 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:56.38, Y:33.38, Z:28.97 [[-7.76723087e-01 -1.76900821e-02 6.29593763e-01 5.63807718e+01] [-1.93794085e-02 -9.98460982e-01 -5.19625394e-02 3.33833731e+01] [ 6.29544029e-01 -5.25616588e-02 7.75184873e-01 2.89668503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400371743 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:56.39, Y:33.38, Z:28.96 [[-7.77213116e-01 -1.24140017e-02 6.29114985e-01 5.63891949e+01] [-1.76006515e-02 -9.98985276e-01 -4.14564312e-02 3.33781572e+01] [ 6.28991247e-01 -4.32933156e-02 7.76205965e-01 2.89625687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43037174299997 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:56.39, Y:33.38, Z:28.96 [[-7.77363714e-01 -1.43902934e-02 6.28886775e-01 5.63905901e+01] [-1.79087605e-02 -9.98826799e-01 -4.49922505e-02 3.33796870e+01] [ 6.28796416e-01 -4.62379256e-02 7.76193998e-01 2.89600192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46037174299997 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:56.39, Y:33.38, Z:28.96 [[-7.77199508e-01 -1.55040060e-02 6.29063232e-01 5.63923482e+01] [-1.50650624e-02 -9.98951425e-01 -4.32330275e-02 3.33765396e+01] [ 6.29073897e-01 -4.30775645e-02 7.76150987e-01 2.89592032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49037174299997 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:56.39, Y:33.37, Z:28.96 [[-7.78365516e-01 -1.61108179e-02 6.27604625e-01 5.63892987e+01] [-1.19415816e-02 -9.99109893e-01 -4.04576255e-02 3.33745504e+01] [ 6.27697795e-01 -3.89854124e-02 7.77480299e-01 2.89613613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52037174299997 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:56.39, Y:33.38, Z:28.96 [[-7.68855094e-01 -2.57886679e-02 6.38902801e-01 5.63864445e+01] [-2.60314617e-02 -9.97095617e-01 -7.15729990e-02 3.33771436e+01] [ 6.38892955e-01 -7.16608387e-02 7.65950727e-01 2.89631629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55037174299997 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:56.41, Y:33.35, Z:28.96 [[-7.79139728e-01 3.01832138e-03 6.26843022e-01 5.64136621e+01] [-2.71997170e-03 -9.99995272e-01 1.43428111e-03 3.33527020e+01] [ 6.26844388e-01 -5.87489887e-04 7.79144254e-01 2.89563283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58037174299997 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:56.41, Y:33.37, Z:28.94 [[-7.79482833e-01 -3.06188021e-02 6.25674837e-01 5.64107816e+01] [ 3.70240633e-03 -9.99012461e-01 -4.42763572e-02 3.33691987e+01] [ 6.26412648e-01 -3.21961579e-02 7.78826426e-01 2.89402064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61037174299997 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:56.40, Y:33.37, Z:28.95 [[-7.69674171e-01 -3.75949002e-02 6.37329032e-01 5.63994649e+01] [-1.13782524e-02 -9.97298426e-01 -7.25698650e-02 3.33711360e+01] [ 6.38335497e-01 -6.31068413e-02 7.67167075e-01 2.89512289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64037174299997 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:56.41, Y:33.35, Z:28.96 [[-7.68691829e-01 -8.67991369e-03 6.39560420e-01 5.64131462e+01] [-9.81317044e-03 -9.99630188e-01 -2.53611812e-02 3.33497548e+01] [ 6.39544035e-01 -2.57710482e-02 7.68322380e-01 2.89594204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67037174299998 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:56.43, Y:33.35, Z:28.94 [[-7.80581311e-01 -4.29482935e-03 6.25039496e-01 5.64345039e+01] [ 1.04588026e-02 -9.99926142e-01 6.19070267e-03 3.33453740e+01] [ 6.24966743e-01 1.13695115e-02 7.80568577e-01 2.89394082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70037174299998 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:56.42, Y:33.37, Z:28.92 [[-7.83779979e-01 -3.78950022e-02 6.19881370e-01 5.64249259e+01] [ 1.48610534e-02 -9.98995233e-01 -4.22808809e-02 3.33663590e+01] [ 6.20860768e-01 -2.39268178e-02 7.83555623e-01 2.89230719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73037174299998 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:56.42, Y:33.37, Z:28.92 [[-7.82447832e-01 -4.37971790e-02 6.21174048e-01 5.64184062e+01] [ 1.38360215e-02 -9.98500082e-01 -5.29731110e-02 3.33700744e+01] [ 6.22562410e-01 -3.28541183e-02 7.81880203e-01 2.89246039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76037174299998 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:56.43, Y:33.37, Z:28.92 [[-7.79370622e-01 -4.45119486e-02 6.24980095e-01 5.64254575e+01] [ 1.22136838e-02 -9.98363125e-01 -5.58739421e-02 3.33700449e+01] [ 6.26444139e-01 -3.59131998e-02 7.78638545e-01 2.89206505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79037174299998 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:56.43, Y:33.36, Z:28.92 [[-7.80354090e-01 -3.75059672e-02 6.24212141e-01 5.64305877e+01] [ 1.30432923e-02 -9.98958817e-01 -4.37167564e-02 3.33649063e+01] [ 6.25201861e-01 -2.59727682e-02 7.80030800e-01 2.89194867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82037174299998 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:56.43, Y:33.36, Z:28.92 [[-7.83522199e-01 -3.55540325e-02 6.20345770e-01 5.64304935e+01] [ 1.61914265e-02 -9.99190866e-01 -3.68164393e-02 3.33626148e+01] [ 6.21152800e-01 -1.88022145e-02 7.83463896e-01 2.89183433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85037174299998 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:56.41, Y:33.37, Z:28.93 [[-7.68183260e-01 -5.40290693e-02 6.37946188e-01 5.64102970e+01] [-7.08964668e-03 -9.95653830e-01 -9.28611203e-02 3.33749032e+01] [ 6.40190765e-01 -7.58571712e-02 7.64461558e-01 2.89325507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88037174299998 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:56.43, Y:33.35, Z:28.95 [[-7.66982093e-01 -1.11585415e-02 6.41571474e-01 5.64292127e+01] [-5.50716402e-03 -9.99697487e-01 -2.39709256e-02 3.33451465e+01] [ 6.41644871e-01 -2.19185100e-02 7.66688619e-01 2.89460622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91037174299998 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:56.43, Y:33.35, Z:28.94 [[-7.67525336e-01 -1.15049782e-02 6.40915357e-01 5.64310670e+01] [-4.74058200e-03 -9.99709705e-01 -2.36227062e-02 3.33451023e+01] [ 6.41001081e-01 -2.11693373e-02 7.67247987e-01 2.89441390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940371743 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:56.43, Y:33.35, Z:28.94 [[-7.67823028e-01 -1.19859860e-02 6.40549868e-01 5.64346914e+01] [-3.82029406e-03 -9.99721541e-01 -2.32861778e-02 3.33451907e+01] [ 6.40650609e-01 -2.03267524e-02 7.67563431e-01 2.89415136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970371743 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:56.44, Y:33.35, Z:28.94 [[-7.68458308e-01 -1.39137044e-02 6.39748574e-01 5.64382238e+01] [-9.92193786e-04 -9.99736471e-01 -2.29347870e-02 3.33457407e+01] [ 6.39899089e-01 -1.82591822e-02 7.68241992e-01 2.89382399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000371743 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:56.44, Y:33.35, Z:28.94 [[-7.68593642e-01 -1.47914250e-02 6.39566280e-01 5.64383483e+01] [ 4.28664638e-04 -9.99744355e-01 -2.26062180e-02 3.33461416e+01] [ 6.39737156e-01 -1.71008360e-02 7.68403496e-01 2.89383590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030371743 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:56.45, Y:33.35, Z:28.93 [[-7.69075236e-01 -1.71882362e-02 6.38927106e-01 5.64456623e+01] [ 3.84871845e-03 -9.99744759e-01 -2.22621561e-02 3.33468221e+01] [ 6.39146673e-01 -1.46622224e-02 7.68945089e-01 2.89326262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060371743 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:56.46, Y:33.34, Z:28.92 [[-7.85409018e-01 -8.25968684e-03 6.18922008e-01 5.64595010e+01] [ 2.67224053e-02 -9.99431172e-01 2.05729145e-02 3.33418662e+01] [ 6.18400023e-01 3.26972373e-02 7.85182974e-01 2.89186418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090371743 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:56.44, Y:33.38, Z:28.90 [[-7.82740363e-01 -5.82763553e-02 6.19613904e-01 5.64420465e+01] [ 2.68931743e-02 -9.97843456e-01 -5.98764916e-02 3.33777362e+01] [ 6.21767063e-01 -3.02043620e-02 7.82619586e-01 2.89022894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120371743 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:56.45, Y:33.37, Z:28.90 [[-7.82466976e-01 -4.35382709e-02 6.21168134e-01 5.64508075e+01] [ 2.69947880e-02 -9.98986573e-01 -3.60153985e-02 3.33686455e+01] [ 6.22106673e-01 -1.14125579e-02 7.82849309e-01 2.89045013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150371743 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:56.45, Y:33.38, Z:28.90 [[-7.81981914e-01 -5.19499621e-02 6.21132424e-01 5.64485754e+01] [ 2.56781890e-02 -9.98359660e-01 -5.11724487e-02 3.33772506e+01] [ 6.22771962e-01 -2.40663736e-02 7.82033179e-01 2.89001475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18037174299997 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:56.46, Y:33.38, Z:28.89 [[-7.81219727e-01 -4.73682624e-02 6.22456413e-01 5.64583908e+01] [ 2.44586934e-02 -9.98673921e-01 -4.53008981e-02 3.33766372e+01] [ 6.23776812e-01 -2.01654847e-02 7.81342334e-01 2.88940255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21037174299997 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:56.45, Y:33.37, Z:28.90 [[-7.84943864e-01 -3.30286834e-02 6.18685894e-01 5.64496998e+01] [ 2.31108824e-02 -9.99443969e-01 -2.40341233e-02 3.33739426e+01] [ 6.19135702e-01 -4.56706071e-03 7.85270734e-01 2.89042066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24037174299997 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:56.44, Y:33.39, Z:28.91 [[-7.70096282e-01 -5.40221997e-02 6.35636153e-01 5.64384289e+01] [ 1.99552511e-04 -9.96428219e-01 -8.44438588e-02 3.33934139e+01] [ 6.37927642e-01 -6.49030589e-02 7.67356447e-01 2.89076399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27037174299997 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:56.47, Y:33.36, Z:28.91 [[-7.84664996e-01 -1.98688211e-03 6.19916847e-01 5.64671108e+01] [ 1.91865336e-02 -9.99593636e-01 2.10817413e-02 3.33616236e+01] [ 6.19623048e-01 2.84361599e-02 7.84384258e-01 2.89059891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30037174299997 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:56.44, Y:33.40, Z:28.91 [[-7.70179040e-01 -5.29115444e-02 6.35629306e-01 5.64409701e+01] [-1.55007391e-03 -9.96395010e-01 -8.48208741e-02 3.33987677e+01] [ 6.37825872e-01 -6.63125318e-02 7.67320536e-01 2.89050144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33037174299997 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:56.45, Y:33.38, Z:28.92 [[-7.69583854e-01 -1.10706722e-02 6.38449788e-01 5.64526745e+01] [-2.58391628e-03 -9.99787520e-01 -2.04508802e-02 3.33763574e+01] [ 6.38540536e-01 -1.73883680e-02 7.69391727e-01 2.89194415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36037174299997 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:56.46, Y:33.38, Z:28.92 [[-7.69441573e-01 -1.04831730e-02 6.38631169e-01 5.64557388e+01] [-3.09049854e-03 -9.99792490e-01 -2.01351835e-02 3.33789836e+01] [ 6.38709727e-01 -1.74665359e-02 7.69249508e-01 2.89171252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39037174299997 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:56.45, Y:33.38, Z:28.92 [[-7.69230004e-01 -1.00316020e-02 6.38893237e-01 5.64544877e+01] [-3.42466739e-03 -9.99797666e-01 -1.98216674e-02 3.33841976e+01] [ 6.38962810e-01 -1.74354181e-02 7.69040008e-01 2.89178035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42037174299998 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:56.46, Y:33.39, Z:28.91 [[-7.69170625e-01 -9.70582896e-03 6.38969753e-01 5.64616873e+01] [-3.58472932e-03 -9.99803392e-01 -1.95020017e-02 3.33863956e+01] [ 6.39033410e-01 -1.72909004e-02 7.68984607e-01 2.89122076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45037174299998 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:56.46, Y:33.39, Z:28.91 [[-7.69852476e-01 -1.01773387e-02 6.38140727e-01 5.64618909e+01] [-2.66107559e-03 -9.99812970e-01 -1.91557603e-02 3.33912024e+01] [ 6.38216330e-01 -1.64452502e-02 7.69681408e-01 2.89128528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48037174299998 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:56.46, Y:33.39, Z:28.91 [[-7.70594761e-01 -1.00453392e-02 6.37246268e-01 5.64648168e+01] [-2.52056303e-03 -9.99819921e-01 -1.88088397e-02 3.33934722e+01] [ 6.37320455e-01 -1.61002127e-02 7.70430673e-01 2.89102239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51037174299998 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:56.47, Y:33.40, Z:28.91 [[-7.71205415e-01 -1.02618865e-02 6.36503654e-01 5.64663208e+01] [-1.93747975e-03 -9.99827593e-01 -1.84669987e-02 3.33959920e+01] [ 6.36583422e-01 -1.54750624e-02 7.71052572e-01 2.89092063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54037174299998 meters Centerline goodness : 0.986935 Centerline is valid? [True, True] Translation: X:55.69, Y:33.42, Z:29.55 [[-7.72576549e-01 -8.14957275e-03 6.34869325e-01 5.56881448e+01] [-5.41736599e-03 -9.99796612e-01 -1.94264310e-02 3.34218455e+01] [ 6.34898518e-01 -1.84477245e-02 7.72375268e-01 2.95506975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57037174299998 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:56.46, Y:33.40, Z:28.91 [[-7.71896242e-01 -7.53629333e-03 6.35703859e-01 5.64628557e+01] [ 2.35383572e-03 -9.99956761e-01 -8.99640681e-03 3.34001488e+01] [ 6.35744171e-01 -5.44795016e-03 7.71880605e-01 2.89147604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60037174299998 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:56.46, Y:33.41, Z:28.91 [[-7.72190649e-01 -1.55165495e-02 6.35201416e-01 5.64634906e+01] [ 4.01300119e-03 -9.99800935e-01 -1.95444444e-02 3.34107692e+01] [ 6.35378232e-01 -1.25429731e-02 7.72099201e-01 2.89094413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63037174299998 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:56.47, Y:33.41, Z:28.91 [[-7.72016484e-01 -1.57549607e-02 6.35407215e-01 5.64670561e+01] [ 4.57487118e-03 -9.99804586e-01 -1.92317709e-02 3.34137696e+01] [ 6.35586043e-01 -1.19403380e-02 7.71937698e-01 2.89061604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66037174299998 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:56.47, Y:33.42, Z:28.90 [[-7.71535832e-01 -1.66014586e-02 6.35969222e-01 5.64692491e+01] [ 5.90966824e-03 -9.99803353e-01 -1.89296475e-02 3.34210842e+01] [ 6.36158420e-01 -1.08465342e-02 7.71482221e-01 2.89036036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690371743 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:56.47, Y:33.42, Z:28.90 [[-7.71375637e-01 -1.66760067e-02 6.36161566e-01 5.64721594e+01] [ 6.26096266e-03 -9.99807091e-01 -1.86167105e-02 3.34247963e+01] [ 6.36349297e-01 -1.03774931e-02 7.71331239e-01 2.89014019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720371743 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:56.47, Y:33.43, Z:28.90 [[-7.71329888e-01 -1.66128613e-02 6.36218686e-01 5.64737490e+01] [ 6.43954308e-03 -9.99811806e-01 -1.82998756e-02 3.34285193e+01] [ 6.36402967e-01 -1.00182834e-02 7.71291707e-01 2.88997862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750371743 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:56.48, Y:33.44, Z:28.90 [[-7.71315103e-01 -1.70850712e-02 6.36224106e-01 5.64763378e+01] [ 7.31410951e-03 -9.99811564e-01 -1.79816648e-02 3.34362734e+01] [ 6.36411436e-01 -9.21611686e-03 7.71294721e-01 2.88969362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780371743 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:56.50, Y:33.45, Z:28.87 [[-7.77293236e-01 -2.43443250e-02 6.28667304e-01 5.64985282e+01] [ 2.83629594e-02 -9.99591065e-01 -3.63949769e-03 3.34494338e+01] [ 6.28498821e-01 1.50019083e-02 7.77665851e-01 2.88735068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810371743 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:56.48, Y:33.46, Z:28.89 [[-7.71120843e-01 -4.26709627e-02 6.35257298e-01 5.64767557e+01] [ 9.74197035e-03 -9.98425585e-01 -5.52398919e-02 3.34646382e+01] [ 6.36614279e-01 -3.64079742e-02 7.70322477e-01 2.88851613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840371743 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:56.48, Y:33.45, Z:28.89 [[-7.70655867e-01 -1.92141798e-02 6.36961812e-01 5.64845640e+01] [ 1.05036158e-02 -9.99792550e-01 -1.74508431e-02 3.34525431e+01] [ 6.37164977e-01 -6.75819252e-03 7.70697813e-01 2.88895481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870371743 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:56.49, Y:33.46, Z:28.89 [[-7.70791908e-01 -2.00819949e-02 6.36770405e-01 5.64868075e+01] [ 1.18979525e-02 -9.99782507e-01 -1.71282798e-02 3.34610546e+01] [ 6.36975881e-01 -5.62607545e-03 7.70863201e-01 2.88881880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900371743 meters Centerline goodness : 0.990216 Centerline is valid? [True, True] Translation: X:56.49, Y:33.47, Z:28.89 [[-7.70945045e-01 -1.99316127e-02 6.36589717e-01 5.64885278e+01] [ 1.19706580e-02 -9.99787105e-01 -1.68061934e-02 3.34652880e+01] [ 6.36789165e-01 -5.33625376e-03 7.71019510e-01 2.88866616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93037174299997 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:56.49, Y:33.47, Z:28.89 [[-7.71043394e-01 -2.01708650e-02 6.36463056e-01 5.64894286e+01] [ 1.25466573e-02 -9.99785379e-01 -1.64856680e-02 3.34747513e+01] [ 6.36658988e-01 -4.72568161e-03 7.71130989e-01 2.88872194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96037174299997 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:56.50, Y:33.48, Z:28.88 [[-7.71384263e-01 -1.98146962e-02 6.36061080e-01 5.64954909e+01] [ 1.23583765e-02 -9.99793072e-01 -1.61581004e-02 3.34793821e+01] [ 6.36249629e-01 -4.60342200e-03 7.71469519e-01 2.88820736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99037174299997 meters Centerline goodness : 0.988465 Centerline is valid? [True, True] Translation: X:56.52, Y:33.50, Z:28.86 [[-7.70703500e-01 -3.33805019e-02 6.36318990e-01 5.65190123e+01] [ 2.77600865e-02 -9.99437688e-01 -1.88065043e-02 3.34984373e+01] [ 6.36588951e-01 3.17003151e-03 7.71196770e-01 2.88628372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02037174299997 meters Centerline goodness : 0.988431 Centerline is valid? [True, True] Translation: X:56.50, Y:33.50, Z:28.88 [[-7.71814697e-01 -2.84041189e-02 6.35212783e-01 5.64974107e+01] [ 1.18337458e-02 -9.99470382e-01 -3.03136479e-02 3.35001848e+01] [ 6.35737395e-01 -1.58795724e-02 7.71742058e-01 2.88783462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05037174299997 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:56.50, Y:33.50, Z:28.88 [[-7.71835635e-01 -1.75635325e-02 6.35579479e-01 5.64992514e+01] [ 9.98273891e-03 -9.99829935e-01 -1.55063406e-02 3.35039176e+01] [ 6.35743735e-01 -5.62352227e-03 7.71879705e-01 2.88804016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08037174299997 meters Centerline goodness : 0.989503 Centerline is valid? [True, True] Translation: X:56.52, Y:33.52, Z:28.86 [[-7.70682208e-01 -2.88457419e-02 6.36566460e-01 5.65216617e+01] [ 2.15977754e-02 -9.99583367e-01 -1.91475726e-02 3.35170637e+01] [ 6.36853571e-01 -1.00827411e-03 7.70984120e-01 2.88615511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11037174299997 meters Centerline goodness : 0.989846 Centerline is valid? [True, True] Translation: X:56.50, Y:33.52, Z:28.88 [[-7.71236024e-01 -2.17314397e-02 6.36178229e-01 5.64999151e+01] [ 5.46538719e-03 -9.99606305e-01 -2.75202449e-02 3.35238140e+01] [ 6.36525824e-01 -1.77476439e-02 7.71051164e-01 2.88766068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14037174299997 meters Centerline goodness : 0.989522 Centerline is valid? [True, True] Translation: X:56.50, Y:33.52, Z:28.88 [[-7.70852995e-01 -1.20542478e-02 6.36899015e-01 5.65008213e+01] [ 3.51678718e-03 -9.99886236e-01 -1.46678677e-02 3.35231620e+01] [ 6.37003369e-01 -9.06693146e-03 7.70807693e-01 2.88782102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17037174299998 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:56.50, Y:33.53, Z:28.88 [[-7.70469417e-01 -8.68318911e-03 6.37417822e-01 5.64992194e+01] [-6.12343892e-04 -9.99896685e-01 -1.43611991e-02 3.35328164e+01] [ 6.37476669e-01 -1.14551836e-02 7.70384499e-01 2.88804924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20037174299998 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:56.50, Y:33.54, Z:28.88 [[-7.70249026e-01 -6.55002247e-03 6.37709600e-01 5.65008449e+01] [-3.12787287e-03 -9.99896429e-01 -1.40480637e-02 3.35369589e+01] [ 6.37735567e-01 -1.28151820e-02 7.70148763e-01 2.88795236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23037174299998 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:56.50, Y:33.54, Z:28.88 [[-7.70230273e-01 -2.46041678e-03 6.37761141e-01 5.65022696e+01] [-8.17372705e-03 -9.99872346e-01 -1.37288934e-02 3.35449584e+01] [ 6.37713507e-01 -1.57872948e-02 7.70111839e-01 2.88801146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26037174299998 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:56.50, Y:33.55, Z:28.88 [[-7.70286937e-01 -4.91697366e-04 6.37697258e-01 5.65013556e+01] [-1.04609985e-02 -9.99855400e-01 -1.34069837e-02 3.35485767e+01] [ 6.37611639e-01 -1.69981745e-02 7.70170409e-01 2.88820976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29037174299998 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:56.50, Y:33.56, Z:28.88 [[-7.70706396e-01 2.63003795e-03 6.37185007e-01 5.65013321e+01] [-1.42220269e-02 -9.99813366e-01 -1.30754176e-02 3.35557991e+01] [ 6.37031698e-01 -1.91393703e-02 7.70599961e-01 2.88833318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32037174299998 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:56.50, Y:33.56, Z:28.88 [[-7.70699153e-01 3.13550263e-03 6.37191482e-01 5.65033361e+01] [-1.46119014e-02 -9.99811902e-01 -1.27535716e-02 3.35556983e+01] [ 6.37031639e-01 -1.91397459e-02 7.70600001e-01 2.88817287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35037174299998 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:56.51, Y:33.56, Z:28.88 [[-7.70615026e-01 4.99926631e-03 6.37281326e-01 5.65052782e+01] [-1.67676217e-02 -9.99782112e-01 -1.24328202e-02 3.35584821e+01] [ 6.37080315e-01 -2.02666103e-02 7.70530944e-01 2.88806766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38037174299998 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:56.51, Y:33.56, Z:28.88 [[-7.70569757e-01 6.54433726e-03 6.37322071e-01 5.65083010e+01] [-1.85075942e-02 -9.99755365e-01 -1.21110761e-02 3.35611917e+01] [ 6.37086901e-01 -2.11277272e-02 7.70502369e-01 2.88786221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41037174299998 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:56.50, Y:33.57, Z:28.88 [[-7.70145048e-01 9.50034641e-03 6.37798047e-01 5.65040346e+01] [-2.21017434e-02 -9.99686121e-01 -1.17971258e-02 3.35651736e+01] [ 6.37485779e-01 -2.31819468e-02 7.70113290e-01 2.88835472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440371743 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.69955118e-01 1.10931247e-02 6.38001614e-01 5.65078670e+01] [-2.39124787e-02 -9.99648175e-01 -1.14769513e-02 3.35667588e+01] [ 6.37649833e-01 -2.40929373e-02 7.69949492e-01 2.88815985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470371743 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.70096337e-01 1.37263811e-02 6.37779913e-01 5.65111050e+01] [-2.70496215e-02 -9.99571923e-01 -1.11485313e-02 3.35694439e+01] [ 6.37353865e-01 -2.58371484e-02 7.70137970e-01 2.88807347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500371743 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.70370381e-01 1.52463481e-02 6.37414328e-01 5.65116387e+01] [-2.87327164e-02 -9.99528588e-01 -1.08181955e-02 3.35702250e+01] [ 6.36948905e-01 -2.66486625e-02 7.70445288e-01 2.88805707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.70462000e-01 1.83999341e-02 6.37220330e-01 5.65122301e+01] [-3.25442337e-02 -9.99415238e-01 -1.04907527e-02 3.35710139e+01] [ 6.36654678e-01 -2.88205737e-02 7.70610275e-01 2.88814555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.70452999e-01 2.04596027e-02 6.37168409e-01 5.65110811e+01] [-3.49443775e-02 -9.99337560e-01 -1.01652105e-02 3.35714667e+01] [ 6.36538347e-01 -3.00972703e-02 7.70657568e-01 2.88832996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590371743 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:56.53, Y:33.57, Z:28.85 [[-7.82492033e-01 2.47405637e-02 6.22168886e-01 5.65325571e+01] [-2.14871641e-02 -9.99688094e-01 1.27285572e-02 3.35725165e+01] [ 6.22289739e-01 -3.40865033e-03 7.82779574e-01 2.88507298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620371743 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:56.51, Y:33.59, Z:28.88 [[-7.72142979e-01 3.55085190e-04 6.35448735e-01 5.65100032e+01] [-3.99855229e-02 -9.98045262e-01 -4.80292869e-02 3.35881218e+01] [ 6.34189545e-01 -6.24942266e-02 7.70647840e-01 2.88794131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650371743 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.70758132e-01 2.64166018e-02 6.36579976e-01 5.65131148e+01] [-4.20587979e-02 -9.99070305e-01 -9.46482508e-03 3.35726514e+01] [ 6.35738122e-01 -3.40688795e-02 7.71152612e-01 2.88809259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68037174299997 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.69880537e-01 2.79369428e-02 6.37576259e-01 5.65110971e+01] [-4.38304470e-02 -9.98997061e-01 -9.15229244e-03 3.35720583e+01] [ 6.36681121e-01 -3.49914243e-02 7.70332883e-01 2.88826878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71037174299997 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.69247804e-01 2.91160672e-02 6.38286825e-01 5.65110806e+01] [-4.51402063e-02 -9.98941599e-01 -8.83420045e-03 3.35711219e+01] [ 6.37354044e-01 -3.56080882e-02 7.69747937e-01 2.88815838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74037174299997 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.68274591e-01 3.16743104e-02 6.39336290e-01 5.65149644e+01] [-4.82674222e-02 -9.98798121e-01 -8.51882242e-03 3.35683675e+01] [ 6.38298057e-01 -3.74039094e-02 7.68880055e-01 2.88778825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77037174299997 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.67826706e-01 3.35158078e-02 6.39780307e-01 5.65146241e+01] [-5.04216725e-02 -9.98694395e-01 -8.19509015e-03 3.35671138e+01] [ 6.38670341e-01 -3.85512022e-02 7.68514151e-01 2.88781853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80037174299997 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.88 [[-7.67936457e-01 3.69556917e-02 6.39459049e-01 5.65132957e+01] [-5.45966819e-02 -9.98477538e-01 -7.86188633e-03 3.35657512e+01] [ 6.38194955e-01 -4.09497714e-02 7.68784960e-01 2.88785320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83037174299997 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:56.51, Y:33.56, Z:28.88 [[-7.67734304e-01 3.91341147e-02 6.39572169e-01 5.65130231e+01] [-5.71641893e-02 -9.98336371e-01 -7.53300296e-03 3.35647932e+01] [ 6.38213361e-01 -4.23439693e-02 7.68694149e-01 2.88795836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86037174299997 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:56.51, Y:33.56, Z:28.88 [[-7.68016906e-01 4.29126219e-02 6.38990250e-01 5.65113605e+01] [-6.17532979e-02 -9.98065505e-01 -7.19567973e-03 3.35612988e+01] [ 6.37445341e-01 -4.49861589e-02 7.69181177e-01 2.88812814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89037174299997 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:56.51, Y:33.56, Z:28.88 [[-7.67741490e-01 4.49673342e-02 6.39179900e-01 5.65144872e+01] [-6.41648656e-02 -9.97915694e-01 -6.86570558e-03 3.35588695e+01] [ 6.37538920e-01 -4.62839794e-02 7.69026604e-01 2.88795666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92037174299998 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:56.55, Y:33.55, Z:28.83 [[-7.85120686e-01 5.08564923e-02 6.17251267e-01 5.65456943e+01] [-4.57471803e-02 -9.98662468e-01 2.40929639e-02 3.35535772e+01] [ 6.17650957e-01 -9.32162067e-03 7.86397102e-01 2.88330796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95037174299998 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:56.51, Y:33.57, Z:28.87 [[-7.69759681e-01 1.79576840e-02 6.38081150e-01 5.65092480e+01] [-6.89760256e-02 -9.96091258e-01 -5.51771062e-02 3.35722740e+01] [ 6.34596203e-01 -8.64854134e-02 7.67989539e-01 2.88746780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98037174299998 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:56.52, Y:33.55, Z:28.88 [[-7.67259347e-01 5.07572422e-02 6.39325267e-01 5.65177104e+01] [-7.12393766e-02 -9.97439312e-01 -6.30634990e-03 3.35451763e+01] [ 6.37368061e-01 -5.03837394e-02 7.68910550e-01 2.88758759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01037174299998 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:56.52, Y:33.54, Z:28.88 [[-7.67747399e-01 5.14819499e-02 6.38681094e-01 5.65179945e+01] [-7.18459611e-02 -9.97397886e-01 -5.96786382e-03 3.35416424e+01] [ 6.36711936e-01 -5.04684690e-02 7.69448403e-01 2.88754262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04037174299998 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:56.54, Y:33.53, Z:28.84 [[-7.87400897e-01 6.49670609e-02 6.13008245e-01 5.65433821e+01] [-4.96717432e-02 -9.97884060e-01 4.19537903e-02 3.35262928e+01] [ 6.14436770e-01 2.58526400e-03 7.88961832e-01 2.88397108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07037174299998 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:56.51, Y:33.56, Z:28.87 [[-7.72148770e-01 7.01795165e-03 6.35403042e-01 5.65145747e+01] [-7.36703096e-02 -9.94184830e-01 -7.85443169e-02 3.35602499e+01] [ 6.31156845e-01 -1.07458236e-01 7.68175608e-01 2.88651354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10037174299998 meters Centerline goodness : 0.988195 Centerline is valid? [True, True] Translation: X:56.54, Y:33.53, Z:28.84 [[-7.84258582e-01 5.49288533e-02 6.17997814e-01 5.65442340e+01] [-5.45654274e-02 -9.98320017e-01 1.94873974e-02 3.35270664e+01] [ 6.18030008e-01 -1.84381562e-02 7.85938257e-01 2.88372762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13037174299998 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:56.52, Y:33.53, Z:28.87 [[-7.70900099e-01 2.97467262e-02 6.36261087e-01 5.65169903e+01] [-7.62616110e-02 -9.96033917e-01 -4.58323412e-02 3.35332219e+01] [ 6.32374260e-01 -8.38544518e-02 7.70111178e-01 2.88673266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16037174299998 meters Centerline goodness : 0.988186 Centerline is valid? [True, True] Translation: X:56.52, Y:33.51, Z:28.87 [[-7.68084512e-01 5.63103979e-02 6.37867793e-01 5.65218304e+01] [-7.72349539e-02 -9.97000444e-01 -4.98767968e-03 3.35117469e+01] [ 6.35673614e-01 -5.30966491e-02 7.70129731e-01 2.88719187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190371743 meters Centerline goodness : 0.987455 Centerline is valid? [True, True] Translation: X:56.55, Y:33.50, Z:28.84 [[-7.83330920e-01 6.19563232e-02 6.18509566e-01 5.65475452e+01] [-5.49494429e-02 -9.98026853e-01 3.03802521e-02 3.35011907e+01] [ 6.19171405e-01 -1.01889653e-02 7.85189758e-01 2.88369850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220371743 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:56.52, Y:33.52, Z:28.86 [[-7.69738573e-01 2.04652349e-02 6.38031115e-01 5.65175591e+01] [-7.97918914e-02 -9.94731868e-01 -6.43565405e-02 3.35239831e+01] [ 6.33352811e-01 -1.00447421e-01 7.67316448e-01 2.88605568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250371743 meters Centerline goodness : 0.987560 Centerline is valid? [True, True] Translation: X:56.55, Y:33.49, Z:28.84 [[-7.79235793e-01 6.21679303e-02 6.23639901e-01 5.65488722e+01] [-5.88604810e-02 -9.97929311e-01 2.59332449e-02 3.34933820e+01] [ 6.23960754e-01 -1.64996320e-02 7.81281473e-01 2.88385578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280371743 meters Centerline goodness : 0.986569 Centerline is valid? [True, True] Translation: X:56.53, Y:33.52, Z:28.84 [[-7.70574207e-01 1.46981238e-02 6.37180788e-01 5.65340035e+01] [-6.79918443e-02 -9.95924823e-01 -5.92524694e-02 3.35186706e+01] [ 6.33713264e-01 -8.89815215e-02 7.68433333e-01 2.88441647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310371743 meters Centerline goodness : 0.987744 Centerline is valid? [True, True] Translation: X:56.52, Y:33.49, Z:28.87 [[-7.65763821e-01 5.14250245e-02 6.41062585e-01 5.65227152e+01] [-8.60908347e-02 -9.96023199e-01 -2.29380554e-02 3.34851340e+01] [ 6.37333617e-01 -7.27547460e-02 7.67145754e-01 2.88653684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340371743 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:56.54, Y:33.48, Z:28.85 [[-7.66387310e-01 5.20831369e-02 6.40263881e-01 5.65416975e+01] [-7.22174620e-02 -9.97374772e-01 -5.31052857e-03 3.34813598e+01] [ 6.38306454e-01 -5.03081542e-02 7.68136681e-01 2.88532358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370371743 meters Centerline goodness : 0.987446 Centerline is valid? [True, True] Translation: X:56.54, Y:33.48, Z:28.85 [[-7.67426391e-01 4.15377758e-02 6.39790081e-01 5.65368601e+01] [-7.28812966e-02 -9.97082570e-01 -2.26862507e-02 3.34792769e+01] [ 6.36981201e-01 -6.40387581e-02 7.68214805e-01 2.88537487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400371743 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:56.53, Y:33.47, Z:28.86 [[-7.66337558e-01 5.37987886e-02 6.40181567e-01 5.65322850e+01] [-8.67191813e-02 -9.96029902e-01 -2.01051766e-02 3.34652079e+01] [ 6.36558349e-01 -7.09233733e-02 7.67960509e-01 2.88600175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43037174299997 meters Centerline goodness : 0.990011 Centerline is valid? [True, True] Translation: X:56.53, Y:33.45, Z:28.86 [[-7.65970416e-01 6.27769472e-02 6.39803390e-01 5.65347516e+01] [-8.43228799e-02 -9.96433403e-01 -3.18189040e-03 3.34480453e+01] [ 6.37321720e-01 -5.63872983e-02 7.68532041e-01 2.88640065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46037174299997 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:56.54, Y:33.44, Z:28.86 [[-7.66527633e-01 6.14712022e-02 6.39262605e-01 5.65401572e+01] [-8.22957751e-02 -9.96603885e-01 -2.84632124e-03 3.34428365e+01] [ 6.36916629e-01 -5.47903955e-02 7.68983238e-01 2.88602549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49037174299997 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:56.56, Y:33.45, Z:28.84 [[-7.67977106e-01 4.82939624e-02 6.38653943e-01 5.65589507e+01] [-6.63326084e-02 -9.97788244e-01 -4.31341054e-03 3.34454350e+01] [ 6.37033084e-01 -4.56761824e-02 7.69481992e-01 2.88437160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52037174299997 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:56.55, Y:33.43, Z:28.85 [[-7.67428362e-01 4.46784660e-02 6.39576066e-01 5.65464433e+01] [-7.36444473e-02 -9.97109005e-01 -1.87116707e-02 3.34334429e+01] [ 6.36891047e-01 -6.14610927e-02 7.68500051e-01 2.88525456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55037174299997 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:56.56, Y:33.42, Z:28.85 [[-7.67016913e-01 5.33448054e-02 6.39405495e-01 5.65562411e+01] [-7.12288032e-02 -9.97457515e-01 -2.22788147e-03 3.34215096e+01] [ 6.37660970e-01 -4.72529110e-02 7.68866470e-01 2.88499534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58037174299997 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:56.57, Y:33.42, Z:28.83 [[-7.74894083e-01 4.75967619e-02 6.30296525e-01 5.65747246e+01] [-5.01097064e-02 -9.98648274e-01 1.38073252e-02 3.34150694e+01] [ 6.30101720e-01 -2.08847592e-02 7.76231698e-01 2.88325416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61037174299997 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:56.55, Y:33.42, Z:28.84 [[-7.68482112e-01 2.54610437e-02 6.39364512e-01 5.65531956e+01] [-6.52901615e-02 -9.97112957e-01 -3.87678456e-02 3.34181975e+01] [ 6.36531569e-01 -7.15366081e-02 7.67925826e-01 2.88410131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64037174299997 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:56.56, Y:33.40, Z:28.85 [[-7.66873565e-01 4.93919103e-02 6.39894815e-01 5.65616880e+01] [-6.55470360e-02 -9.97848304e-01 -1.53252580e-03 3.34027876e+01] [ 6.38442262e-01 -4.31184620e-02 7.68460979e-01 2.88472309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67037174299998 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:56.57, Y:33.39, Z:28.84 [[-7.65986096e-01 4.88857385e-02 6.40995699e-01 5.65678157e+01] [-6.46948621e-02 -9.97904366e-01 -1.20449004e-03 3.33943152e+01] [ 6.39593524e-01 -4.23917509e-02 7.67543526e-01 2.88422016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70037174299998 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:56.58, Y:33.39, Z:28.83 [[-7.72377591e-01 4.54411089e-02 6.33536078e-01 5.65791724e+01] [-4.90093687e-02 -9.98727605e-01 1.18849612e-02 3.33944127e+01] [ 6.33270036e-01 -2.18695255e-02 7.73621862e-01 2.88300884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73037174299998 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:56.56, Y:33.40, Z:28.83 [[-7.66986160e-01 2.92875585e-02 6.40994906e-01 5.65642056e+01] [-6.56687623e-02 -9.97295348e-01 -3.30091329e-02 3.33967041e+01] [ 6.38294481e-01 -6.74108902e-02 7.66835007e-01 2.88324228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76037174299998 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:56.57, Y:33.38, Z:28.84 [[-7.65436137e-01 5.11752420e-02 6.41473783e-01 5.65722433e+01] [-6.71027352e-02 -9.97745960e-01 -4.72299088e-04 3.33762451e+01] [ 6.40003705e-01 -4.34061602e-02 7.67144812e-01 2.88385555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79037174299998 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:56.57, Y:33.37, Z:28.84 [[-7.65245276e-01 5.23918488e-02 6.41603275e-01 5.65730523e+01] [-6.84234756e-02 -9.97656357e-01 -1.42892633e-04 3.33725294e+01] [ 6.40092099e-01 -4.40100739e-02 7.67036647e-01 2.88383739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82037174299998 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:56.58, Y:33.37, Z:28.83 [[-7.65134533e-01 5.35225128e-02 6.41642025e-01 5.65781969e+01] [-6.96253588e-02 -9.97573193e-01 1.86798238e-04 3.33693081e+01] [ 6.40094881e-01 -4.45316304e-02 7.67004223e-01 2.88348529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85037174299998 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:56.59, Y:33.36, Z:28.82 [[-7.84699387e-01 6.96642264e-02 6.15949485e-01 5.65903622e+01] [-4.80757604e-02 -9.97511421e-01 5.15721540e-02 3.33576717e+01] [ 6.18009380e-01 1.08563978e-02 7.86095761e-01 2.88231311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88037174299998 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:56.57, Y:33.39, Z:28.80 [[-7.89043602e-01 1.47078429e-02 6.14161113e-01 5.65718093e+01] [-4.70951865e-02 -9.98219645e-01 -3.66003275e-02 3.33916748e+01] [ 6.12529376e-01 -5.78032865e-02 7.88331493e-01 2.87992618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91037174299998 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:56.57, Y:33.39, Z:28.82 [[-7.67808717e-01 1.77167086e-02 6.40434143e-01 5.65671574e+01] [-7.63568802e-02 -9.95023315e-01 -6.40174177e-02 3.33852975e+01] [ 6.36112726e-01 -9.80546845e-02 7.65340368e-01 2.88183005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:56.58, Y:33.35, Z:28.83 [[-7.64397128e-01 6.18207740e-02 6.41775056e-01 5.65802107e+01] [-7.97609500e-02 -9.96813498e-01 1.02020306e-03 3.33528743e+01] [ 6.39793108e-01 -5.04087478e-02 7.66892259e-01 2.88340200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970371743 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:56.58, Y:33.35, Z:28.83 [[-7.63680444e-01 6.39414193e-02 6.42420170e-01 5.65817408e+01] [-8.23064506e-02 -9.96606151e-01 1.35205130e-03 3.33499722e+01] [ 6.40326345e-01 -5.18427889e-02 7.66351419e-01 2.88329735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000371743 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:56.58, Y:33.35, Z:28.83 [[-7.62781033e-01 6.70809649e-02 6.43168128e-01 5.65820843e+01] [-8.61942375e-02 -9.96276926e-01 1.68523281e-03 3.33452046e+01] [ 6.40886612e-01 -5.41519227e-02 7.65723135e-01 2.88322306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030371743 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:56.59, Y:33.34, Z:28.82 [[-7.77658923e-01 7.63876872e-02 6.24028462e-01 5.65927967e+01] [-6.75499454e-02 -9.96997197e-01 3.78628438e-02 3.33390919e+01] [ 6.25046882e-01 -1.27087102e-02 7.80483750e-01 2.88214398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060371743 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:56.58, Y:33.36, Z:28.80 [[-7.84543254e-01 3.92292479e-02 6.18831923e-01 5.65849502e+01] [-6.42296980e-02 -9.97769563e-01 -1.81781616e-02 3.33623349e+01] [ 6.16738542e-01 -5.40089416e-02 7.85313062e-01 2.87970205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090371743 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:56.57, Y:33.36, Z:28.81 [[-7.77453600e-01 3.20773926e-02 6.28121757e-01 5.65740634e+01] [-7.09745639e-02 -9.96793762e-01 -3.69432919e-02 3.33616918e+01] [ 6.24922804e-01 -7.33023630e-02 7.77237578e-01 2.88082730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120371743 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:56.58, Y:33.35, Z:28.81 [[-7.77607437e-01 4.41683546e-02 6.27196804e-01 5.65801604e+01] [-7.09931707e-02 -9.97318230e-01 -1.77853462e-02 3.33506397e+01] [ 6.24729256e-01 -5.83567072e-02 7.78657724e-01 2.88112833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150371743 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:56.58, Y:33.34, Z:28.81 [[-7.77321937e-01 4.25059891e-02 6.27665394e-01 5.65790637e+01] [-7.07499172e-02 -9.97291921e-01 -2.00816921e-02 3.33441886e+01] [ 6.25112034e-01 -6.00172145e-02 7.78224183e-01 2.88142741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18037174299997 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:56.59, Y:33.34, Z:28.81 [[-7.76842144e-01 4.33964518e-02 6.28198243e-01 5.65851432e+01] [-7.08302883e-02 -9.97313176e-01 -1.86948945e-02 3.33404641e+01] [ 6.25699092e-01 -5.90184445e-02 7.77828689e-01 2.88116497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21037174299997 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:56.59, Y:33.33, Z:28.81 [[-7.76537899e-01 4.33696817e-02 6.28576138e-01 5.65850413e+01] [-6.94620819e-02 -9.97439854e-01 -1.69928343e-02 3.33342110e+01] [ 6.26229918e-01 -5.68577870e-02 7.77562397e-01 2.88132115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24037174299997 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:56.59, Y:33.33, Z:28.81 [[-7.76421571e-01 4.56284423e-02 6.28559933e-01 5.65878011e+01] [-6.98442635e-02 -9.97461526e-01 -1.38665808e-02 3.33329840e+01] [ 6.26331640e-01 -5.46676181e-02 7.77637530e-01 2.88123617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27037174299997 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:56.59, Y:33.33, Z:28.81 [[-7.77352436e-01 4.79489323e-02 6.27235275e-01 5.65922359e+01] [-6.81534863e-02 -9.97641147e-01 -8.20019370e-03 3.33279326e+01] [ 6.25362529e-01 -4.91227113e-02 7.78786663e-01 2.88099676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30037174299997 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:56.59, Y:33.33, Z:28.81 [[-7.65476042e-01 3.71772593e-02 6.42389508e-01 5.65924507e+01] [-8.43817687e-02 -9.95507998e-01 -4.29365097e-02 3.33295716e+01] [ 6.37907631e-01 -8.70728324e-02 7.65174605e-01 2.88075530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33037174299997 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:56.61, Y:33.30, Z:28.82 [[-7.72544238e-01 6.77225372e-02 6.31339100e-01 5.66078515e+01] [-6.67094962e-02 -9.97449983e-01 2.53648265e-02 3.33041068e+01] [ 6.31446945e-01 -2.25208627e-02 7.75091973e-01 2.88167381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36037174299997 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:56.60, Y:33.32, Z:28.80 [[-7.74122853e-01 3.99215206e-02 6.31775341e-01 5.66027273e+01] [-6.54603272e-02 -9.97707529e-01 -1.71648573e-02 3.33183159e+01] [ 6.29641767e-01 -5.46439288e-02 7.74961474e-01 2.87997952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39037174299997 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:56.61, Y:33.31, Z:28.80 [[-7.64006851e-01 3.99096994e-02 6.43972629e-01 5.66057960e+01] [-7.72725586e-02 -9.96561115e-01 -2.99147956e-02 3.33098822e+01] [ 6.40564191e-01 -7.26165215e-02 7.64463444e-01 2.88032294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42037174299998 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:56.61, Y:33.30, Z:28.81 [[-7.69863555e-01 5.93314620e-02 6.35444635e-01 5.66109649e+01] [-6.15146286e-02 -9.97931930e-01 1.86497596e-02 3.32955106e+01] [ 6.35237009e-01 -2.47313705e-02 7.71921176e-01 2.88143104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45037174299998 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:56.61, Y:33.30, Z:28.80 [[-7.71750496e-01 3.76948834e-02 6.34807268e-01 5.66140817e+01] [-5.62354229e-02 -9.98376219e-01 -9.08313528e-03 3.33019159e+01] [ 6.33434092e-01 -4.27085693e-02 7.72617130e-01 2.87981208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48037174299998 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:56.62, Y:33.30, Z:28.79 [[-7.73266143e-01 3.25909839e-02 6.33243476e-01 5.66243264e+01] [-5.27025759e-02 -9.98526084e-01 -1.29652658e-02 3.33014540e+01] [ 6.31887578e-01 -4.33991634e-02 7.73844042e-01 2.87865544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51037174299998 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:56.63, Y:33.29, Z:28.78 [[-7.74259501e-01 3.17475929e-02 6.32071448e-01 5.66320925e+01] [-4.51856525e-02 -9.98965205e-01 -5.17454177e-03 3.32937644e+01] [ 6.31253104e-01 -3.25669990e-02 7.74892837e-01 2.87840942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54037174299998 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:56.63, Y:33.30, Z:28.78 [[-7.76017002e-01 2.30450817e-02 6.30290835e-01 5.66286934e+01] [-4.07328877e-02 -9.99077216e-01 -1.36216439e-02 3.32961700e+01] [ 6.29395301e-01 -3.62441930e-02 7.76239598e-01 2.87810961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57037174299998 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:56.64, Y:33.29, Z:28.77 [[-7.76522402e-01 1.58760732e-02 6.29889602e-01 5.66418924e+01] [-3.35072700e-02 -9.99308459e-01 -1.61203669e-02 3.32938459e+01] [ 6.29198079e-01 -3.36237070e-02 7.76517369e-01 2.87699331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60037174299998 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:56.65, Y:33.29, Z:28.76 [[-7.77917934e-01 1.11675891e-02 6.28266642e-01 5.66471241e+01] [-2.94285876e-02 -9.99392436e-01 -1.86739533e-02 3.32939386e+01] [ 6.27676387e-01 -3.30158031e-02 7.77773945e-01 2.87628623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63037174299998 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:56.64, Y:33.29, Z:28.77 [[-7.80317388e-01 1.39102040e-02 6.25228982e-01 5.66426240e+01] [-2.52400752e-02 -9.99638523e-01 -9.26075718e-03 3.32892434e+01] [ 6.24874157e-01 -2.30071564e-02 7.80386416e-01 2.87687517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66037174299998 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:56.64, Y:33.29, Z:28.77 [[-7.66268678e-01 1.35644975e-03 6.42518851e-01 5.66362886e+01] [-4.31066617e-02 -9.97853238e-01 -4.93024397e-02 3.32922021e+01] [ 6.41072640e-01 -6.54757580e-02 7.64682153e-01 2.87714980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690371743 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:56.67, Y:33.27, Z:28.77 [[-7.81770904e-01 4.26574277e-02 6.22104973e-01 5.66685284e+01] [-2.00001464e-02 -9.98859388e-01 4.33580196e-02 3.32657260e+01] [ 6.23244934e-01 2.14538477e-02 7.81732361e-01 2.87732537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720371743 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:56.64, Y:33.30, Z:28.77 [[-7.66272991e-01 -4.19129279e-03 6.42501467e-01 5.66382137e+01] [-4.25815411e-02 -9.97449011e-01 -5.72912088e-02 3.32951717e+01] [ 6.41102578e-01 -7.12594086e-02 7.64139766e-01 2.87656817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750371743 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:56.66, Y:33.27, Z:28.78 [[-7.64726628e-01 3.68158625e-02 6.43302243e-01 5.66570995e+01] [-4.32072158e-02 -9.99049224e-01 5.81243180e-03 3.32694981e+01] [ 6.42904597e-01 -2.33503775e-02 7.65590256e-01 2.87831739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780371743 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:56.27, Y:33.27, Z:29.10 [[-7.70887390e-01 4.16953045e-02 6.35605328e-01 5.62676833e+01] [-3.85316973e-02 -9.99080394e-01 1.88062642e-02 3.32666478e+01] [ 6.35804954e-01 -9.99344020e-03 7.71785068e-01 2.91006563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810371743 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:56.65, Y:33.28, Z:28.78 [[-7.64609084e-01 2.62010286e-02 6.43961532e-01 5.66495009e+01] [-4.94784846e-02 -9.98610850e-01 -1.81176465e-02 3.32812715e+01] [ 6.42592272e-01 -4.57151578e-02 7.64843315e-01 2.87775062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:56.66, Y:33.27, Z:28.79 [[-7.63484193e-01 4.60571286e-02 6.44182139e-01 5.66558891e+01] [-5.46060028e-02 -9.98485703e-01 6.66979748e-03 3.32730519e+01] [ 6.43513847e-01 -3.00839267e-02 7.64843047e-01 2.87853812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870371743 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:56.66, Y:33.28, Z:28.78 [[-7.77527740e-01 5.37119028e-02 6.26550592e-01 5.66572729e+01] [-3.96891689e-02 -9.98550702e-01 3.63492251e-02 3.32751033e+01] [ 6.27594919e-01 3.39525859e-03 7.78532651e-01 2.87827461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:56.64, Y:33.30, Z:28.77 [[-7.76279290e-01 1.95151819e-02 6.30086996e-01 5.66435360e+01] [-4.34720690e-02 -9.98798458e-01 -2.26234367e-02 3.32994498e+01] [ 6.28888419e-01 -4.49532907e-02 7.76194923e-01 2.87677256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93037174299997 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:56.66, Y:33.29, Z:28.76 [[-7.81017964e-01 3.03853758e-02 6.23768923e-01 5.66567694e+01] [-4.11263654e-02 -9.99149965e-01 -2.82297333e-03 3.32932426e+01] [ 6.23152920e-01 -2.78581415e-02 7.81603712e-01 2.87617542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96037174299997 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:56.66, Y:33.30, Z:28.75 [[-7.77336022e-01 1.63035618e-02 6.28874313e-01 5.66567026e+01] [-4.52872521e-02 -9.98520680e-01 -3.00918139e-02 3.33037394e+01] [ 6.27453403e-01 -5.18714405e-02 7.76924437e-01 2.87538507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99037174299997 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:56.65, Y:33.30, Z:28.77 [[-7.66485864e-01 2.64313821e-02 6.41717073e-01 5.66472174e+01] [-6.59312690e-02 -9.97112449e-01 -3.76806642e-02 3.32977062e+01] [ 6.38868130e-01 -7.11909174e-02 7.66015252e-01 2.87729285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02037174299997 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:56.68, Y:33.27, Z:28.77 [[-7.82591176e-01 6.65855391e-02 6.18964795e-01 5.66762473e+01] [-4.42057615e-02 -9.97697434e-01 5.14361769e-02 3.32748264e+01] [ 6.20964494e-01 1.28916881e-02 7.83732673e-01 2.87736996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05037174299997 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:56.64, Y:33.31, Z:28.76 [[-7.67429309e-01 1.14131641e-02 6.41031977e-01 5.66433742e+01] [-6.68414098e-02 -9.95817271e-01 -6.22911687e-02 3.33110928e+01] [ 6.37639775e-01 -9.06515496e-02 7.64982232e-01 2.87634964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08037174299997 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:56.66, Y:33.28, Z:28.78 [[-7.65076079e-01 5.61456700e-02 6.41487535e-01 5.66643678e+01] [-6.64663428e-02 -9.97756145e-01 8.05608527e-03 3.32834417e+01] [ 6.40500444e-01 -3.64738122e-02 7.67091157e-01 2.87811312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11037174299997 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:56.67, Y:33.29, Z:28.78 [[-7.64626422e-01 5.64830876e-02 6.41993844e-01 5.66667479e+01] [-6.66601561e-02 -9.97740476e-01 8.38846988e-03 3.32852829e+01] [ 6.41017050e-01 -3.63813642e-02 7.66663902e-01 2.87789866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14037174299997 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:56.22, Y:33.28, Z:29.14 [[-7.70146219e-01 6.00007728e-02 6.35039139e-01 5.62220654e+01] [-6.24928059e-02 -9.97874045e-01 1.84943177e-02 3.32787173e+01] [ 6.34798748e-01 -2.54420488e-02 7.72258540e-01 2.91390901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17037174299998 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:56.66, Y:33.29, Z:28.77 [[-7.63943942e-01 4.59626550e-02 6.43643603e-01 5.66638152e+01] [-6.68288096e-02 -9.97731810e-01 -8.07133221e-03 3.32939461e+01] [ 6.41812717e-01 -4.91799812e-02 7.65282801e-01 2.87716524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20037174299998 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:56.67, Y:33.29, Z:28.77 [[-7.62838975e-01 5.71018120e-02 6.44062171e-01 5.66696778e+01] [-6.72547050e-02 -9.97697057e-01 8.79697612e-03 3.32875719e+01] [ 6.43081256e-01 -3.66055351e-02 7.64922566e-01 2.87748427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23037174299998 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:56.68, Y:33.29, Z:28.76 [[-7.80401336e-01 6.41225882e-02 6.21982354e-01 5.66808962e+01] [-4.62785071e-02 -9.97922840e-01 4.48141115e-02 3.32859721e+01] [ 6.23563994e-01 6.18857768e-03 7.81747816e-01 2.87607700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26037174299998 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:56.66, Y:33.31, Z:28.76 [[-7.64532473e-01 2.06018208e-02 6.44255898e-01 5.66555561e+01] [-6.84935568e-02 -9.96426902e-01 -4.94172269e-02 3.33118926e+01] [ 6.40935824e-01 -8.19084526e-02 7.63211815e-01 2.87572871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29037174299998 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:56.35, Y:33.28, Z:29.03 [[-7.70545616e-01 5.91403936e-02 6.34635224e-01 5.63497093e+01] [-5.68314366e-02 -9.98095080e-01 2.40083137e-02 3.32835422e+01] [ 6.34846156e-01 -1.75677306e-02 7.72438822e-01 2.90346969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32037174299998 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:56.68, Y:33.29, Z:28.76 [[-7.85413896e-01 4.33154417e-02 6.17453467e-01 5.66812007e+01] [-4.11750571e-02 -9.98995056e-01 1.77057068e-02 3.32934252e+01] [ 6.17599892e-01 -1.15173736e-02 7.86408115e-01 2.87550348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35037174299998 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:56.66, Y:33.31, Z:28.75 [[-7.70318726e-01 1.00470911e-02 6.37579890e-01 5.66636220e+01] [-6.16352410e-02 -9.96367213e-01 -5.87662640e-02 3.33127326e+01] [ 6.34673268e-01 -8.45661438e-02 7.68139577e-01 2.87516700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38037174299998 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:56.68, Y:33.29, Z:28.77 [[-7.68547171e-01 5.06531101e-02 6.37784845e-01 5.66827246e+01] [-6.08623576e-02 -9.98128547e-01 5.93103212e-03 3.32859562e+01] [ 6.36891686e-01 -3.42588114e-02 7.70191738e-01 2.87683064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41037174299998 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:56.68, Y:33.29, Z:28.77 [[-7.69103943e-01 5.01182380e-02 6.37155622e-01 5.66834834e+01] [-5.98718692e-02 -9.98186529e-01 6.24597700e-03 3.32855581e+01] [ 6.36313196e-01 -3.33438925e-02 7.70709868e-01 2.87687287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440371743 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:56.70, Y:33.28, Z:28.75 [[-7.86641473e-01 5.90940721e-02 6.14575531e-01 5.67000606e+01] [-3.86738834e-02 -9.98170447e-01 4.64767540e-02 3.32809611e+01] [ 6.16197633e-01 1.27925198e-02 7.87487669e-01 2.87541769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:56.68, Y:33.31, Z:28.74 [[-7.72183620e-01 9.37667913e-03 6.35330256e-01 5.66762226e+01] [-5.89852462e-02 -9.96631225e-01 -5.69819388e-02 3.33114268e+01] [ 6.32655670e-01 -8.14756313e-02 7.70135394e-01 2.87435498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500371743 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:56.69, Y:33.29, Z:28.76 [[-7.70093759e-01 4.92462230e-02 6.36027053e-01 5.66919944e+01] [-5.82270533e-02 -9.98280246e-01 6.79411555e-03 3.32852866e+01] [ 6.35267827e-01 -3.18018751e-02 7.71636850e-01 2.87631851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530371743 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:56.70, Y:33.29, Z:28.75 [[-7.82096935e-01 5.00780239e-02 6.21141350e-01 5.67040522e+01] [-3.90190396e-02 -9.98745259e-01 3.13914340e-02 3.32851916e+01] [ 6.21933999e-01 3.14805388e-04 7.83069602e-01 2.87501957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560371743 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:56.69, Y:33.30, Z:28.74 [[-7.71705809e-01 1.99391315e-02 6.35667032e-01 5.66896134e+01] [-5.57348162e-02 -9.97783156e-01 -3.63648745e-02 3.33022440e+01] [ 6.33532773e-01 -6.34917701e-02 7.71106361e-01 2.87437520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590371743 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:56.71, Y:33.28, Z:28.75 [[-7.85178549e-01 5.26661663e-02 6.17025868e-01 5.67110054e+01] [-3.32192649e-02 -9.98524512e-01 4.29567140e-02 3.32812508e+01] [ 6.18377819e-01 1.32315446e-02 7.85769559e-01 2.87478411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620371743 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:56.70, Y:33.31, Z:28.73 [[-7.79772827e-01 3.58295418e-03 6.26052315e-01 5.66955879e+01] [-3.34407604e-02 -9.98794448e-01 -3.59355935e-02 3.33117028e+01] [ 6.25168821e-01 -4.89572648e-02 7.78952586e-01 2.87280195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650371743 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:56.71, Y:33.30, Z:28.73 [[-7.84134298e-01 2.09376715e-02 6.20237871e-01 5.67084567e+01] [-2.68642849e-02 -9.99639066e-01 -2.17808023e-04 3.32971530e+01] [ 6.20009446e-01 -1.68330376e-02 7.84413753e-01 2.87305395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68037174299997 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:56.71, Y:33.30, Z:28.73 [[-7.88803679e-01 1.67865449e-02 6.14415957e-01 5.67069680e+01] [-2.19153586e-02 -9.99759493e-01 -8.20955072e-04 3.32984889e+01] [ 6.14254404e-01 -1.41127184e-02 7.88981849e-01 2.87267613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71037174299997 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:56.70, Y:33.31, Z:28.73 [[-7.73255352e-01 -3.46578570e-03 6.34085286e-01 5.66959439e+01] [-4.03963420e-02 -9.97684481e-01 -5.47157441e-02 3.33083263e+01] [ 6.32806682e-01 -6.79239680e-02 7.71324859e-01 2.87293619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74037174299997 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:56.72, Y:33.28, Z:28.74 [[-7.88137342e-01 4.17188498e-02 6.14083926e-01 5.67182551e+01] [-1.67314909e-02 -9.98783723e-01 4.63802978e-02 3.32787757e+01] [ 6.15271962e-01 2.62795050e-02 7.87876767e-01 2.87434799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77037174299997 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:56.71, Y:33.30, Z:28.72 [[-7.90827716e-01 3.08222747e-03 6.12031064e-01 5.67078017e+01] [-1.19096846e-02 -9.99875474e-01 -1.03535022e-02 3.33029741e+01] [ 6.11922939e-01 -1.54769335e-02 7.90765946e-01 2.87209714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80037174299997 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:56.69, Y:33.31, Z:28.73 [[-7.87770422e-01 -2.45029015e-03 6.15964088e-01 5.66937289e+01] [-1.15379048e-02 -9.99757945e-01 -1.87331006e-02 3.33056273e+01] [ 6.15860892e-01 -2.18643176e-02 7.87551467e-01 2.87322518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83037174299997 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:56.71, Y:33.31, Z:28.72 [[-7.74076964e-01 -6.63180379e-03 6.33056769e-01 5.67141517e+01] [-2.49921889e-02 -9.98845577e-01 -4.10232177e-02 3.33061719e+01] [ 6.32598011e-01 -4.75766022e-02 7.73017608e-01 2.87214458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86037174299997 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:56.72, Y:33.28, Z:28.75 [[-7.86369253e-01 3.27514694e-02 6.16887947e-01 5.67151996e+01] [-1.06077306e-02 -9.99162278e-01 3.95249084e-02 3.32832361e+01] [ 6.17665665e-01 2.45373916e-02 7.86057913e-01 2.87469618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89037174299997 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:56.72, Y:33.31, Z:28.72 [[-7.74122237e-01 -5.96959973e-03 6.33007998e-01 5.67188783e+01] [-2.04954048e-02 -9.99194958e-01 -3.44873092e-02 3.33086443e+01] [ 6.32704276e-01 -3.96711481e-02 7.73376687e-01 2.87204777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92037174299998 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:56.73, Y:33.29, Z:28.74 [[-7.85157875e-01 2.99182388e-02 6.18572559e-01 5.67273222e+01] [-9.05758629e-03 -9.99280315e-01 3.68349219e-02 3.32896748e+01] [ 6.19229417e-01 2.33184547e-02 7.84863796e-01 2.87364611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95037174299998 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:56.72, Y:33.31, Z:28.72 [[-7.86222635e-01 6.51478699e-03 6.17908995e-01 5.67171054e+01] [-8.88695406e-03 -9.99960218e-01 -7.64832074e-04 3.33104058e+01] [ 6.17879431e-01 -6.09265714e-03 7.86249254e-01 2.87249401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98037174299998 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:56.73, Y:33.32, Z:28.72 [[-7.86696380e-01 5.36495375e-03 6.17316793e-01 5.67274143e+01] [-1.00039775e-02 -9.99941722e-01 -4.05861592e-03 3.33156760e+01] [ 6.17259043e-01 -9.36852174e-03 7.86704204e-01 2.87153430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01037174299998 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:56.73, Y:33.32, Z:28.72 [[-7.75868807e-01 -2.95641761e-04 6.30894212e-01 5.67258308e+01] [-2.35468655e-02 -9.99289575e-01 -2.94260271e-02 3.33229140e+01] [ 6.30454708e-01 -3.76863177e-02 7.75310649e-01 2.87170171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04037174299998 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:56.75, Y:33.30, Z:28.72 [[-7.90717727e-01 3.96693944e-02 6.10894275e-01 5.67505065e+01] [-1.06439803e-02 -9.98638301e-01 5.10710184e-02 3.33020307e+01] [ 6.12088377e-01 3.38804129e-02 7.90063248e-01 2.87196338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07037174299998 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:56.74, Y:33.34, Z:28.69 [[-7.88248076e-01 -3.60151104e-03 6.15347057e-01 5.67437660e+01] [-1.27943113e-02 -9.99670786e-01 -2.22401594e-02 3.33397858e+01] [ 6.15224574e-01 -2.54037047e-02 7.87942495e-01 2.86917282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10037174299998 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:56.73, Y:33.34, Z:28.71 [[-7.76221157e-01 2.41247036e-03 6.30456101e-01 5.67263200e+01] [-2.99866308e-02 -9.99002198e-01 -3.30969818e-02 3.33404050e+01] [ 6.29747185e-01 -4.45958318e-02 7.75518984e-01 2.87136288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13037174299998 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:56.74, Y:33.32, Z:28.72 [[-7.75746949e-01 2.99533036e-02 6.30332826e-01 5.67382674e+01] [-3.01614001e-02 -9.99491183e-01 1.03761830e-02 3.33229055e+01] [ 6.30322903e-01 -1.09624283e-02 7.76255669e-01 2.87238944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16037174299998 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:56.78, Y:33.32, Z:28.69 [[-7.91948030e-01 4.53808306e-02 6.08899744e-01 5.67781035e+01] [-1.41252898e-02 -9.98328991e-01 5.60330395e-02 3.33216557e+01] [ 6.10425093e-01 3.57743699e-02 7.91265695e-01 2.86947256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190371743 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:56.76, Y:33.36, Z:28.68 [[-7.91719142e-01 6.50130394e-04 6.10884914e-01 5.67586935e+01] [-1.50395762e-02 -9.99717076e-01 -1.84276509e-02 3.33565461e+01] [ 6.10700100e-01 -2.37769742e-02 7.91504923e-01 2.86769824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220371743 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:56.76, Y:33.36, Z:28.68 [[-7.88058171e-01 -1.76599892e-03 6.15598246e-01 5.67553812e+01] [-1.90678571e-02 -9.99446041e-01 -2.72768829e-02 3.33641730e+01] [ 6.15305401e-01 -3.32339098e-02 7.87587945e-01 2.86799238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250371743 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:56.77, Y:33.37, Z:28.67 [[-7.89537373e-01 9.11259197e-03 6.13634824e-01 5.67701084e+01] [-1.97046385e-02 -9.99750638e-01 -1.05066216e-02 3.33670741e+01] [ 6.13386064e-01 -2.03868227e-02 7.89520053e-01 2.86743097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280371743 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:56.75, Y:33.38, Z:28.68 [[-7.84779497e-01 8.91357865e-04 6.19774432e-01 5.67540576e+01] [-2.47163222e-02 -9.99248473e-01 -2.98595327e-02 3.33781666e+01] [ 6.19282039e-01 -3.87516936e-02 7.84211746e-01 2.86842866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310371743 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:56.73, Y:33.38, Z:28.71 [[-7.77346221e-01 1.70320044e-02 6.28842400e-01 5.67331653e+01] [-4.15003379e-02 -9.98844224e-01 -2.42474293e-02 3.33768728e+01] [ 6.27702617e-01 -4.49458196e-02 7.77154617e-01 2.87115248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340371743 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:56.74, Y:33.37, Z:28.72 [[-7.76422561e-01 3.81309144e-02 6.29058057e-01 5.67429803e+01] [-3.95851777e-02 -9.99147631e-01 1.17057363e-02 3.33668365e+01] [ 6.28968218e-01 -1.58127772e-02 7.77270182e-01 2.87173989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370371743 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:56.74, Y:33.38, Z:28.72 [[-7.76107086e-01 4.07133972e-02 6.29285477e-01 5.67441494e+01] [-4.26585632e-02 -9.99017367e-01 1.20228069e-02 3.33752802e+01] [ 6.29156609e-01 -1.75134286e-02 7.77081232e-01 2.87154313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400371743 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:56.74, Y:33.38, Z:28.72 [[-7.76011671e-01 4.17469173e-02 6.29335429e-01 5.67430515e+01] [-4.37365350e-02 -9.98966931e-01 1.23363914e-02 3.33796445e+01] [ 6.29200288e-01 -1.79517673e-02 7.77035862e-01 2.87151399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43037174299997 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:56.75, Y:33.38, Z:28.71 [[-7.75635636e-01 4.29156260e-02 6.29720262e-01 5.67470415e+01] [-4.49929082e-02 -9.98907117e-01 1.26574001e-02 3.33841311e+01] [ 6.29575252e-01 -1.85154154e-02 7.76718856e-01 2.87120522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46037174299997 meters Centerline goodness : 0.991052 Centerline is valid? [True, True] Translation: X:56.75, Y:33.39, Z:28.71 [[-7.75231240e-01 4.52728139e-02 6.30053090e-01 5.67457498e+01] [-4.77800431e-02 -9.98773570e-01 1.29778078e-02 3.33928265e+01] [ 6.29867916e-01 -2.00431617e-02 7.76443610e-01 2.87123669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49037174299997 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:56.75, Y:33.40, Z:28.71 [[-7.75165605e-01 4.67498151e-02 6.30025983e-01 5.67460831e+01] [-4.94280183e-02 -9.98689252e-01 1.32909409e-02 3.33969811e+01] [ 6.29821527e-01 -2.08382556e-02 7.76460309e-01 2.87118798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52037174299997 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:56.76, Y:33.42, Z:28.70 [[-7.58542193e-01 1.57953962e-02 6.51432457e-01 5.67635323e+01] [-4.56121474e-02 -9.98541097e-01 -2.88999817e-02 3.34217160e+01] [ 6.50025594e-01 -5.16350888e-02 7.58156016e-01 2.87031253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55037174299997 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:56.77, Y:33.41, Z:28.71 [[-7.61860804e-01 4.59503675e-02 6.46108876e-01 5.67652503e+01] [-4.67845900e-02 -9.98778997e-01 1.58656180e-02 3.34118817e+01] [ 6.46049005e-01 -1.81405464e-02 7.63080339e-01 2.87140319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58037174299997 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:56.76, Y:33.42, Z:28.71 [[-7.60865607e-01 3.69225116e-02 6.47858207e-01 5.67648995e+01] [-4.91936840e-02 -9.98788894e-01 -8.52019288e-04 3.34219400e+01] [ 6.47042123e-01 -3.25188041e-02 7.61760473e-01 2.87097318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61037174299997 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:56.75, Y:33.41, Z:28.72 [[-7.74202429e-01 7.07431309e-02 6.28972184e-01 5.67502226e+01] [-5.71838329e-02 -9.97488062e-01 4.18040208e-02 3.34070017e+01] [ 6.30349592e-01 -3.60226587e-03 7.76303043e-01 2.87192905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64037174299997 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:56.75, Y:33.42, Z:28.71 [[-7.75078253e-01 5.37677249e-02 6.29573453e-01 5.67478868e+01] [-5.76803957e-02 -9.98233519e-01 1.42412689e-02 3.34216200e+01] [ 6.29227044e-01 -2.52759481e-02 7.76810436e-01 2.87113918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67037174299998 meters Centerline goodness : 0.991101 Centerline is valid? [True, True] Translation: X:56.76, Y:33.44, Z:28.70 [[-7.68209126e-01 3.55153983e-02 6.39213107e-01 5.67618932e+01] [-4.94164139e-02 -9.98770664e-01 -3.89604361e-03 3.34368130e+01] [ 6.38288929e-01 -3.45805957e-02 7.69019782e-01 2.87041154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70037174299998 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:56.75, Y:33.43, Z:28.71 [[-7.75180657e-01 5.86580436e-02 6.29010479e-01 5.67513723e+01] [-5.81574934e-02 -9.98077961e-01 2.14030402e-02 3.34266147e+01] [ 6.29056956e-01 -1.99904500e-02 7.77102135e-01 2.87110821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73037174299998 meters Centerline goodness : 0.990007 Centerline is valid? [True, True] Translation: X:56.78, Y:33.44, Z:28.69 [[-7.76109621e-01 4.34573009e-02 6.29098816e-01 5.67755912e+01] [-4.48033628e-02 -9.98901476e-01 1.37295460e-02 3.34392995e+01] [ 6.29004384e-01 -1.75301098e-02 7.77204079e-01 2.86902623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76037174299998 meters Centerline goodness : 0.990919 Centerline is valid? [True, True] Translation: X:56.75, Y:33.44, Z:28.70 [[-7.76666313e-01 4.44403191e-02 6.28342659e-01 5.67544720e+01] [-5.69419568e-02 -9.98377464e-01 2.28081644e-04 3.34410238e+01] [ 6.27333286e-01 -3.56019172e-02 7.77936663e-01 2.87027223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79037174299998 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:56.78, Y:33.44, Z:28.69 [[-7.78362568e-01 4.32657550e-02 6.26322430e-01 5.67784567e+01] [-4.20847580e-02 -9.98974343e-01 1.67073352e-02 3.34447287e+01] [ 6.26402894e-01 -1.33542636e-02 7.79385064e-01 2.86872272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82037174299998 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:56.77, Y:33.46, Z:28.69 [[-7.75700555e-01 2.76281461e-02 6.30496102e-01 5.67729903e+01] [-4.38210700e-02 -9.98987957e-01 -1.01377995e-02 3.34563668e+01] [ 6.29577924e-01 -3.54929105e-02 7.76126208e-01 2.86863026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85037174299998 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:56.78, Y:33.45, Z:28.68 [[-7.78399852e-01 3.70105099e-02 6.26676865e-01 5.67780188e+01] [-4.18454215e-02 -9.99099374e-01 7.02867395e-03 3.34525350e+01] [ 6.26372598e-01 -2.07524388e-02 7.79247525e-01 2.86838766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88037174299998 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:56.76, Y:33.45, Z:28.69 [[-7.76648169e-01 4.00201183e-02 6.28662080e-01 5.67627685e+01] [-5.39658629e-02 -9.98537959e-01 -3.10322737e-03 3.34524695e+01] [ 6.27618759e-01 -3.63364075e-02 7.77672398e-01 2.86943830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91037174299998 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:56.77, Y:33.45, Z:28.70 [[-7.76506214e-01 5.13220966e-02 6.28016036e-01 5.67684677e+01] [-5.30300157e-02 -9.98464299e-01 1.60268908e-02 3.34466754e+01] [ 6.27874125e-01 -2.08587199e-02 7.78035345e-01 2.86959332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940371743 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:56.80, Y:33.45, Z:28.67 [[-7.84821546e-01 4.45453522e-02 6.18118802e-01 5.67987809e+01] [-3.20214664e-02 -9.98995830e-01 3.13361837e-02 3.34529781e+01] [ 6.18893987e-01 4.80024165e-03 7.85459859e-01 2.86677661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970371743 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:56.79, Y:33.47, Z:28.66 [[-7.84648117e-01 1.78434560e-02 6.19684551e-01 5.67899507e+01] [-3.07736209e-02 -9.99474472e-01 -1.01864488e-02 3.34709014e+01] [ 6.19177129e-01 -2.70627153e-02 7.84784871e-01 2.86646966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000371743 meters Centerline goodness : 0.988316 Centerline is valid? [True, True] Translation: X:56.79, Y:33.47, Z:28.66 [[-7.86411922e-01 1.85669000e-02 6.17423323e-01 5.67902697e+01] [-2.44560257e-02 -9.99700316e-01 -1.08705710e-03 3.34706767e+01] [ 6.17218108e-01 -1.59545953e-02 7.86630319e-01 2.86641167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030371743 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:56.79, Y:33.47, Z:28.66 [[-7.87282305e-01 1.54410338e-02 6.16399340e-01 5.67875013e+01] [-2.15326867e-02 -9.99765124e-01 -2.45765377e-03 3.34727346e+01] [ 6.16216614e-01 -1.52076012e-02 7.87429878e-01 2.86648901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060371743 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:56.80, Y:33.48, Z:28.66 [[-7.87360794e-01 1.14147418e-02 6.16386798e-01 5.67966071e+01] [-1.80747638e-02 -9.99826181e-01 -4.57278226e-03 3.34751970e+01] [ 6.16227461e-01 -1.47414752e-02 7.87430254e-01 2.86564809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090371743 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:56.80, Y:33.48, Z:28.66 [[-7.80271287e-01 -2.32553469e-03 6.25436895e-01 5.67986455e+01] [-1.61308009e-02 -9.99585619e-01 -2.38408893e-02 3.34846489e+01] [ 6.25233169e-01 -2.86911594e-02 7.79910445e-01 2.86581094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120371743 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:56.81, Y:33.48, Z:28.66 [[-7.80141070e-01 1.08504363e-02 6.25509536e-01 5.68070848e+01] [-1.37098480e-02 -9.99905985e-01 2.45880808e-04 3.34769473e+01] [ 6.25453396e-01 -8.38381891e-03 7.80216483e-01 2.86581178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150371743 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:56.81, Y:33.48, Z:28.65 [[-7.81040017e-01 7.95603724e-03 6.24430296e-01 5.68132324e+01] [-8.96827704e-03 -9.99958624e-01 1.52318812e-03 3.34814822e+01] [ 6.24416578e-01 -4.41039300e-03 7.81079052e-01 2.86524331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18037174299997 meters Centerline goodness : 0.986385 Centerline is valid? [True, True] Translation: X:56.81, Y:33.48, Z:28.65 [[-7.80133631e-01 5.23449052e-03 6.25591015e-01 5.68108147e+01] [-7.37110730e-03 -9.99972493e-01 -8.24983349e-04 3.34848667e+01] [ 6.25569488e-01 -5.25489575e-03 7.80150756e-01 2.86543288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21037174299997 meters Centerline goodness : 0.986699 Centerline is valid? [True, True] Translation: X:56.82, Y:33.49, Z:28.65 [[-7.80557442e-01 5.68091869e-03 6.25058243e-01 5.68159191e+01] [-5.75101925e-03 -9.99981645e-01 1.90672398e-03 3.34873036e+01] [ 6.25057602e-01 -2.10641439e-03 7.80575786e-01 2.86500752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24037174299997 meters Centerline goodness : 0.986860 Centerline is valid? [True, True] Translation: X:56.81, Y:33.49, Z:28.66 [[-7.80891560e-01 1.54458577e-02 6.24475618e-01 5.68061098e+01] [-1.62848579e-02 -9.99857857e-01 4.36679037e-03 3.34863389e+01] [ 6.24454302e-01 -6.75950694e-03 7.81032095e-01 2.86588339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27037174299997 meters Centerline goodness : 0.986062 Centerline is valid? [True, True] Translation: X:56.82, Y:33.49, Z:28.64 [[-7.82379005e-01 1.44429118e-02 6.22635122e-01 5.68247747e+01] [-4.27092023e-03 -9.99831985e-01 1.78258605e-02 3.34930458e+01] [ 6.22787967e-01 1.12873541e-02 7.82309238e-01 2.86440849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30037174299997 meters Centerline goodness : 0.986266 Centerline is valid? [True, True] Translation: X:56.80, Y:33.50, Z:28.66 [[-7.81779271e-01 1.58514184e-02 6.23353755e-01 5.68030962e+01] [-1.86870677e-02 -9.99823404e-01 1.98836843e-03 3.35007603e+01] [ 6.23275192e-01 -1.00941886e-02 7.81937429e-01 2.86590874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33037174299997 meters Centerline goodness : 0.985667 Centerline is valid? [True, True] Translation: X:56.81, Y:33.50, Z:28.66 [[-7.81956148e-01 2.74754882e-02 6.22727613e-01 5.68099500e+01] [-2.04947995e-02 -9.99621195e-01 1.83692607e-02 3.34987789e+01] [ 6.22996425e-01 1.60127875e-03 7.82223044e-01 2.86572919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36037174299997 meters Centerline goodness : 0.985500 Centerline is valid? [True, True] Translation: X:56.82, Y:33.52, Z:28.64 [[-7.84403539e-01 2.07800657e-02 6.19902635e-01 5.68222371e+01] [-1.30180503e-02 -9.99770038e-01 1.70411960e-02 3.35158942e+01] [ 6.20114198e-01 5.29725076e-03 7.84493671e-01 2.86418427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39037174299997 meters Centerline goodness : 0.986376 Centerline is valid? [True, True] Translation: X:56.82, Y:33.52, Z:28.64 [[-7.83977473e-01 2.01285279e-02 6.20462863e-01 5.68184746e+01] [-1.49498942e-02 -9.99796499e-01 1.35448098e-02 3.35219094e+01] [ 6.20609235e-01 1.34297161e-03 7.84118852e-01 2.86442564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42037174299998 meters Centerline goodness : 0.985583 Centerline is valid? [True, True] Translation: X:56.82, Y:33.53, Z:28.64 [[-7.83733496e-01 1.72991752e-02 6.20856300e-01 5.68190623e+01] [-1.76468102e-02 -9.99828699e-01 5.58231524e-03 3.35307591e+01] [ 6.20846517e-01 -6.58108588e-03 7.83904517e-01 2.86425025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45037174299998 meters Centerline goodness : 0.986978 Centerline is valid? [True, True] Translation: X:56.82, Y:33.54, Z:28.64 [[-7.83971679e-01 2.10066433e-02 6.20441075e-01 5.68173839e+01] [-2.27509740e-02 -9.99728150e-01 5.10090882e-03 3.35418377e+01] [ 6.20379561e-01 -1.01166707e-02 7.84236478e-01 2.86442683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48037174299998 meters Centerline goodness : 0.987569 Centerline is valid? [True, True] Translation: X:56.80, Y:33.54, Z:28.66 [[-7.82056626e-01 3.11651024e-02 6.22427642e-01 5.68046946e+01] [-3.68164624e-02 -9.99314905e-01 3.77745593e-03 3.35407033e+01] [ 6.22118945e-01 -1.99613994e-02 7.82668232e-01 2.86575107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51037174299998 meters Centerline goodness : 0.988615 Centerline is valid? [True, True] Translation: X:56.80, Y:33.54, Z:28.66 [[-7.81291257e-01 4.48858010e-02 6.22550590e-01 5.68039974e+01] [-4.17661587e-02 -9.98935006e-01 1.96071829e-02 3.35433917e+01] [ 6.22767661e-01 -1.06826262e-02 7.82333894e-01 2.86619071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54037174299998 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:56.80, Y:33.55, Z:28.66 [[-7.81142593e-01 4.66438499e-02 6.22607903e-01 5.68025149e+01] [-4.37685298e-02 -9.98843147e-01 1.99169123e-02 3.35476695e+01] [ 6.22816639e-01 -1.16926840e-02 7.82280458e-01 2.86630540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57037174299998 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:56.81, Y:33.55, Z:28.66 [[-7.80729171e-01 4.83367834e-02 6.22997205e-01 5.68069946e+01] [-4.56850968e-02 -9.98750851e-01 2.02388000e-02 3.35519276e+01] [ 6.23197267e-01 -1.26606660e-02 7.81962195e-01 2.86597892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60037174299998 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:56.81, Y:33.56, Z:28.66 [[-7.80275840e-01 5.01448361e-02 6.23422095e-01 5.68078735e+01] [-4.77496712e-02 -9.98647662e-01 2.05624867e-02 3.35595042e+01] [ 6.23610120e-01 -1.37237885e-02 7.81615043e-01 2.86597917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63037174299998 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:56.81, Y:33.56, Z:28.66 [[-7.80096843e-01 5.07356127e-02 6.23598279e-01 5.68090298e+01] [-4.82580837e-02 -9.98616678e-01 2.08779445e-02 3.35629232e+01] [ 6.23794897e-01 -1.38068393e-02 7.81466121e-01 2.86584987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66037174299998 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:56.81, Y:33.57, Z:28.66 [[-7.79406853e-01 5.14953090e-02 6.24398262e-01 5.68104944e+01] [-4.89795992e-02 -9.98574437e-01 2.12154078e-02 3.35659190e+01] [ 6.24600637e-01 -1.40473424e-02 7.80817979e-01 2.86578299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690371743 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:56.81, Y:33.57, Z:28.66 [[-7.78944302e-01 5.15190097e-02 6.24973253e-01 5.68127838e+01] [-4.87584394e-02 -9.98578182e-01 2.15459629e-02 3.35712336e+01] [ 6.25194681e-01 -1.36896154e-02 7.80348771e-01 2.86564274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720371743 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:56.82, Y:33.58, Z:28.65 [[-7.78914916e-01 5.08596014e-02 6.25063880e-01 5.68158900e+01] [-4.76633798e-02 -9.98624224e-01 2.18600257e-02 3.35757615e+01] [ 6.25315725e-01 -1.27655570e-02 7.80267445e-01 2.86541359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750371743 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:56.82, Y:33.58, Z:28.65 [[-7.79041213e-01 5.05856099e-02 6.24928704e-01 5.68199594e+01] [-4.70643411e-02 -9.98645896e-01 2.21658091e-02 3.35781402e+01] [ 6.25203756e-01 -1.21437789e-02 7.80367088e-01 2.86515934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780371743 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:56.82, Y:33.58, Z:28.65 [[-7.79164270e-01 5.01185196e-02 6.24812911e-01 5.68183839e+01] [-4.62182166e-02 -9.98678573e-01 2.24718606e-02 3.35801172e+01] [ 6.25113523e-01 -1.13684676e-02 7.80451050e-01 2.86538240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810371743 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:56.82, Y:33.58, Z:28.65 [[-7.79496241e-01 4.96369878e-02 6.24437170e-01 5.68242258e+01] [-4.53568771e-02 -9.98711344e-01 2.27685158e-02 3.35821580e+01] [ 6.24762646e-01 -1.05745475e-02 7.80743117e-01 2.86491398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840371743 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:56.83, Y:33.59, Z:28.65 [[-7.80135482e-01 4.80596080e-02 6.23761896e-01 5.68282039e+01] [-4.30979208e-02 -9.98804836e-01 2.30535912e-02 3.35861698e+01] [ 6.24124345e-01 -8.89791631e-03 7.81274362e-01 2.86466745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870371743 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:56.83, Y:33.59, Z:28.64 [[-7.80525139e-01 4.77785404e-02 6.23295851e-01 5.68329275e+01] [-4.24988990e-02 -9.98823734e-01 2.33450632e-02 3.35884723e+01] [ 6.23678082e-01 -8.26797873e-03 7.81637570e-01 2.86431192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900371743 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:56.84, Y:33.59, Z:28.64 [[-7.81202355e-01 4.71426935e-02 6.22495339e-01 5.68361854e+01] [-4.14540583e-02 -9.98861117e-01 2.36226596e-02 3.35920643e+01] [ 6.22900026e-01 -7.35088082e-03 7.82266912e-01 2.86415733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93037174299997 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:56.84, Y:33.59, Z:28.64 [[-7.81532250e-01 4.74026183e-02 6.22061359e-01 5.68373930e+01] [-4.15499809e-02 -9.98850218e-01 2.39131805e-02 3.35937408e+01] [ 6.22479672e-01 -7.15771583e-03 7.82603236e-01 2.86407899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96037174299997 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:56.84, Y:33.60, Z:28.64 [[-7.81634174e-01 4.79571451e-02 6.21890770e-01 5.68392337e+01] [-4.20176894e-02 -9.98823414e-01 2.42136692e-02 3.35954427e+01] [ 6.22320280e-01 -7.20418194e-03 7.82729563e-01 2.86392360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99037174299997 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:56.84, Y:33.60, Z:28.64 [[-7.81158595e-01 4.87669309e-02 6.22425125e-01 5.68412255e+01] [-4.27976711e-02 -9.98782275e-01 2.45423537e-02 3.36005815e+01] [ 6.22864037e-01 -7.46687524e-03 7.82294469e-01 2.86380551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02037174299997 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:56.84, Y:33.60, Z:28.64 [[-7.81002548e-01 4.98769540e-02 6.22532979e-01 5.68438194e+01] [-4.39699547e-02 -9.98723638e-01 2.48543400e-02 3.36032861e+01] [ 6.22978060e-01 -7.96144398e-03 7.82198793e-01 2.86355070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05037174299997 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:56.85, Y:33.60, Z:28.63 [[-7.80980806e-01 5.03695040e-02 6.22520597e-01 5.68458231e+01] [-4.43550792e-02 -9.98698919e-01 2.51614223e-02 3.36033174e+01] [ 6.22978015e-01 -7.96136243e-03 7.82198830e-01 2.86339332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08037174299997 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:56.85, Y:33.61, Z:28.63 [[-7.80611404e-01 5.15279200e-02 6.22889002e-01 5.68462350e+01] [-4.55845197e-02 -9.98635373e-01 2.54841676e-02 3.36059660e+01] [ 6.23352138e-01 -8.50086412e-03 7.81895036e-01 2.86338431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11037174299997 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:56.85, Y:33.61, Z:28.63 [[-7.80298320e-01 5.41104442e-02 6.23062270e-01 5.68453208e+01] [-4.86400929e-02 -9.98483118e-01 2.57993190e-02 3.36108733e+01] [ 6.23513170e-01 -1.01746414e-02 7.81746636e-01 2.86346419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14037174299997 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:56.85, Y:33.61, Z:28.63 [[-7.79759420e-01 5.56506862e-02 6.23601033e-01 5.68478625e+01] [-5.03564449e-02 -9.98389410e-01 2.61307193e-02 3.36134912e+01] [ 6.24050860e-01 -1.10266565e-02 7.81305917e-01 2.86326499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17037174299998 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:56.85, Y:33.62, Z:28.63 [[-7.78924631e-01 5.83432276e-02 6.24397699e-01 5.68456632e+01] [-5.35464973e-02 -9.98214353e-01 2.64740911e-02 3.36182362e+01] [ 6.24827329e-01 -1.28129880e-02 7.80657823e-01 2.86334743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20037174299998 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:56.84, Y:33.62, Z:28.64 [[-7.78481844e-01 6.01356971e-02 6.24779734e-01 5.68417779e+01] [-5.55909042e-02 -9.98093869e-01 2.68007427e-02 3.36205449e+01] [ 6.25200504e-01 -1.38681787e-02 7.80340954e-01 2.86355351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23037174299998 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:56.84, Y:33.62, Z:28.64 [[-7.78030063e-01 6.17470312e-02 6.25185193e-01 5.68383539e+01] [-5.74028334e-02 -9.97982402e-01 2.71300738e-02 3.36227646e+01] [ 6.25599021e-01 -1.47793884e-02 7.80004765e-01 2.86378481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26037174299998 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:56.85, Y:33.63, Z:28.63 [[-7.77217200e-01 6.46285769e-02 6.25904602e-01 5.68455705e+01] [-6.08419676e-02 -9.97769190e-01 2.74753998e-02 3.36275139e+01] [ 6.26284024e-01 -1.67269143e-02 7.79415506e-01 2.86313264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29037174299998 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:56.83, Y:33.63, Z:28.64 [[-7.76987630e-01 6.61869697e-02 6.26026763e-01 5.68305861e+01] [-6.25897774e-02 -9.97652237e-01 2.77944916e-02 3.36290589e+01] [ 6.26396633e-01 -1.75868996e-02 7.79306075e-01 2.86435695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32037174299998 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:56.85, Y:33.63, Z:28.63 [[-7.76083073e-01 6.96543550e-02 6.26772156e-01 5.68465819e+01] [-6.67860414e-02 -9.97370322e-01 2.81436723e-02 3.36336036e+01] [ 6.27084276e-01 -2.00178035e-02 7.78694162e-01 2.86312772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35037174299998 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:56.85, Y:33.63, Z:28.63 [[-7.75959104e-01 7.21126030e-02 6.26647621e-01 5.68453863e+01] [-6.96907904e-02 -9.97162749e-01 2.84542662e-02 3.36349504e+01] [ 6.26921576e-01 -2.15922211e-02 7.78783098e-01 2.86319311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38037174299998 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:56.85, Y:33.64, Z:28.63 [[-7.75739699e-01 7.66970889e-02 6.26374868e-01 5.68454513e+01] [-7.53283579e-02 -9.96744059e-01 2.87562143e-02 3.36381013e+01] [ 6.26540947e-01 -2.48764532e-02 7.78991402e-01 2.86326480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41037174299998 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.64 [[-7.75745357e-01 7.97265111e-02 6.25989476e-01 5.68393232e+01] [-7.89649516e-02 -9.96453932e-01 2.90533652e-02 3.36392809e+01] [ 6.26085998e-01 -2.68932155e-02 7.79290111e-01 2.86379972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440371743 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.63 [[-7.75796710e-01 8.28986722e-02 6.25513609e-01 5.68434429e+01] [-8.27808042e-02 -9.96135565e-01 2.93474673e-02 3.36407535e+01] [ 6.25529219e-01 -2.90128510e-02 7.79661113e-01 2.86349116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470371743 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.64 [[-7.75155489e-01 8.83533567e-02 6.25561870e-01 5.68405380e+01] [-8.95314740e-02 -9.95542050e-01 2.96671988e-02 3.36427229e+01] [ 6.25394343e-01 -3.30107843e-02 7.79610290e-01 2.86371687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500371743 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.64 [[-7.74731721e-01 9.12694313e-02 6.25668164e-01 5.68394455e+01] [-9.30238640e-02 -9.95212113e-01 2.99901872e-02 3.36427478e+01] [ 6.25409723e-01 -3.49677209e-02 7.79512628e-01 2.86374636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530371743 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.64 [[-7.73832234e-01 9.57401402e-02 6.26113008e-01 5.68374977e+01] [-9.85218793e-02 -9.94672542e-01 3.03310782e-02 3.36429040e+01] [ 6.25681319e-01 -3.82146643e-02 7.79142174e-01 2.86388449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560371743 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.64 [[-7.73570837e-01 9.73344972e-02 6.26190192e-01 5.68402872e+01] [-1.00316019e-01 -9.94483261e-01 3.06551932e-02 3.36427400e+01] [ 6.25719472e-01 -3.91029438e-02 7.79067457e-01 2.86371377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590371743 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.64 [[-7.73851824e-01 9.86061268e-02 6.25643818e-01 5.68402701e+01] [-1.01679294e-01 -9.94335706e-01 3.09487360e-02 3.36417757e+01] [ 6.25151722e-01 -3.96652860e-02 7.79494701e-01 2.86369828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620371743 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:56.85, Y:33.64, Z:28.63 [[-7.74501591e-01 9.84982149e-02 6.24856293e-01 5.68451142e+01] [-1.01264441e-01 -9.94369254e-01 3.12297821e-02 3.36393769e+01] [ 6.24413964e-01 -3.90882072e-02 7.80114936e-01 2.86345436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650371743 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:56.84, Y:33.64, Z:28.64 [[-7.74771406e-01 9.78433854e-02 6.24624640e-01 5.68441256e+01] [-1.00162149e-01 -9.94471153e-01 3.15383892e-02 3.36378040e+01] [ 6.24257009e-01 -3.81287044e-02 7.80288017e-01 2.86359579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68037174299997 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:56.85, Y:33.63, Z:28.63 [[-7.75729342e-01 9.54751700e-02 6.23801636e-01 5.68526500e+01] [-9.68514647e-02 -9.94790178e-01 3.18165860e-02 3.36339605e+01] [ 6.23589434e-01 -3.57350428e-02 7.80934840e-01 2.86294121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71037174299997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:56.86, Y:33.63, Z:28.63 [[-7.76158866e-01 9.44603360e-02 6.23421735e-01 5.68570212e+01] [-9.52890269e-02 -9.94931420e-01 3.21165145e-02 3.36319416e+01] [ 6.23295609e-01 -3.44777329e-02 7.81225876e-01 2.86264693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74037174299997 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:56.86, Y:33.63, Z:28.62 [[-7.76926405e-01 9.36809076e-02 6.22582724e-01 5.68585363e+01] [-9.40252050e-02 -9.95042767e-01 3.23906272e-02 3.36294935e+01] [ 6.22530820e-01 -3.33733347e-02 7.81883366e-01 2.86244736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77037174299997 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:56.86, Y:33.62, Z:28.62 [[-7.76983759e-01 9.21563044e-02 6.22738672e-01 5.68633186e+01] [-9.18213190e-02 -9.95237902e-01 3.27164095e-02 3.36249985e+01] [ 6.22788153e-01 -3.17605674e-02 7.81745600e-01 2.86192880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80037174299997 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:56.87, Y:33.62, Z:28.62 [[-7.76787186e-01 9.19376723e-02 6.23016157e-01 5.68650847e+01] [-9.12909282e-02 -9.95275724e-01 3.30484370e-02 3.36228096e+01] [ 6.23111253e-01 -3.12041209e-02 7.81510505e-01 2.86170113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83037174299997 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:56.87, Y:33.62, Z:28.61 [[-7.76803359e-01 9.24006616e-02 6.22927492e-01 5.68686913e+01] [-9.16309071e-02 -9.95234074e-01 3.33603683e-02 3.36182024e+01] [ 6.23041186e-01 -3.11649650e-02 7.81567928e-01 2.86131095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86037174299997 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:56.87, Y:33.62, Z:28.61 [[-7.76494590e-01 9.35891807e-02 6.23134991e-01 5.68659030e+01] [-9.29031890e-02 -9.95105074e-01 3.36881177e-02 3.36157153e+01] [ 6.23237634e-01 -3.17325867e-02 7.81388440e-01 2.86147296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89037174299997 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:56.87, Y:33.61, Z:28.61 [[-7.76648853e-01 9.44222868e-02 6.22816981e-01 5.68711434e+01] [-9.37153683e-02 -9.95018732e-01 3.39875300e-02 3.36142163e+01] [ 6.22923743e-01 -3.19711465e-02 7.81628976e-01 2.86108191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92037174299998 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:56.87, Y:33.61, Z:28.61 [[-7.76853919e-01 9.63713507e-02 6.22262446e-01 5.68720711e+01] [-9.59543892e-02 -9.94795491e-01 3.42737088e-02 3.36103461e+01] [ 6.22326879e-01 -3.30831480e-02 7.82058029e-01 2.86106608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95037174299998 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:56.87, Y:33.61, Z:28.61 [[-7.76658241e-01 9.77810044e-02 6.22286792e-01 5.68742759e+01] [-9.75079610e-02 -9.94633409e-01 3.45915945e-02 3.36081818e+01] [ 6.22329634e-01 -3.38120693e-02 7.82024661e-01 2.86088416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98037174299998 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:56.88, Y:33.60, Z:28.61 [[-7.76669658e-01 1.00112939e-01 6.21901633e-01 5.68752136e+01] [-1.00237639e-01 -9.94351724e-01 3.48864514e-02 3.36039009e+01] [ 6.21881546e-01 -3.52427031e-02 7.82317899e-01 2.86079509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01037174299998 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:56.88, Y:33.60, Z:28.61 [[-7.76655951e-01 1.01575637e-01 6.21681530e-01 5.68760500e+01] [-1.01855635e-01 -9.94176570e-01 3.51905797e-02 3.36017769e+01] [ 6.21635717e-01 -3.59907938e-02 7.82479200e-01 2.86070799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04037174299998 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:56.88, Y:33.60, Z:28.61 [[-7.76608265e-01 1.02850379e-01 6.21531497e-01 5.68758031e+01] [-1.03233506e-01 -9.94023476e-01 3.54989193e-02 3.35999819e+01] [ 6.21467976e-01 -3.65941217e-02 7.82584452e-01 2.86074302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07037174299998 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:56.88, Y:33.60, Z:28.60 [[-7.76382268e-01 1.04209710e-01 6.21587412e-01 5.68799287e+01] [-1.04722206e-01 -9.93856235e-01 3.58195906e-02 3.35981332e+01] [ 6.21501275e-01 -3.72843100e-02 7.82525428e-01 2.86035755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10037174299998 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:56.88, Y:33.59, Z:28.60 [[-7.75863727e-01 1.05965210e-01 6.21937981e-01 5.68797760e+01] [-1.06723039e-01 -9.93631129e-01 3.61576192e-02 3.35947741e+01] [ 6.21808388e-01 -3.83217260e-02 7.82231279e-01 2.86020692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13037174299998 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:56.88, Y:33.59, Z:28.60 [[-7.74973243e-01 1.07185174e-01 6.22838511e-01 5.68793969e+01] [-1.08048113e-01 -9.93474347e-01 3.65284483e-02 3.35901475e+01] [ 6.22689391e-01 -3.89879556e-02 7.81497192e-01 2.86012131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16037174299998 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:56.88, Y:33.59, Z:28.60 [[-7.74330758e-01 1.07782928e-01 6.23534055e-01 5.68810192e+01] [-1.08572195e-01 -9.93403907e-01 3.68884284e-02 3.35876531e+01] [ 6.23397109e-01 -3.91346163e-02 7.80925429e-01 2.85999304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190371743 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:56.89, Y:33.59, Z:28.60 [[-7.73888421e-01 1.08499393e-01 6.23958807e-01 5.68855113e+01] [-1.09243487e-01 -9.93317441e-01 3.72333390e-02 3.35851818e+01] [ 6.23828961e-01 -3.93489857e-02 7.80569718e-01 2.85958043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220371743 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:56.88, Y:33.58, Z:28.60 [[-7.73437313e-01 1.08734406e-01 6.24477023e-01 5.68843991e+01] [-1.09298218e-01 -9.93298213e-01 3.75840433e-02 3.35802643e+01] [ 6.24378589e-01 -3.91853241e-02 7.80138378e-01 2.85953687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:56.89, Y:33.58, Z:28.59 [[-7.73445090e-01 1.08809331e-01 6.24454339e-01 5.68855721e+01] [-1.09138355e-01 -9.93303702e-01 3.79021903e-02 3.35780004e+01] [ 6.24396919e-01 -3.88366561e-02 7.80141142e-01 2.85944498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:56.89, Y:33.58, Z:28.59 [[-7.73335359e-01 1.08520419e-01 6.24640490e-01 5.68909227e+01] [-1.08513704e-01 -9.93359433e-01 3.82336682e-02 3.35758857e+01] [ 6.24641656e-01 -3.82146057e-02 7.79975926e-01 2.85900309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310371743 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:56.89, Y:33.57, Z:28.59 [[-7.73651677e-01 1.06731488e-01 6.24557021e-01 5.68933567e+01] [-1.05958911e-01 -9.93623038e-01 3.85482435e-02 3.35709348e+01] [ 6.24688556e-01 -3.63544688e-02 7.80027282e-01 2.85879481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:56.90, Y:33.57, Z:28.58 [[-7.74181649e-01 1.05426930e-01 6.24121732e-01 5.68974196e+01] [-1.04024645e-01 -9.93816036e-01 3.88401842e-02 3.35683664e+01] [ 6.24356987e-01 -3.48546836e-02 7.80361137e-01 2.85846314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370371743 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:56.91, Y:33.56, Z:28.58 [[-7.74831913e-01 1.02038377e-01 6.23877934e-01 5.69059404e+01] [-9.94196568e-02 -9.94275376e-01 3.91434305e-02 3.35625734e+01] [ 6.24300600e-01 -3.16961510e-02 7.80540912e-01 2.85776962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400371743 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:56.91, Y:33.56, Z:28.58 [[-7.75155478e-01 1.00631731e-01 6.23704449e-01 5.69086011e+01] [-9.73611491e-02 -9.94466960e-01 3.94496201e-02 3.35598484e+01] [ 6.24223350e-01 -3.01449927e-02 7.80664133e-01 2.85750983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43037174299997 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:56.91, Y:33.56, Z:28.57 [[-7.75259091e-01 1.00474750e-01 6.23600968e-01 5.69086465e+01] [-9.69072695e-02 -9.94498968e-01 3.97590682e-02 3.35572444e+01] [ 6.24165301e-01 -2.96078880e-02 7.80731099e-01 2.85746338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46037174299997 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:56.91, Y:33.55, Z:28.57 [[-7.75908464e-01 1.00621490e-01 6.22769116e-01 5.69125762e+01] [-9.68457180e-02 -9.94494441e-01 4.00214136e-02 3.35535862e+01] [ 6.23367438e-01 -2.92595687e-02 7.81381415e-01 2.85714853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49037174299997 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:56.92, Y:33.55, Z:28.57 [[-7.76211836e-01 1.01870415e-01 6.22187757e-01 5.69157766e+01] [-9.81963898e-02 -9.94350761e-01 4.02992893e-02 3.35519089e+01] [ 6.22778175e-01 -2.98158061e-02 7.81830137e-01 2.85687432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52037174299997 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:56.91, Y:33.55, Z:28.57 [[-7.76182387e-01 1.05030785e-01 6.21698831e-01 5.69141691e+01] [-1.01994288e-01 -9.93956866e-01 4.05821901e-02 3.35475974e+01] [ 6.22204201e-01 -3.19105483e-02 7.82204352e-01 2.85701096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55037174299997 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:56.92, Y:33.55, Z:28.57 [[-7.76033235e-01 1.07114054e-01 6.21529564e-01 5.69159149e+01] [-1.04411113e-01 -9.93693429e-01 4.08862896e-02 3.35455177e+01] [ 6.21989339e-01 -3.31654742e-02 7.82323023e-01 2.85684455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58037174299997 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:56.91, Y:33.54, Z:28.57 [[-7.75577607e-01 1.10775419e-01 6.21456501e-01 5.69126669e+01] [-1.08848322e-01 -9.93204324e-01 4.11972580e-02 3.35413455e+01] [ 6.21796928e-01 -3.56928264e-02 7.82364751e-01 2.85715787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61037174299997 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:56.91, Y:33.54, Z:28.57 [[-7.75592878e-01 1.12396483e-01 6.21146294e-01 5.69137165e+01] [-1.10670707e-01 -9.92990596e-01 4.14930245e-02 3.35396093e+01] [ 6.21456099e-01 -3.65610055e-02 7.82595432e-01 2.85704149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64037174299997 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:56.93, Y:33.54, Z:28.55 [[-7.82864755e-01 1.14169545e-01 6.11627411e-01 5.69252266e+01] [-1.02389186e-01 -9.93258450e-01 5.43516849e-02 3.35381101e+01] [ 6.13709401e-01 -2.00740142e-02 7.89276760e-01 2.85535212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67037174299998 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:56.92, Y:33.54, Z:28.56 [[-7.76695193e-01 9.98837179e-02 6.21906601e-01 5.69150233e+01] [-1.13215668e-01 -9.93404550e-01 1.81552577e-02 3.35445299e+01] [ 6.19618262e-01 -5.63084699e-02 7.82880940e-01 2.85632050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70037174299998 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:56.92, Y:33.53, Z:28.56 [[-7.75587209e-01 1.15162843e-01 6.20646438e-01 5.69203638e+01] [-1.13681867e-01 -9.92623860e-01 4.21225067e-02 3.35328914e+01] [ 6.20919411e-01 -3.78865686e-02 7.82958296e-01 2.85632438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73037174299998 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:56.92, Y:33.53, Z:28.56 [[-7.75399960e-01 1.15408786e-01 6.20834692e-01 5.69225258e+01] [-1.13746720e-01 -9.92602382e-01 4.24522565e-02 3.35310208e+01] [ 6.21141358e-01 -3.77004319e-02 7.82791218e-01 2.85611486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76037174299998 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:56.93, Y:33.53, Z:28.54 [[-7.83043496e-01 1.14727021e-01 6.11294196e-01 5.69340277e+01] [-1.01736909e-01 -9.93228991e-01 5.60871975e-02 3.35291476e+01] [ 6.13589834e-01 -1.82724670e-02 7.89413474e-01 2.85443545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79037174299998 meters Centerline goodness : 0.987857 Centerline is valid? [True, True] Translation: X:56.92, Y:33.54, Z:28.55 [[-7.76079717e-01 9.86310701e-02 6.22874132e-01 5.69228071e+01] [-1.11258992e-01 -9.93615258e-01 1.87124306e-02 3.35359843e+01] [ 6.20742869e-01 -5.47780104e-02 7.82098242e-01 2.85546864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82037174299998 meters Centerline goodness : 0.988491 Centerline is valid? [True, True] Translation: X:56.95, Y:33.53, Z:28.54 [[-7.79792263e-01 1.06659905e-01 6.16885477e-01 5.69477056e+01] [-9.75688003e-02 -9.94044548e-01 4.85362406e-02 3.35285296e+01] [ 6.18388516e-01 -2.23405910e-02 7.85554926e-01 2.85353419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85037174299998 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:56.93, Y:33.53, Z:28.55 [[-7.76493574e-01 9.94435261e-02 6.22228828e-01 5.69287431e+01] [-1.07731728e-01 -9.93880549e-01 2.43993704e-02 3.35297648e+01] [ 6.20847489e-01 -4.80878327e-02 7.82455082e-01 2.85511086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88037174299998 meters Centerline goodness : 0.987897 Centerline is valid? [True, True] Translation: X:56.94, Y:33.52, Z:28.55 [[-7.76131730e-01 1.10539517e-01 6.20806373e-01 5.69358992e+01] [-1.06691057e-01 -9.93340771e-01 4.34871417e-02 3.35209216e+01] [ 6.21479328e-01 -3.24827375e-02 7.82756869e-01 2.85494344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91037174299998 meters Centerline goodness : 0.987517 Centerline is valid? [True, True] Translation: X:56.94, Y:33.52, Z:28.55 [[-7.75607095e-01 1.09038699e-01 6.21726786e-01 5.69393752e+01] [-1.04514212e-01 -9.93555415e-01 4.38681846e-02 3.35179172e+01] [ 6.22503344e-01 -3.09548101e-02 7.82004722e-01 2.85466631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940371743 meters Centerline goodness : 0.987517 Centerline is valid? [True, True] Translation: X:56.94, Y:33.52, Z:28.55 [[-7.75554302e-01 1.09540023e-01 6.21704518e-01 5.69414226e+01] [-1.04905511e-01 -9.93500271e-01 4.41819571e-02 3.35180050e+01] [ 6.22503300e-01 -3.09547231e-02 7.82004761e-01 2.85450898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970371743 meters Centerline goodness : 0.987618 Centerline is valid? [True, True] Translation: X:56.98, Y:33.53, Z:28.51 [[-7.77837379e-01 9.79472882e-02 6.20786067e-01 5.69778906e+01] [-8.94890305e-02 -9.94977109e-01 4.48582824e-02 3.35266973e+01] [ 6.22061674e-01 -2.06610945e-02 7.82695594e-01 2.85125455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000371743 meters Centerline goodness : 0.987305 Centerline is valid? [True, True] Translation: X:56.94, Y:33.52, Z:28.54 [[-7.76129708e-01 9.75918605e-02 6.22975525e-01 5.69422527e+01] [-1.03414392e-01 -9.94274014e-01 2.69193066e-02 3.35232607e+01] [ 6.22035481e-01 -4.35317614e-02 7.81778003e-01 2.85397488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030371743 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:56.95, Y:33.52, Z:28.54 [[-7.75985301e-01 1.06966494e-01 6.21614818e-01 5.69489929e+01] [-1.01108163e-01 -9.93865979e-01 4.48057396e-02 3.35155364e+01] [ 6.22594533e-01 -2.80817368e-02 7.82040577e-01 2.85383760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060371743 meters Centerline goodness : 0.988171 Centerline is valid? [True, True] Translation: X:56.95, Y:33.52, Z:28.54 [[-7.76330887e-01 1.06160314e-01 6.21321447e-01 5.69518125e+01] [-9.98291894e-02 -9.93982000e-01 4.50989710e-02 3.35150244e+01] [ 6.22370056e-01 -2.70142923e-02 7.82256826e-01 2.85364980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090371743 meters Centerline goodness : 0.987962 Centerline is valid? [True, True] Translation: X:56.96, Y:33.51, Z:28.53 [[-7.77390903e-01 1.03818374e-01 6.20391110e-01 5.69571627e+01] [-9.65977489e-02 -9.94290071e-01 4.53445691e-02 3.35135966e+01] [ 6.21556320e-01 -2.46779292e-02 7.82980677e-01 2.85330733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120371743 meters Centerline goodness : 0.988220 Centerline is valid? [True, True] Translation: X:56.96, Y:33.51, Z:28.53 [[-7.78149310e-01 1.02685358e-01 6.19628411e-01 5.69603130e+01] [-9.49157587e-02 -9.94440308e-01 4.56012454e-02 3.35131694e+01] [ 6.20866048e-01 -2.33279231e-02 7.83569498e-01 2.85313652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150371743 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:56.96, Y:33.51, Z:28.53 [[-7.78484343e-01 1.01901590e-01 6.19336898e-01 5.69641056e+01] [-9.36733560e-02 -9.94544745e-01 4.58917430e-02 3.35128358e+01] [ 6.20634699e-01 -2.22893624e-02 7.83782977e-01 2.85288400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18037174299997 meters Centerline goodness : 0.987472 Centerline is valid? [True, True] Translation: X:56.99, Y:33.52, Z:28.50 [[-7.85267052e-01 9.45145627e-02 6.11900854e-01 5.69876370e+01] [-7.68671832e-02 -9.95516419e-01 5.51225456e-02 3.35195285e+01] [ 6.14367230e-01 -3.74917616e-03 7.89011312e-01 2.85048373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21037174299997 meters Centerline goodness : 0.988342 Centerline is valid? [True, True] Translation: X:56.96, Y:33.52, Z:28.52 [[-7.80245841e-01 8.43054630e-02 6.19765292e-01 5.69640833e+01] [-9.08534039e-02 -9.95641645e-01 2.10564217e-02 3.35241120e+01] [ 6.18839306e-01 -3.98786009e-02 7.84504691e-01 2.85218896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24037174299997 meters Centerline goodness : 0.988206 Centerline is valid? [True, True] Translation: X:56.97, Y:33.51, Z:28.52 [[-7.79271352e-01 1.00463579e-01 6.18581627e-01 5.69711539e+01] [-9.13243227e-02 -9.94734637e-01 4.65066734e-02 3.35146970e+01] [ 6.19996797e-01 -2.02502299e-02 7.84342973e-01 2.85218194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27037174299997 meters Centerline goodness : 0.987595 Centerline is valid? [True, True] Translation: X:57.00, Y:33.53, Z:28.50 [[-7.79697506e-01 8.98261728e-02 6.19679803e-01 5.69950744e+01] [-7.95358009e-02 -9.95848055e-01 4.42798904e-02 3.35254580e+01] [ 6.21084419e-01 -1.47618093e-02 7.83604641e-01 2.85009883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30037174299997 meters Centerline goodness : 0.987970 Centerline is valid? [True, True] Translation: X:56.99, Y:33.53, Z:28.50 [[-7.79264453e-01 8.24845215e-02 6.21243282e-01 5.69926282e+01] [-8.12690334e-02 -9.96230554e-01 3.03319685e-02 3.35323919e+01] [ 6.21403457e-01 -2.68512162e-02 7.83030495e-01 2.84999459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33037174299997 meters Centerline goodness : 0.987532 Centerline is valid? [True, True] Translation: X:56.99, Y:33.53, Z:28.50 [[-7.78451454e-01 8.81587162e-02 6.21483205e-01 5.69862651e+01] [-8.67311425e-02 -9.95698057e-01 3.26050298e-02 3.35338671e+01] [ 6.21684038e-01 -2.85205156e-02 7.82748707e-01 2.85048388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36037174299997 meters Centerline goodness : 0.988607 Centerline is valid? [True, True] Translation: X:56.97, Y:33.53, Z:28.52 [[-7.77350541e-01 1.02294050e-01 6.20694824e-01 5.69692658e+01] [-1.00963445e-01 -9.94186829e-01 3.74022905e-02 3.35253217e+01] [ 6.20912651e-01 -3.35927973e-02 7.83159629e-01 2.85196386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39037174299997 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:56.99, Y:33.53, Z:28.51 [[-7.76857700e-01 1.00578054e-01 6.21591642e-01 5.69872972e+01] [-9.18866844e-02 -9.94701266e-01 4.61110435e-02 3.35331869e+01] [ 6.22935752e-01 -2.12942758e-02 7.81983122e-01 2.85057102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42037174299998 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:56.97, Y:33.53, Z:28.52 [[-7.75704580e-01 1.04315746e-01 6.22415159e-01 5.69668933e+01] [-1.04872939e-01 -9.93838721e-01 3.58645006e-02 3.35299001e+01] [ 6.22321518e-01 -3.74542497e-02 7.81865146e-01 2.85210694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45037174299998 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:57.00, Y:33.54, Z:28.50 [[-7.75162156e-01 9.79253484e-02 6.24126797e-01 5.69983985e+01] [-9.14202516e-02 -9.94902648e-01 4.25565275e-02 3.35383255e+01] [ 6.25112766e-01 -2.40696191e-02 7.80163242e-01 2.84985941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48037174299998 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:56.97, Y:33.53, Z:28.52 [[-7.76385104e-01 1.04762421e-01 6.21490954e-01 5.69748070e+01] [-1.02653770e-01 -9.93940235e-01 3.93066513e-02 3.35321918e+01] [ 6.21842725e-01 -3.32812906e-02 7.82434650e-01 2.85161509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51037174299998 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:56.98, Y:33.53, Z:28.51 [[-7.76932934e-01 1.06479995e-01 6.20513680e-01 5.69821852e+01] [-9.74214176e-02 -9.94055872e-01 4.86003082e-02 3.35301251e+01] [ 6.22000228e-01 -2.26921424e-02 7.82688177e-01 2.85124215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54037174299998 meters Centerline goodness : 0.988926 Centerline is valid? [True, True] Translation: X:56.99, Y:33.53, Z:28.51 [[-7.76917399e-01 1.04603429e-01 6.20852219e-01 5.69853740e+01] [-9.47620035e-02 -9.94296250e-01 4.89400655e-02 3.35306834e+01] [ 6.22430331e-01 -2.08108117e-02 7.82398487e-01 2.85101589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57037174299998 meters Centerline goodness : 0.988707 Centerline is valid? [True, True] Translation: X:56.99, Y:33.53, Z:28.51 [[-7.76969659e-01 1.02652284e-01 6.21112436e-01 5.69893079e+01] [-9.20081132e-02 -9.94538421e-01 4.92730878e-02 3.35313449e+01] [ 6.22778176e-01 -1.88636892e-02 7.82171020e-01 2.85071812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60037174299998 meters Centerline goodness : 0.988598 Centerline is valid? [True, True] Translation: X:56.99, Y:33.53, Z:28.51 [[-7.77208465e-01 1.00942107e-01 6.21093949e-01 5.69897935e+01] [-8.95714218e-02 -9.94745412e-01 4.95835305e-02 3.35321081e+01] [ 6.22835422e-01 -1.70955284e-02 7.82166082e-01 2.85063554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63037174299998 meters Centerline goodness : 0.988232 Centerline is valid? [True, True] Translation: X:56.99, Y:33.53, Z:28.51 [[-7.78168497e-01 9.80499069e-02 6.20354742e-01 5.69905645e+01] [-8.56518170e-02 -9.95077976e-01 4.98356103e-02 3.35345013e+01] [ 6.22187718e-01 -1.43540089e-02 7.82736486e-01 2.85053561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66037174299998 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:57.00, Y:33.54, Z:28.50 [[-7.78617686e-01 9.56253898e-02 6.20169560e-01 5.70025238e+01] [-8.23120881e-02 -9.95344896e-01 5.01324122e-02 3.35386442e+01] [ 6.22076538e-01 -1.20134687e-02 7.82864265e-01 2.84963624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690371743 meters Centerline goodness : 0.989144 Centerline is valid? [True, True] Translation: X:57.00, Y:33.54, Z:28.49 [[-7.78941485e-01 9.51710056e-02 6.19832754e-01 5.70047965e+01] [-8.15001728e-02 -9.95397413e-01 5.04153853e-02 3.35406470e+01] [ 6.21778003e-01 -1.12458415e-02 7.83112792e-01 2.84943175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720371743 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:57.00, Y:33.54, Z:28.49 [[-7.78988838e-01 9.48501379e-02 6.19822428e-01 5.70045639e+01] [-8.08453874e-02 -9.95435161e-01 5.07234111e-02 3.35426052e+01] [ 6.21804161e-01 -1.05968132e-02 7.83101075e-01 2.84945800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750371743 meters Centerline goodness : 0.990293 Centerline is valid? [True, True] Translation: X:57.01, Y:33.55, Z:28.49 [[-7.79098274e-01 9.47721800e-02 6.19696791e-01 5.70088779e+01] [-8.05065038e-02 -9.95447360e-01 5.10221107e-02 3.35451773e+01] [ 6.21711012e-01 -1.01383837e-02 7.83181097e-01 2.84906665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780371743 meters Centerline goodness : 0.990613 Centerline is valid? [True, True] Translation: X:57.01, Y:33.55, Z:28.49 [[-7.78458427e-01 9.51996267e-02 6.20434935e-01 5.70125664e+01] [-8.07706693e-02 -9.95406902e-01 5.13925885e-02 3.35499549e+01] [ 6.22477772e-01 -1.01059514e-02 7.82572229e-01 2.84882696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810371743 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:57.01, Y:33.55, Z:28.49 [[-7.77907863e-01 9.62484475e-02 6.20963439e-01 5.70121368e+01] [-8.18400587e-02 -9.95301256e-01 5.17456801e-02 3.35518719e+01] [ 6.23026132e-01 -1.05663129e-02 7.82129652e-01 2.84887837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840371743 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:57.01, Y:33.56, Z:28.49 [[-7.76876082e-01 9.81484039e-02 6.21956947e-01 5.70132835e+01] [-8.39770400e-02 -9.95102718e-01 5.21386405e-02 3.35563382e+01] [ 6.24028372e-01 -1.17248406e-02 7.81313713e-01 2.84875415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870371743 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:57.01, Y:33.56, Z:28.49 [[-7.76217535e-01 9.95160263e-02 6.22561562e-01 5.70135579e+01] [-8.54525903e-02 -9.94958092e-01 5.24999914e-02 3.35587024e+01] [ 6.24647255e-01 -1.24480842e-02 7.80807820e-01 2.84876917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900371743 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:57.01, Y:33.56, Z:28.49 [[-7.75616886e-01 1.00763999e-01 6.23109189e-01 5.70148000e+01] [-8.67780380e-02 -9.94824437e-01 5.28574731e-02 3.35613064e+01] [ 6.25210379e-01 -1.30750442e-02 7.80346734e-01 2.84869026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93037174299997 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:57.02, Y:33.57, Z:28.49 [[-7.74966396e-01 1.03173296e-01 6.23524142e-01 5.70150153e+01] [-8.96004358e-02 -9.94555704e-01 5.32044574e-02 3.35666429e+01] [ 6.25618771e-01 -1.46363682e-02 7.79991622e-01 2.84879857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96037174299997 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:57.02, Y:33.57, Z:28.49 [[-7.75458652e-01 1.03782999e-01 6.22810540e-01 5.70177690e+01] [-9.01646985e-02 -9.94491276e-01 5.34549271e-02 3.35692639e+01] [ 6.24927361e-01 -1.47034389e-02 7.80544427e-01 2.84863707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99037174299997 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:57.02, Y:33.57, Z:28.49 [[-7.76396680e-01 1.02019137e-01 6.21932707e-01 5.70196290e+01] [-8.76953699e-02 -9.94699369e-01 5.36906601e-02 3.35727393e+01] [ 6.24113546e-01 -1.28553686e-02 7.81227894e-01 2.84868261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02037174299997 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:57.02, Y:33.57, Z:28.48 [[-7.76451371e-01 1.00600653e-01 6.22095472e-01 5.70241048e+01] [-8.56208721e-02 -9.94862449e-01 5.40164172e-02 3.35741410e+01] [ 6.24333512e-01 -1.13232357e-02 7.81075829e-01 2.84844164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05037174299997 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:57.03, Y:33.58, Z:28.48 [[-7.76774587e-01 9.89366021e-02 6.21958833e-01 5.70309967e+01] [-8.32472305e-02 -9.95047574e-01 5.43159629e-02 3.35758616e+01] [ 6.24252465e-01 -9.58509065e-03 7.81163867e-01 2.84787753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08037174299997 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:57.04, Y:33.58, Z:28.47 [[-7.77382813e-01 9.53823119e-02 6.21754113e-01 5.70375638e+01] [-7.84588422e-02 -9.95420584e-01 5.46083419e-02 3.35791345e+01] [ 6.24115512e-01 -6.33052143e-03 7.81306439e-01 2.84740236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11037174299997 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:57.04, Y:33.58, Z:28.47 [[-7.77545653e-01 9.42592380e-02 6.21721765e-01 5.70403912e+01] [-7.67759726e-02 -9.95534955e-01 5.49145043e-02 3.35810498e+01] [ 6.24121949e-01 -5.03475907e-03 7.81310722e-01 2.84720754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14037174299997 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:57.04, Y:33.58, Z:28.47 [[-7.78400451e-01 9.14828715e-02 6.21066520e-01 5.70444068e+01] [-7.30193764e-02 -9.95803734e-01 5.51642511e-02 3.35847044e+01] [ 6.23506944e-01 -2.41001208e-03 7.81814098e-01 2.84697844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17037174299998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:57.05, Y:33.59, Z:28.47 [[-7.78825629e-01 9.02431601e-02 6.20714759e-01 5.70496602e+01] [-7.12127324e-02 -9.95919235e-01 5.54402764e-02 3.35870488e+01] [ 6.23184874e-01 -1.02448590e-03 7.82073886e-01 2.84662246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20037174299998 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:57.05, Y:33.59, Z:28.47 [[-7.79292851e-01 8.92062654e-02 6.20278078e-01 5.70516023e+01] [-6.96739119e-02 -9.96013155e-01 5.57076473e-02 3.35887516e+01] [ 6.22774596e-01 1.95371150e-04 7.82401281e-01 2.84650983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23037174299998 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:57.06, Y:33.59, Z:28.46 [[-7.80166018e-01 8.66174239e-02 6.19546937e-01 5.70584740e+01] [-6.61776153e-02 -9.96238129e-01 5.59474217e-02 3.35933926e+01] [ 6.22062302e-01 2.64813837e-03 7.82963268e-01 2.84608988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26037174299998 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:57.05, Y:33.60, Z:28.47 [[-7.80310720e-01 8.55914644e-02 6.19507289e-01 5.70537220e+01] [-6.46281335e-02 -9.96322863e-01 5.62490678e-02 3.35951397e+01] [ 6.22043716e-01 3.85415077e-03 7.82973027e-01 2.84650883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29037174299998 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:57.06, Y:33.60, Z:28.46 [[-7.80458585e-01 8.40600525e-02 6.19530714e-01 5.70644993e+01] [-6.24281356e-02 -9.96445709e-01 5.65568478e-02 3.36015909e+01] [ 6.22082893e-01 5.46413001e-03 7.82932320e-01 2.84551505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32037174299998 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:57.05, Y:33.60, Z:28.47 [[-7.80246381e-01 8.38009178e-02 6.19833036e-01 5.70483123e+01] [-6.18296132e-02 -9.96464065e-01 5.68899513e-02 3.36034544e+01] [ 6.22408776e-01 6.06414176e-03 7.82668858e-01 2.84681573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35037174299998 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:57.06, Y:33.61, Z:28.46 [[-7.80041809e-01 8.29420002e-02 6.20205934e-01 5.70561699e+01] [-6.04570038e-02 -9.96528748e-01 5.72311471e-02 3.36112437e+01] [ 6.22799909e-01 7.14689493e-03 7.82348512e-01 2.84610226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38037174299998 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:57.06, Y:33.62, Z:28.46 [[-7.79921219e-01 8.28304558e-02 6.20372475e-01 5.70608426e+01] [-6.00545335e-02 -9.96534427e-01 5.75550935e-02 3.36154358e+01] [ 6.22989844e-01 7.63225911e-03 7.82192689e-01 2.84566211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41037174299998 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:57.07, Y:33.62, Z:28.45 [[-7.79561232e-01 8.26977295e-02 6.20842469e-01 5.70736245e+01] [-5.95990196e-02 -9.96541434e-01 5.79062010e-02 3.36207385e+01] [ 6.23483956e-01 8.13982685e-03 7.81793771e-01 2.84466000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440371743 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:57.06, Y:33.62, Z:28.46 [[-7.79502860e-01 8.22077655e-02 6.20980816e-01 5.70604658e+01] [-5.87167769e-02 -9.96575256e-01 5.82245514e-02 3.36239012e+01] [ 6.23640626e-01 8.92421233e-03 7.81660238e-01 2.84567206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470371743 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:57.08, Y:33.63, Z:28.44 [[-7.79440933e-01 8.10480916e-02 6.21210945e-01 5.70762949e+01] [-5.69688411e-02 -9.96657502e-01 5.85523197e-02 3.36341304e+01] [ 6.23880103e-01 1.02484070e-02 7.81452870e-01 2.84434278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500371743 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:57.08, Y:33.64, Z:28.44 [[-7.79549460e-01 8.04245139e-02 6.21155808e-01 5.70810222e+01] [-5.59323040e-02 -9.96698490e-01 5.88531794e-02 3.36447162e+01] [ 6.23838294e-01 1.11362887e-02 7.81474098e-01 2.84394504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530371743 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:57.08, Y:33.65, Z:28.44 [[-7.79496713e-01 8.08529279e-02 6.21166386e-01 5.70841460e+01] [-5.62367333e-02 -9.96663329e-01 5.91577400e-02 3.36499764e+01] [ 6.23876834e-01 1.11808955e-02 7.81442694e-01 2.84369471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560371743 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:57.09, Y:33.66, Z:28.43 [[-7.79322034e-01 8.15083828e-02 6.21299889e-01 5.70864412e+01] [-5.68202800e-02 -9.96611437e-01 5.94735184e-02 3.36551706e+01] [ 6.24042165e-01 1.10465897e-02 7.81312581e-01 2.84349632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590371743 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:57.09, Y:33.66, Z:28.44 [[-7.78926914e-01 8.22026280e-02 6.21703780e-01 5.70864738e+01] [-5.74279356e-02 -9.96556154e-01 5.98152550e-02 3.36606706e+01] [ 6.24479699e-01 1.08885473e-02 7.80965137e-01 2.84358008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620371743 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:57.08, Y:33.67, Z:28.44 [[-7.78030352e-01 8.45597393e-02 6.22509776e-01 5.70831009e+01] [-6.01262768e-02 -9.96374018e-01 6.01967395e-02 3.36709056e+01] [ 6.25342788e-01 9.40569529e-03 7.80293490e-01 2.84380943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650371743 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:57.09, Y:33.68, Z:28.43 [[-7.77739849e-01 8.63290076e-02 6.22629930e-01 5.70870058e+01] [-6.21371447e-02 -9.96231481e-01 6.05128982e-02 3.36768034e+01] [ 6.25507556e-01 8.37484631e-03 7.80173160e-01 2.84346671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68037174299997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:57.08, Y:33.69, Z:28.44 [[-7.77127334e-01 9.04510346e-02 6.22809535e-01 5.70772982e+01] [-6.71576654e-02 -9.95885989e-01 6.08353893e-02 3.36868693e+01] [ 6.25749914e-01 5.45040948e-03 7.80004704e-01 2.84424447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71037174299997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:57.08, Y:33.69, Z:28.44 [[-7.76840555e-01 9.32777360e-02 6.22750364e-01 5.70841596e+01] [-7.05397782e-02 -9.95633749e-01 6.11357355e-02 3.36928222e+01] [ 6.25733882e-01 3.56404617e-03 7.80028465e-01 2.84369109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74037174299997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:57.08, Y:33.70, Z:28.44 [[-7.76329162e-01 9.63849853e-02 6.22914896e-01 5.70801016e+01] [-7.42628340e-02 -9.95343068e-01 6.14589948e-02 3.36979926e+01] [ 6.25937748e-01 1.45298439e-03 7.79871672e-01 2.84406134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77037174299997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:57.09, Y:33.71, Z:28.43 [[-7.75409128e-01 1.03373662e-01 6.22940262e-01 5.70870247e+01] [-8.29766759e-02 -9.94635358e-01 6.17687276e-02 3.37096833e+01] [ 6.25983670e-01 -3.79347702e-03 7.79826938e-01 2.84348156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80037174299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:57.09, Y:33.71, Z:28.44 [[-7.74573653e-01 1.07475986e-01 6.23285303e-01 5.70860083e+01] [-8.79689492e-02 -9.94184966e-01 6.21105279e-02 3.37144450e+01] [ 6.26336268e-01 -6.72057469e-03 7.79524030e-01 2.84359610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83037174299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.10, Y:33.72, Z:28.42 [[-7.73617253e-01 1.14360526e-01 6.23247958e-01 5.71003546e+01] [-9.65629737e-02 -9.93368060e-01 6.24138604e-02 3.37245528e+01] [ 6.26252296e-01 -1.18982369e-02 7.79529662e-01 2.84245451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86037174299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.10, Y:33.72, Z:28.42 [[-7.73570581e-01 1.14841002e-01 6.23217539e-01 5.71023005e+01] [-9.69362673e-02 -9.93312645e-01 6.27164227e-02 3.37247005e+01] [ 6.26252279e-01 -1.18968024e-02 7.79529698e-01 2.84229718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89037174299997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:57.09, Y:33.73, Z:28.43 [[-7.73175822e-01 1.18055632e-01 6.23106745e-01 5.70946896e+01] [-1.00826894e-01 -9.92906746e-01 6.30089735e-02 3.37275152e+01] [ 6.26125455e-01 -1.41089028e-02 7.79594673e-01 2.84284288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92037174299998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:57.11, Y:33.73, Z:28.42 [[-7.72479831e-01 1.21181120e-01 6.23369912e-01 5.71079055e+01] [-1.04581492e-01 -9.92497173e-01 6.33409223e-02 3.37315029e+01] [ 6.26368599e-01 -1.62633706e-02 7.79357351e-01 2.84177807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95037174299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:57.10, Y:33.74, Z:28.42 [[-7.71616302e-01 1.25463024e-01 6.23592264e-01 5.71001466e+01] [-1.09827463e-01 -9.91909385e-01 6.36686689e-02 3.37354533e+01] [ 6.26535083e-01 -1.93597737e-02 7.79152738e-01 2.84238867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:33.74, Z:28.42 [[-7.71427642e-01 1.27072359e-01 6.23499806e-01 5.71089252e+01] [-1.11655903e-01 -9.91686232e-01 6.39638666e-02 3.37386369e+01] [ 6.26444213e-01 -2.02739392e-02 7.79202551e-01 2.84167487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:33.74, Z:28.43 [[-7.70790232e-01 1.28643348e-01 6.23965790e-01 5.70923794e+01] [-1.13407760e-01 -9.91464563e-01 6.43171927e-02 3.37404380e+01] [ 6.26913948e-01 -2.11874984e-02 7.78800354e-01 2.84300939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:33.74, Z:28.43 [[-7.70463880e-01 1.29481972e-01 6.24195345e-01 5.70967452e+01] [-1.14228381e-01 -9.91348837e-01 6.46479678e-02 3.37419061e+01] [ 6.27166076e-01 -2.14918994e-02 7.78588987e-01 2.84266018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07037174299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.10, Y:33.74, Z:28.43 [[-7.70248690e-01 1.30382639e-01 6.24273436e-01 5.70982124e+01] [-1.15134332e-01 -9.91223269e-01 6.49655014e-02 3.37427328e+01] [ 6.27264730e-01 -2.18357128e-02 7.78499942e-01 2.84254808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:33.74, Z:28.42 [[-7.70175248e-01 1.32317530e-01 6.23956857e-01 5.71032754e+01] [-1.18193750e-01 -9.90910222e-01 6.42430508e-02 3.37434268e+01] [ 6.26785709e-01 -2.42693934e-02 7.78813631e-01 2.84203697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:33.75, Z:28.40 [[-7.69572230e-01 1.34869140e-01 6.24154547e-01 5.71302198e+01] [-1.18249473e-01 -9.90634989e-01 6.82596607e-02 3.37454213e+01] [ 6.27515454e-01 -2.12752072e-02 7.78313382e-01 2.83994782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:33.75, Z:28.41 [[-7.69423855e-01 1.34693429e-01 6.24375377e-01 5.71218968e+01] [-1.19941330e-01 -9.90591993e-01 6.58906693e-02 3.37454525e+01] [ 6.27376289e-01 -2.41905605e-02 7.78340419e-01 2.84064632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:33.75, Z:28.40 [[-7.69397413e-01 1.35517041e-01 6.24229727e-01 5.71276044e+01] [-1.20764406e-01 -9.90472848e-01 6.61777641e-02 3.37457210e+01] [ 6.27250810e-01 -2.44677316e-02 7.78432882e-01 2.84015493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:33.74, Z:28.40 [[-7.69390738e-01 1.36295173e-01 6.24068520e-01 5.71347976e+01] [-1.21528944e-01 -9.90360166e-01 6.64639614e-02 3.37445779e+01] [ 6.27111320e-01 -2.47056316e-02 7.78537747e-01 2.83966662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.13, Y:33.74, Z:28.40 [[-7.69718551e-01 1.36430440e-01 6.23634579e-01 5.71274675e+01] [-1.21479645e-01 -9.90349028e-01 6.67195477e-02 3.37424453e+01] [ 6.26718476e-01 -2.44036340e-02 7.78863540e-01 2.84028009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:33.74, Z:28.40 [[-7.70114185e-01 1.36357326e-01 6.23161954e-01 5.71342778e+01] [-1.21164355e-01 -9.90370666e-01 6.69712064e-02 3.37416469e+01] [ 6.26293334e-01 -2.39295400e-02 7.79220146e-01 2.83977291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:57.14, Y:33.74, Z:28.40 [[-7.70938532e-01 1.34689719e-01 6.22504988e-01 5.71354288e+01] [-1.18809470e-01 -9.90640225e-01 6.72030853e-02 3.37385572e+01] [ 6.25730046e-01 -2.21500395e-02 7.79725135e-01 2.83967635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:57.14, Y:33.74, Z:28.39 [[-7.71320326e-01 1.33810366e-01 6.22221617e-01 5.71439374e+01] [-1.17451803e-01 -9.90783655e-01 6.74746095e-02 3.37376592e+01] [ 6.25515810e-01 -2.10365132e-02 7.79927840e-01 2.83894494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370371743 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:57.14, Y:33.73, Z:28.40 [[-7.71862837e-01 1.31147748e-01 6.22115768e-01 5.71350815e+01] [-1.13796173e-01 -9.91190399e-01 6.77644789e-02 3.37325493e+01] [ 6.25522335e-01 -1.84895109e-02 7.79987145e-01 2.83961731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40037174299997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:57.14, Y:33.73, Z:28.39 [[-7.71670326e-01 1.30239553e-01 6.22545233e-01 5.71419850e+01] [-1.12362097e-01 -9.91330055e-01 6.81137449e-02 3.37312105e+01] [ 6.26018904e-01 -1.73891319e-02 7.79613975e-01 2.83908709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43037174299997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:57.14, Y:33.73, Z:28.39 [[-7.71840281e-01 1.29602168e-01 6.22467556e-01 5.71417889e+01] [-1.11304631e-01 -9.91429060e-01 6.84083178e-02 3.37292294e+01] [ 6.25998290e-01 -1.64832261e-02 7.79650206e-01 2.83906046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46037174299997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:57.13, Y:33.73, Z:28.40 [[-7.71989114e-01 1.29022557e-01 6.22403396e-01 5.71256556e+01] [-1.10321094e-01 -9.91518544e-01 6.87039532e-02 3.37253990e+01] [ 6.25988869e-01 -1.56255195e-02 7.79675432e-01 2.84037215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49037174299997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:57.14, Y:33.73, Z:28.39 [[-7.72054354e-01 1.29267181e-01 6.22271702e-01 5.71414807e+01] [-1.10398273e-01 -9.91489746e-01 6.89949706e-02 3.37264107e+01] [ 6.25894796e-01 -1.54298535e-02 7.79754848e-01 2.83905412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52037174299997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:57.13, Y:33.72, Z:28.40 [[-7.71361042e-01 1.30338205e-01 6.22907774e-01 5.71297683e+01] [-1.11487499e-01 -9.91341524e-01 6.93723266e-02 3.37221380e+01] [ 6.26556207e-01 -1.59353200e-02 7.79213312e-01 2.84005017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55037174299997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:57.12, Y:33.72, Z:28.41 [[-7.70758525e-01 1.30881178e-01 6.23539425e-01 5.71195188e+01] [-1.11898384e-01 -9.91268737e-01 6.97498584e-02 3.37193294e+01] [ 6.27224082e-01 -1.60127562e-02 7.78674221e-01 2.84089785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58037174299997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:57.12, Y:33.72, Z:28.41 [[-7.70230546e-01 1.31275271e-01 6.24108732e-01 5.71201080e+01] [-1.12118128e-01 -9.91217449e-01 7.01248504e-02 3.37178830e+01] [ 6.27833124e-01 -1.59616013e-02 7.78184294e-01 2.84081647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61037174299997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:57.14, Y:33.72, Z:28.39 [[-7.69489499e-01 1.31300341e-01 6.25016905e-01 5.71405534e+01] [-1.11838078e-01 -9.91219567e-01 7.05408772e-02 3.37185128e+01] [ 6.28791027e-01 -1.56202249e-02 7.77417425e-01 2.83917826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64037174299997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:57.15, Y:33.72, Z:28.38 [[-7.69447926e-01 1.31456945e-01 6.25035167e-01 5.71496944e+01] [-1.11786996e-01 -9.91202995e-01 7.08540063e-02 3.37191851e+01] [ 6.28850981e-01 -1.53523356e-02 7.77374266e-01 2.83847696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67037174299998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:57.16, Y:33.72, Z:28.38 [[-7.69826309e-01 1.30505844e-01 6.24768500e-01 5.71580435e+01] [-1.10331561e-01 -9.91346228e-01 7.11308867e-02 3.37189688e+01] [ 6.28644892e-01 -1.41732559e-02 7.77563321e-01 2.83795046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70037174299998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:57.16, Y:33.72, Z:28.38 [[-7.70057082e-01 1.29862346e-01 6.24618173e-01 5.71553777e+01] [-1.09266542e-01 -9.91443457e-01 7.14191495e-02 3.37174749e+01] [ 6.28548259e-01 -1.32530461e-02 7.77657664e-01 2.83815805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73037174299998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:57.16, Y:33.72, Z:28.38 [[-7.70253625e-01 1.28366519e-01 6.24685033e-01 5.71568065e+01] [-1.07088984e-01 -9.91658426e-01 7.17322485e-02 3.37167552e+01] [ 6.28682196e-01 -1.16448614e-02 7.77575137e-01 2.83810711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76037174299998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:57.14, Y:33.71, Z:28.39 [[-7.71697016e-01 1.24442434e-01 6.23696878e-01 5.71435446e+01] [-1.01869366e-01 -9.92194319e-01 7.19240249e-02 3.37140597e+01] [ 6.27778900e-01 -8.03205028e-03 7.78350267e-01 2.83916789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79037174299998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:57.14, Y:33.71, Z:28.39 [[-7.72164879e-01 1.22620772e-01 6.23478585e-01 5.71415313e+01] [-9.92970727e-02 -9.92434519e-01 7.22067707e-02 3.37137145e+01] [ 6.27615720e-01 -6.15406610e-03 7.78498963e-01 2.83937185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82037174299998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:57.15, Y:33.72, Z:28.38 [[-7.73403435e-01 1.18898521e-01 6.22663849e-01 5.71548351e+01] [-9.43360201e-02 -9.92902664e-01 7.24224741e-02 3.37154165e+01] [ 6.26855519e-01 -2.72783913e-03 7.79130744e-01 2.83820741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85037174299998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:57.15, Y:33.72, Z:28.38 [[-7.73669552e-01 1.18084367e-01 6.22488158e-01 5.71543325e+01] [-9.30580120e-02 -9.93002157e-01 7.27112315e-02 3.37153257e+01] [ 6.26718144e-01 -1.67304463e-03 7.79244230e-01 2.83820964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88037174299998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:57.15, Y:33.72, Z:28.38 [[-7.73975070e-01 1.17326499e-01 6.22251624e-01 5.71536197e+01] [-9.18597862e-02 -9.93093172e-01 7.29913093e-02 3.37158800e+01] [ 6.26517654e-01 -6.66447423e-04 7.79406945e-01 2.83823502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91037174299998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:57.15, Y:33.72, Z:28.38 [[-7.73994296e-01 1.16766811e-01 6.22332982e-01 5.71518826e+01] [-9.08858846e-02 -9.93159342e-01 7.33094567e-02 3.37178955e+01] [ 6.26635927e-01 1.79817701e-04 7.79312121e-01 2.83826578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940371743 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:57.15, Y:33.72, Z:28.38 [[-7.74107443e-01 1.17098919e-01 6.22129817e-01 5.71505008e+01] [-9.10827330e-02 -9.93120209e-01 7.35947395e-02 3.37193432e+01] [ 6.26467558e-01 3.04951576e-04 7.79447436e-01 2.83837301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.16, Y:33.72, Z:28.38 [[-7.73943528e-01 1.18139508e-01 6.22137020e-01 5.71582864e+01] [-9.21677402e-02 -9.92996997e-01 7.39058265e-02 3.37240366e+01] [ 6.26511391e-01 -1.42027054e-04 7.79412251e-01 2.83767069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000371743 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:57.16, Y:33.73, Z:28.38 [[-7.73904771e-01 1.19245259e-01 6.21974255e-01 5.71589896e+01] [-9.33529387e-02 -9.92864621e-01 7.41961803e-02 3.37261077e+01] [ 6.26383776e-01 -6.42346640e-04 7.79514562e-01 2.83756150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.16, Y:33.73, Z:28.37 [[-7.73775380e-01 1.20871461e-01 6.21821317e-01 5.71626463e+01] [-9.52055414e-02 -9.92666934e-01 7.44866685e-02 3.37286213e+01] [ 6.26264773e-01 -1.56488491e-03 7.79608867e-01 2.83726996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.17, Y:33.73, Z:28.37 [[-7.73386559e-01 1.25039698e-01 6.21480735e-01 5.71678840e+01] [-1.00336257e-01 -9.92141338e-01 7.47542736e-02 3.37340225e+01] [ 6.25943980e-01 -4.54310047e-03 7.79854790e-01 2.83676561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.18, Y:33.74, Z:28.36 [[-7.71605710e-01 1.31008640e-01 6.22463947e-01 5.71763572e+01] [-1.07667028e-01 -9.91340296e-01 7.51813023e-02 3.37411347e+01] [ 6.26922993e-01 -9.00852104e-03 7.79029144e-01 2.83603509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:33.74, Z:28.38 [[-7.70756347e-01 1.34003733e-01 6.22878522e-01 5.71568499e+01] [-1.11235651e-01 -9.90919056e-01 7.55384344e-02 3.37421180e+01] [ 6.27344629e-01 -1.10645701e-02 7.78663144e-01 2.83761187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15037174299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.17, Y:33.75, Z:28.37 [[-7.67217954e-01 1.33749756e-01 6.27285910e-01 5.71721943e+01] [-1.16170549e-01 -9.90817347e-01 6.91765054e-02 3.37490585e+01] [ 6.30778102e-01 -1.97986916e-02 7.75710640e-01 2.83663503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18037174299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.18, Y:33.75, Z:28.36 [[-7.69593253e-01 1.46065786e-01 6.21603580e-01 5.71816852e+01] [-1.19126636e-01 -9.89236966e-01 8.49651146e-02 3.37466917e+01] [ 6.27323736e-01 -8.66096421e-03 7.78710420e-01 2.83561330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.19, Y:33.76, Z:28.35 [[-7.68867604e-01 1.46234852e-01 6.22461225e-01 5.71945507e+01] [-1.26257924e-01 -9.89050796e-01 7.64032629e-02 3.37553868e+01] [ 6.26818590e-01 -1.98466687e-02 7.78912424e-01 2.83463116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24037174299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.20, Y:33.76, Z:28.34 [[-7.68114062e-01 1.51018778e-01 6.22249240e-01 5.71997733e+01] [-1.32181314e-01 -9.88255084e-01 7.66810895e-02 3.37591616e+01] [ 6.26521259e-01 -2.33498990e-02 7.79054487e-01 2.83421297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:33.76, Z:28.34 [[-7.67725184e-01 1.53164297e-01 6.22204742e-01 5.72033653e+01] [-1.34701774e-01 -9.87891640e-01 7.69775310e-02 3.37610619e+01] [ 6.26461072e-01 -2.47144931e-02 7.79060793e-01 2.83396112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:33.76, Z:28.36 [[-7.67536869e-01 1.55283974e-01 6.21911604e-01 5.71786332e+01] [-1.37204131e-01 -9.87526541e-01 7.72421946e-02 3.37588002e+01] [ 6.26148690e-01 -2.60426088e-02 7.79268632e-01 2.83591419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:33.76, Z:28.36 [[-7.67389667e-01 1.57308254e-01 6.21584437e-01 5.71755620e+01] [-1.39582238e-01 -9.87172550e-01 7.75058380e-02 3.37589222e+01] [ 6.25803402e-01 -2.72849678e-02 7.79503453e-01 2.83616205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:33.76, Z:28.33 [[-7.67085234e-01 1.60243207e-01 6.21210398e-01 5.72158633e+01] [-1.43129835e-01 -9.86643813e-01 7.77678331e-02 3.37636717e+01] [ 6.25375163e-01 -2.92591852e-02 7.79775484e-01 2.83293194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:33.76, Z:28.33 [[-7.66800249e-01 1.61494977e-01 6.21238079e-01 5.72184703e+01] [-1.44494681e-01 -9.86420559e-01 7.80753937e-02 3.37629731e+01] [ 6.25410797e-01 -2.98973668e-02 7.79722696e-01 2.83268928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42037174299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.21, Y:33.76, Z:28.33 [[-7.66399700e-01 1.62624794e-01 6.21437588e-01 5.72103360e+01] [-1.45698280e-01 -9.86217796e-01 7.83994218e-02 3.37589366e+01] [ 6.25622499e-01 -3.04570942e-02 7.79531176e-01 2.83331998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.19, Y:33.75, Z:28.35 [[-7.66246330e-01 1.63103755e-01 6.21501188e-01 5.71894479e+01] [-1.46070403e-01 -9.86138192e-01 7.87077048e-02 3.37545810e+01] [ 6.25723581e-01 -3.04734390e-02 7.79449402e-01 2.83498762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:33.76, Z:28.32 [[-7.66307773e-01 1.63647989e-01 6.21282330e-01 5.72215144e+01] [-1.46537551e-01 -9.86046747e-01 7.89845464e-02 3.37565324e+01] [ 6.25539082e-01 -3.05147191e-02 7.79595862e-01 2.83237168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:33.75, Z:28.33 [[-7.66121519e-01 1.63693651e-01 6.21499966e-01 5.72189746e+01] [-1.46341064e-01 -9.86049311e-01 7.93161329e-02 3.37515968e+01] [ 6.25813160e-01 -3.01851697e-02 7.79388699e-01 2.83255598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54037174299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.20, Y:33.75, Z:28.34 [[-7.65828401e-01 1.63866116e-01 6.21815694e-01 5.71978037e+01] [-1.46304877e-01 -9.86027197e-01 7.96570709e-02 3.37462370e+01] [ 6.26180281e-01 -2.99710214e-02 7.79102043e-01 2.83418838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57037174299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:57.23, Y:33.74, Z:28.32 [[-7.64288800e-01 1.63093587e-01 6.23909539e-01 5.72258401e+01] [-1.44948398e-01 -9.86180932e-01 8.02317415e-02 3.37445463e+01] [ 6.28372973e-01 -2.91144665e-02 7.77367195e-01 2.83182273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:33.74, Z:28.31 [[-7.63972187e-01 1.63359677e-01 6.24227613e-01 5.72322499e+01] [-1.45027168e-01 -9.86141124e-01 8.05779362e-02 3.37424277e+01] [ 6.28739706e-01 -2.89706611e-02 7.77075983e-01 2.83122349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63037174299998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:57.24, Y:33.74, Z:28.31 [[-7.63646342e-01 1.64379908e-01 6.24358479e-01 5.72360113e+01] [-1.46093328e-01 -9.85957709e-01 8.08958381e-02 3.37370921e+01] [ 6.28888705e-01 -2.94387970e-02 7.76937805e-01 2.83091248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66037174299998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:57.21, Y:33.73, Z:28.33 [[-7.63446700e-01 1.65564190e-01 6.24289704e-01 5.72105236e+01] [-1.47383337e-01 -9.85741762e-01 8.11870091e-02 3.37306838e+01] [ 6.28830095e-01 -3.00279459e-02 7.76962698e-01 2.83302751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690371743 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:57.24, Y:33.73, Z:28.31 [[-7.64175983e-01 1.68715936e-01 6.22551203e-01 5.72363092e+01] [-1.49365593e-01 -9.85236366e-01 8.36613538e-02 3.37257217e+01] [ 6.27475088e-01 -2.90557324e-02 7.78094325e-01 2.83085364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720371743 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:57.24, Y:33.72, Z:28.31 [[-7.62646785e-01 1.65772998e-01 6.25211320e-01 5.72403877e+01] [-1.48480378e-01 -9.85655954e-01 8.02241702e-02 3.37249743e+01] [ 6.29542262e-01 -3.16489077e-02 7.76321382e-01 2.83075002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750371743 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:57.24, Y:33.72, Z:28.31 [[-7.62533973e-01 1.67147523e-01 6.24982917e-01 5.72424007e+01] [-1.48826668e-01 -9.85459810e-01 8.19730824e-02 3.37245909e+01] [ 6.29597144e-01 -3.05068649e-02 7.76322592e-01 2.83059119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.24, Y:33.72, Z:28.31 [[-7.62644669e-01 1.66695905e-01 6.24968466e-01 5.72412474e+01] [-1.47999556e-01 -9.85559428e-01 8.22723878e-02 3.37210679e+01] [ 6.29658034e-01 -2.97504575e-02 7.76302564e-01 2.83073219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810371743 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:57.22, Y:33.71, Z:28.32 [[-7.63651451e-01 1.63910721e-01 6.24475570e-01 5.72216809e+01] [-1.44186819e-01 -9.86104699e-01 8.25086855e-02 3.37112106e+01] [ 6.29322352e-01 -2.70332685e-02 7.76674050e-01 2.83244621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840371743 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:57.23, Y:33.70, Z:28.32 [[-7.65614603e-01 1.59562679e-01 6.23196623e-01 5.72294884e+01] [-1.38414840e-01 -9.86920144e-01 8.26435801e-02 3.37045150e+01] [ 6.28232132e-01 -2.29865289e-02 7.77686317e-01 2.83197045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870371743 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:57.22, Y:33.70, Z:28.33 [[-7.67731432e-01 1.55279762e-01 6.21672456e-01 5.72188564e+01] [-1.31577024e-01 -9.87721843e-01 8.42202279e-02 3.37005637e+01] [ 6.27117162e-01 -1.71392955e-02 7.78736355e-01 2.83276668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90037174299997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:57.24, Y:33.70, Z:28.31 [[-7.67183513e-01 1.50719079e-01 6.23468697e-01 5.72434479e+01] [-1.31185050e-01 -9.88324267e-01 7.74959770e-02 3.37012871e+01] [ 6.27869365e-01 -2.23361366e-02 7.77998173e-01 2.83092350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93037174299997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:57.24, Y:33.69, Z:28.31 [[-7.68316249e-01 1.49224357e-01 6.22432513e-01 5.72381047e+01] [-1.24624693e-01 -9.88709223e-01 8.32031099e-02 3.36912275e+01] [ 6.27820697e-01 -1.36441598e-02 7.78238401e-01 2.83148123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96037174299997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:57.23, Y:33.69, Z:28.32 [[-7.69043698e-01 1.47581344e-01 6.21925669e-01 5.72304586e+01] [-1.22309769e-01 -9.88978343e-01 8.34395479e-02 3.36870490e+01] [ 6.27385138e-01 -1.18989262e-02 7.78618202e-01 2.83215988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99037174299997 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:56.63, Y:33.60, Z:28.81 [[-7.69909299e-01 1.45504911e-01 6.21343699e-01 5.66326381e+01] [-1.19445923e-01 -9.89308992e-01 8.36683317e-02 3.36009207e+01] [ 6.26875062e-01 -9.79994486e-03 7.79058161e-01 2.88063530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02037174299997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:57.21, Y:33.68, Z:28.34 [[-7.70269790e-01 1.44227693e-01 6.21194674e-01 5.72076341e+01] [-1.17475606e-01 -9.89510429e-01 8.40749260e-02 3.36766342e+01] [ 6.26804541e-01 -8.21484520e-03 7.79133226e-01 2.83409187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05037174299997 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:56.63, Y:33.60, Z:28.81 [[-7.70701801e-01 1.44063072e-01 6.20696838e-01 5.66273507e+01] [-1.17842232e-01 -9.89528408e-01 8.33470994e-02 3.35969053e+01] [ 6.26204393e-01 -8.90854132e-03 7.79608040e-01 2.88105553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08037174299997 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:57.21, Y:33.67, Z:28.34 [[-7.69835994e-01 1.44908345e-01 6.21573901e-01 5.72139514e+01] [-1.18497596e-01 -9.89403539e-01 8.38984948e-02 3.36731465e+01] [ 6.27145009e-01 -9.06693188e-03 7.78849747e-01 2.83361998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11037174299997 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:57.22, Y:33.67, Z:28.33 [[-7.69268368e-01 1.46310107e-01 6.21948174e-01 5.72212407e+01] [-1.20842280e-01 -9.89176166e-01 8.32325421e-02 3.36736503e+01] [ 6.27394072e-01 -1.11294733e-02 7.78622381e-01 2.83304740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14037174299997 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:57.19, Y:33.67, Z:28.36 [[-7.68401805e-01 1.51992470e-01 6.21656622e-01 5.71874366e+01] [-1.27924272e-01 -9.88262295e-01 8.35045977e-02 3.36676434e+01] [ 6.27051870e-01 -1.53598869e-02 7.78826057e-01 2.83572486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17037174299998 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:57.20, Y:33.67, Z:28.35 [[-7.67387356e-01 1.55595825e-01 6.22018155e-01 5.71974813e+01] [-1.32276443e-01 -9.87658282e-01 8.38693130e-02 3.36686395e+01] [ 6.27391097e-01 -1.79180985e-02 7.78498140e-01 2.83497601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20037174299998 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:57.20, Y:33.67, Z:28.35 [[-7.66634234e-01 1.59018786e-01 6.22081165e-01 5.71968651e+01] [-1.36419738e-01 -9.87066527e-01 8.41981430e-02 3.36682511e+01] [ 6.27424582e-01 -2.03149709e-02 7.78412292e-01 2.83491317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23037174299998 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:57.20, Y:33.67, Z:28.35 [[-7.64237321e-01 1.65222313e-01 6.23412307e-01 5.71956558e+01] [-1.44060402e-01 -9.85937445e-01 8.46992095e-02 3.36675763e+01] [ 6.28639736e-01 -2.50787307e-02 7.77292184e-01 2.83500710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26037174299998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:57.19, Y:33.67, Z:28.35 [[-7.63212327e-01 1.68249226e-01 6.23858271e-01 5.71931332e+01] [-1.47677110e-01 -9.85369299e-01 8.50812347e-02 3.36668043e+01] [ 6.29045639e-01 -2.71945391e-02 7.76892555e-01 2.83518506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29037174299998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:57.20, Y:33.67, Z:28.35 [[-7.61629085e-01 1.73080445e-01 6.24471213e-01 5.71992547e+01] [-1.53618129e-01 -9.84425358e-01 8.54879175e-02 3.36663916e+01] [ 6.29541584e-01 -3.08200150e-02 7.76355280e-01 2.83466503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32037174299998 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:57.20, Y:33.67, Z:28.35 [[-7.61168771e-01 1.75370678e-01 6.24393487e-01 5.71990462e+01] [-1.56321305e-01 -9.83972555e-01 8.58001242e-02 3.36653679e+01] [ 6.29432881e-01 -3.22976294e-02 7.76383354e-01 2.83466998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35037174299998 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:57.20, Y:33.66, Z:28.35 [[-7.60084892e-01 1.78619294e-01 6.24792849e-01 5.71954221e+01] [-1.60238142e-01 -9.83309252e-01 8.61780244e-02 3.36623827e+01] [ 6.29757647e-01 -3.46130309e-02 7.76020131e-01 2.83490291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38037174299998 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:57.20, Y:33.66, Z:28.35 [[-7.59523995e-01 1.80364539e-01 6.24973547e-01 5.71992003e+01] [-1.62223501e-01 -9.82952988e-01 8.65272169e-02 3.36615627e+01] [ 6.29926057e-01 -3.56658990e-02 7.75835747e-01 2.83464458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41037174299998 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:57.20, Y:33.66, Z:28.35 [[-7.59149226e-01 1.82285576e-01 6.24871524e-01 5.72009874e+01] [-1.64451436e-01 -9.82555301e-01 8.68378168e-02 3.36602142e+01] [ 6.29800110e-01 -3.68381578e-02 7.75883220e-01 2.83451978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440371743 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:57.20, Y:33.66, Z:28.35 [[-7.58695895e-01 1.86066589e-01 6.24307427e-01 5.72010240e+01] [-1.69109366e-01 -9.81742572e-01 8.70835549e-02 3.36566466e+01] [ 6.29112519e-01 -3.95062972e-02 7.76309662e-01 2.83460557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470371743 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:57.20, Y:33.65, Z:28.35 [[-7.57952837e-01 1.88730696e-01 6.24410298e-01 5.72007451e+01] [-1.72289222e-01 -9.81159342e-01 8.74229344e-02 3.36543272e+01] [ 6.29145389e-01 -4.13167032e-02 7.76188772e-01 2.83464210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500371743 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:57.20, Y:33.65, Z:28.35 [[-7.56463589e-01 1.94419239e-01 6.24470974e-01 5.71970201e+01] [-1.79388703e-01 -9.79856290e-01 8.77573079e-02 3.36485987e+01] [ 6.28953521e-01 -4.56378303e-02 7.76102221e-01 2.83496106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530371743 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:57.20, Y:33.65, Z:28.34 [[-7.55839253e-01 1.91449254e-01 6.26142321e-01 5.72042022e+01] [-1.77940994e-01 -9.80366852e-01 8.49578645e-02 3.36506811e+01] [ 6.30114296e-01 -4.72018982e-02 7.75066420e-01 2.83449349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560371743 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:57.20, Y:33.64, Z:28.35 [[-7.55151336e-01 2.00801622e-01 6.24039396e-01 5.71973537e+01] [-1.89496972e-01 -9.78157072e-01 8.54379317e-02 3.36391864e+01] [ 6.27564624e-01 -5.37350077e-02 7.76707920e-01 2.83492162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590371743 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:57.20, Y:33.63, Z:28.35 [[-7.54878878e-01 2.04509201e-01 6.23164398e-01 5.71962469e+01] [-1.91896841e-01 -9.77433337e-01 8.83157621e-02 3.36334347e+01] [ 6.27163043e-01 -5.29155757e-02 7.77088450e-01 2.83503307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620371743 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:57.20, Y:33.63, Z:28.35 [[-7.54478413e-01 2.05921087e-01 6.23184427e-01 5.71994406e+01] [-1.93458650e-01 -9.77095315e-01 8.86481621e-02 3.36292559e+01] [ 6.27165110e-01 -5.36772932e-02 7.77034538e-01 2.83485585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65037174299997 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:57.20, Y:33.62, Z:28.35 [[-7.54342280e-01 2.07056703e-01 6.22972910e-01 5.72016383e+01] [-1.94668346e-01 -9.76827771e-01 8.89479671e-02 3.36194580e+01] [ 6.26954512e-01 -5.41758935e-02 7.77169874e-01 2.83471807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68037174299997 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:57.21, Y:33.62, Z:28.34 [[-7.54362045e-01 2.07336262e-01 6.22855986e-01 5.72077055e+01] [-1.94767140e-01 -9.76779504e-01 8.92612008e-02 3.36150107e+01] [ 6.26900045e-01 -5.39766170e-02 7.77227675e-01 2.83421902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71037174299997 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:57.21, Y:33.60, Z:28.34 [[-7.54893039e-01 2.06955990e-01 6.22338909e-01 5.72126766e+01] [-1.94023172e-01 -9.76904218e-01 8.95162380e-02 3.36049987e+01] [ 6.26491427e-01 -5.31729841e-02 7.77612452e-01 2.83385456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74037174299997 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:57.21, Y:33.60, Z:28.34 [[-7.54961137e-01 2.07016368e-01 6.22236213e-01 5.72116092e+01] [-1.93839554e-01 -9.76911877e-01 8.98299039e-02 3.35991508e+01] [ 6.26466207e-01 -5.27959033e-02 7.77658462e-01 2.83389606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77037174299997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:57.22, Y:33.59, Z:28.33 [[-7.54893713e-01 2.06688354e-01 6.22427029e-01 5.72175492e+01] [-1.93144511e-01 -9.77016698e-01 9.01863088e-02 3.35945737e+01] [ 6.26762060e-01 -5.21372868e-02 7.77464484e-01 2.83346227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80037174299997 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:57.23, Y:33.58, Z:28.31 [[-7.64794115e-01 2.06403190e-01 6.10317692e-01 5.72329063e+01] [-1.79443953e-01 -9.78051209e-01 1.05904207e-01 3.35849832e+01] [ 6.18780922e-01 -2.85229050e-02 7.85045613e-01 2.83147304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83037174299997 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:57.23, Y:33.59, Z:28.31 [[-7.64930044e-01 1.83857322e-01 6.17315570e-01 5.72339961e+01] [-1.78431737e-01 -9.81373782e-01 7.11871864e-02 3.35939228e+01] [ 6.18905601e-01 -5.56954721e-02 7.83488271e-01 2.83087026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86037174299997 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:57.24, Y:33.58, Z:28.31 [[-7.65118408e-01 1.83183743e-01 6.17282381e-01 5.72370491e+01] [-1.75121226e-01 -9.81740970e-01 7.42780175e-02 3.35810370e+01] [ 6.19617929e-01 -5.12677691e-02 7.83227450e-01 2.83066938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89037174299997 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:57.23, Y:33.57, Z:28.32 [[-0.75802321 0.18506569 0.62542106 57.23362686] [-0.18447185 -0.98058035 0.06657569 33.57189721] [ 0.62559647 -0.06490666 0.77744207 28.31504543] [ 0. 0. 0. 1. ]] SLAMing on 232.92037174299998 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:57.24, Y:33.56, Z:28.32 [[-7.57260780e-01 1.99557568e-01 6.21878515e-01 5.72388836e+01] [-1.83028229e-01 -9.78864679e-01 9.12392921e-02 3.35562221e+01] [ 6.26942404e-01 -4.47293855e-02 7.77780498e-01 2.83161205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95037174299998 meters Centerline goodness : 0.989040 Centerline is valid? [True, True] Translation: X:57.25, Y:33.55, Z:28.30 [[-7.64057340e-01 1.95514790e-01 6.14809196e-01 5.72509101e+01] [-1.70816642e-01 -9.80270910e-01 9.94515891e-02 3.35491329e+01] [ 6.22123826e-01 -2.90329257e-02 7.82380364e-01 2.83027122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98037174299998 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:57.25, Y:33.55, Z:28.30 [[-7.64934900e-01 1.79771474e-01 6.18511776e-01 5.72511530e+01] [-1.68722914e-01 -9.82655607e-01 7.69450207e-02 3.35481787e+01] [ 6.21616584e-01 -4.54991774e-02 7.81999135e-01 2.82967896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01037174299998 meters Centerline goodness : 0.988400 Centerline is valid? [True, True] Translation: X:57.26, Y:33.54, Z:28.29 [[-7.67720073e-01 1.81627938e-01 6.14505640e-01 5.72595682e+01] [-1.66380123e-01 -9.82599286e-01 8.25608718e-02 3.35426927e+01] [ 6.18808164e-01 -3.88578857e-02 7.84580475e-01 2.82884910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04037174299998 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:57.27, Y:33.54, Z:28.27 [[-7.68502778e-01 1.76051532e-01 6.15149850e-01 5.72736504e+01] [-1.63843862e-01 -9.83493793e-01 7.67798710e-02 3.35425965e+01] [ 6.18513273e-01 -4.17829826e-02 7.84662675e-01 2.82748633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07037174299998 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:57.25, Y:33.53, Z:28.30 [[-0.76074186 0.17611291 0.62470478 57.25153783] [-0.17679263 -0.98231626 0.06163715 33.52951967] [ 0.62451276 -0.06355324 0.77842456 28.29865707] [ 0. 0. 0. 1. ]] SLAMing on 233.10037174299998 meters Centerline goodness : 0.988918 Centerline is valid? [True, True] Translation: X:57.26, Y:33.51, Z:28.30 [[-7.59745821e-01 1.95381530e-01 6.20171222e-01 5.72601177e+01] [-1.76834262e-01 -9.79923261e-01 9.20871714e-02 3.35129758e+01] [ 6.25712339e-01 -3.97046770e-02 7.79042751e-01 2.83006634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13037174299998 meters Centerline goodness : 0.988051 Centerline is valid? [True, True] Translation: X:57.28, Y:33.51, Z:28.28 [[-7.64064623e-01 1.87834006e-01 6.17190115e-01 5.72823897e+01] [-1.64586193e-01 -9.81773564e-01 9.50371238e-02 3.35137963e+01] [ 6.23792142e-01 -2.89664674e-02 7.81053332e-01 2.82803977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16037174299998 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:57.28, Y:33.52, Z:28.28 [[-7.64791747e-01 1.77798395e-01 6.19258682e-01 5.72793369e+01] [-1.64812023e-01 -9.83177000e-01 7.87399813e-02 3.35166115e+01] [ 6.22840735e-01 -4.18415883e-02 7.81228968e-01 2.82784918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190371743 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:57.26, Y:33.51, Z:28.29 [[-7.59987330e-01 1.84468679e-01 6.23209889e-01 5.72634574e+01] [-1.78786414e-01 -9.81219493e-01 7.24135720e-02 3.35061508e+01] [ 6.24863727e-01 -5.63880639e-02 7.78694875e-01 2.82937740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220371743 meters Centerline goodness : 0.989791 Centerline is valid? [True, True] Translation: X:57.27, Y:33.49, Z:28.30 [[-7.58708332e-01 1.99101256e-01 6.20258299e-01 5.72688416e+01] [-1.80849786e-01 -9.79097231e-01 9.30696918e-02 3.34907620e+01] [ 6.25823476e-01 -4.15608300e-02 7.78856646e-01 2.82965329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250371743 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:57.27, Y:33.49, Z:28.30 [[-7.58578715e-01 2.00274948e-01 6.20038933e-01 5.72702291e+01] [-1.82116944e-01 -9.78834800e-01 9.33587356e-02 3.34876122e+01] [ 6.25613101e-01 -4.20996461e-02 7.78996706e-01 2.82958400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280371743 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:57.29, Y:33.49, Z:28.28 [[-7.63196727e-01 1.92085244e-01 6.16955440e-01 5.72899410e+01] [-1.69723460e-01 -9.80860314e-01 9.54305597e-02 3.34904449e+01] [ 6.23477909e-01 -3.18795213e-02 7.81190753e-01 2.82774877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310371743 meters Centerline goodness : 0.990714 Centerline is valid? [True, True] Translation: X:57.27, Y:33.49, Z:28.29 [[-0.75943114 0.1892113 0.6224656 57.27202907] [-0.18402363 -0.98017524 0.07342888 33.48615679] [ 0.62401895 -0.0587842 0.77919495 28.28810137] [ 0. 0. 0. 1. ]] SLAMing on 233.340371743 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:57.28, Y:33.47, Z:28.29 [[-7.58489746e-01 2.02513857e-01 6.19420247e-01 5.72759807e+01] [-1.84371206e-01 -9.78342190e-01 9.40947300e-02 3.34746961e+01] [ 6.25060448e-01 -4.28333700e-02 7.79400243e-01 2.82924262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370371743 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:57.28, Y:33.47, Z:28.29 [[-7.58383374e-01 2.02841553e-01 6.19443268e-01 5.72810894e+01] [-1.84534111e-01 -9.78280072e-01 9.44206686e-02 3.34724173e+01] [ 6.25141440e-01 -4.27013472e-02 7.79342528e-01 2.82881594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40037174299997 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:57.28, Y:33.47, Z:28.29 [[-7.57523393e-01 2.04381525e-01 6.19989114e-01 5.72816778e+01] [-1.86234279e-01 -9.77918529e-01 9.48269183e-02 3.34665778e+01] [ 6.25679713e-01 -4.36296169e-02 7.78859008e-01 2.82881642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43037174299997 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:57.28, Y:33.46, Z:28.29 [[-7.55930050e-01 2.07598559e-01 6.20864395e-01 5.72837288e+01] [-1.90087146e-01 -9.77132416e-01 9.52844072e-02 3.34615488e+01] [ 6.26447632e-01 -4.59899941e-02 7.78105574e-01 2.82870621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46037174299997 meters Centerline goodness : 0.985853 Centerline is valid? [True, True] Translation: X:57.96, Y:33.59, Z:28.82 [[ 7.69357204e-01 1.47221607e-01 -6.21623110e-01 5.79551019e+01] [ 1.24546845e-01 -9.88977117e-01 -8.00771181e-02 3.35893804e+01] [-6.26560113e-01 -1.58132897e-02 -7.79212657e-01 2.88166720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49037174299997 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:57.99, Y:33.67, Z:28.80 [[ 7.58357497e-01 2.47229990e-01 -6.03134511e-01 5.79858091e+01] [ 1.96131336e-01 -9.68948127e-01 -1.50572328e-01 3.36709991e+01] [-6.21632050e-01 -4.10592327e-03 -7.83298625e-01 2.88040069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52037174299997 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:57.38, Y:33.99, Z:28.12 [[ 7.16195027e-01 -4.31876547e-01 5.48221973e-01 5.73760698e+01] [ 3.42550867e-01 9.01932545e-01 2.63014424e-01 3.39904081e+01] [-6.08049001e-01 -5.75710622e-04 7.93899289e-01 2.81212458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55037174299997 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:57.40, Y:34.03, Z:28.12 [[ 7.16577198e-01 -3.92004541e-01 5.76931156e-01 5.73952305e+01] [ 3.42092050e-01 9.18335259e-01 1.99081342e-01 3.40331832e+01] [-6.07857013e-01 5.47064117e-02 7.92159744e-01 2.81194288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58037174299997 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:57.42, Y:34.05, Z:28.10 [[ 0.71717346 -0.39121589 0.57672555 57.41980669] [ 0.34572085 0.91827652 0.1929905 34.05200122] [-0.60509448 0.06097838 0.79381503 28.09789771] [ 0. 0. 0. 1. ]] SLAMing on 233.61037174299997 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:57.44, Y:34.07, Z:28.08 [[ 0.71786864 -0.38708013 0.57864807 57.44157841] [ 0.34481243 0.91975684 0.187488 34.06677072] [-0.6047884 0.06493329 0.79373463 28.07883296] [ 0. 0. 0. 1. ]] SLAMing on 233.64037174299997 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:57.46, Y:34.08, Z:28.06 [[ 0.71735503 -0.39149162 0.57631248 57.46306337] [ 0.34433078 0.91832676 0.19522364 34.07566001] [-0.60567159 0.05839746 0.79356894 28.05751982] [ 0. 0. 0. 1. ]] SLAMing on 233.67037174299998 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:57.49, Y:34.09, Z:28.04 [[ 0.71715438 -0.39052852 0.57721492 57.48708716] [ 0.34453245 0.91862493 0.19345702 34.08534893] [-0.60579451 0.06013072 0.79334564 28.03792884] [ 0. 0. 0. 1. ]] SLAMing on 233.70037174299998 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:57.51, Y:34.10, Z:28.02 [[ 0.71791285 -0.38466045 0.58020469 57.50881444] [ 0.34145713 0.92089713 0.18803061 34.10387615] [-0.60663677 0.06312543 0.79246893 28.01619065] [ 0. 0. 0. 1. ]] SLAMing on 233.73037174299998 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:57.53, Y:34.11, Z:28.00 [[ 0.71771883 -0.38643884 0.57926221 57.53081571] [ 0.34108779 0.92034629 0.1913683 34.11499973] [-0.60707397 0.06023063 0.79235943 27.99626592] [ 0. 0. 0. 1. ]] SLAMing on 233.76037174299998 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:57.55, Y:34.13, Z:27.98 [[ 0.7182095 -0.38619786 0.57881458 57.54970401] [ 0.34132438 0.92041832 0.19059847 34.13107166] [-0.60636027 0.0606739 0.79287193 27.97926397] [ 0. 0. 0. 1. ]] SLAMing on 233.79037174299998 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:57.57, Y:34.14, Z:27.96 [[ 0.717269 -0.38558247 0.58038896 57.5736646 ] [ 0.34077482 0.92064475 0.19048822 34.14190909] [-0.60778097 0.06115065 0.79174673 27.9569251 ] [ 0. 0. 0. 1. ]] SLAMing on 233.82037174299998 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:57.60, Y:34.15, Z:27.94 [[ 0.71668033 -0.38708787 0.58011403 57.59596172] [ 0.34187989 0.92001862 0.19153037 34.15335324] [-0.60785479 0.06106327 0.79169681 27.93670841] [ 0. 0. 0. 1. ]] SLAMing on 233.85037174299998 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:57.62, Y:34.17, Z:27.92 [[ 0.71579064 -0.3924696 0.577591 57.61796499] [ 0.34548152 0.91783207 0.1955168 34.16697098] [-0.60686594 0.05959792 0.7925666 27.91675475] [ 0. 0. 0. 1. ]] SLAMing on 233.88037174299998 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:57.64, Y:34.18, Z:27.90 [[ 0.7157981 -0.39682263 0.57459975 57.64150261] [ 0.34827802 0.91607169 0.19878398 34.17841887] [-0.60525655 0.05783127 0.79392698 27.8982702 ] [ 0. 0. 0. 1. ]] SLAMing on 233.91037174299998 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:57.66, Y:34.20, Z:27.88 [[ 0.71555025 -0.39737887 0.57452404 57.66279721] [ 0.35238918 0.91546039 0.19430423 34.19519595] [-0.6031664 0.06342161 0.79508993 27.87908197] [ 0. 0. 0. 1. ]] SLAMing on 233.940371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:57.69, Y:34.21, Z:27.86 [[ 0.71542472 -0.39801433 0.57424042 57.68501925] [ 0.35425352 0.91504239 0.19287785 34.20700357] [-0.60222248 0.0654371 0.79564193 27.85934599] [ 0. 0. 0. 1. ]] SLAMing on 233.970371743 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:57.71, Y:34.22, Z:27.84 [[ 0.71520853 -0.40267299 0.57125407 57.70753869] [ 0.35656437 0.9132019 0.19729201 34.21643779] [-0.60111447 0.06258392 0.79670864 27.83865845] [ 0. 0. 0. 1. ]] SLAMing on 234.000371743 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:57.72, Y:34.24, Z:27.83 [[ 0.71292911 -0.39679661 0.57817344 57.72038168] [ 0.36221644 0.91437314 0.18088952 34.24216146] [-0.60044261 0.08046253 0.79560949 27.8254882 ] [ 0. 0. 0. 1. ]] SLAMing on 234.030371743 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:57.75, Y:34.23, Z:27.79 [[ 7.10667109e-01 -4.21600654e-01 5.63209684e-01 5.77470979e+01] [ 3.62276830e-01 9.05554233e-01 2.20741996e-01 3.42339107e+01] [-6.03081884e-01 4.71637435e-02 7.96283758e-01 2.77948593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060371743 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:57.77, Y:34.26, Z:27.78 [[ 0.71062271 -0.4071881 0.57377105 57.77096267] [ 0.36130221 0.91096482 0.19900703 34.25893081] [-0.60371854 0.06588584 0.79447025 27.78101356] [ 0. 0. 0. 1. ]] SLAMing on 234.090371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:57.79, Y:34.27, Z:27.76 [[ 0.71006666 -0.40160342 0.57837707 57.79440683] [ 0.35990281 0.91299845 0.19210359 34.2733994 ] [-0.60520683 0.07175318 0.79282796 27.76095743] [ 0. 0. 0. 1. ]] SLAMing on 234.120371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:57.82, Y:34.28, Z:27.74 [[ 0.70946768 -0.40390146 0.57751123 57.81671672] [ 0.35956864 0.91224168 0.19627916 34.28306033] [-0.60610725 0.06840121 0.79243629 27.74020478] [ 0. 0. 0. 1. ]] SLAMing on 234.15037174299997 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:57.84, Y:34.30, Z:27.72 [[ 0.70934827 -0.40349767 0.57794001 57.83922511] [ 0.35862449 0.91248039 0.19689595 34.29680168] [-0.60680598 0.06759564 0.79197054 27.72041651] [ 0. 0. 0. 1. ]] SLAMing on 234.18037174299997 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:57.86, Y:34.31, Z:27.70 [[ 0.70970077 -0.40289288 0.57792919 57.86176207] [ 0.35851246 0.9127119 0.19602499 34.31138009] [-0.60645992 0.06807572 0.79219446 27.70010635] [ 0. 0. 0. 1. ]] SLAMing on 234.21037174299997 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:57.88, Y:34.32, Z:27.68 [[ 0.71010868 -0.40441892 0.57636012 57.8847898 ] [ 0.3585909 0.91219736 0.19826383 34.32192652] [-0.60593583 0.06588863 0.79278021 27.67971665] [ 0. 0. 0. 1. ]] SLAMing on 234.24037174299997 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:57.91, Y:34.34, Z:27.66 [[ 0.71027006 -0.40108589 0.57848642 57.90788057] [ 0.35837943 0.91335716 0.19324307 34.33516357] [-0.60587178 0.07006287 0.79247118 27.65995235] [ 0. 0. 0. 1. ]] SLAMing on 234.27037174299997 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:57.93, Y:34.34, Z:27.64 [[ 0.71076128 -0.40504519 0.5751146 57.92941126] [ 0.35872781 0.91199084 0.19896499 34.34305826] [-0.60508905 0.06489299 0.79350875 27.64042459] [ 0. 0. 0. 1. ]] SLAMing on 234.30037174299997 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:57.95, Y:34.36, Z:27.62 [[ 0.71144094 -0.40787378 0.57226809 57.95124511] [ 0.35971316 0.91092367 0.20205077 34.35528379] [-0.60370376 0.06210517 0.79478596 27.62079536] [ 0. 0. 0. 1. ]] SLAMing on 234.33037174299997 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:57.97, Y:34.37, Z:27.60 [[ 0.71231172 -0.40550927 0.57286495 57.97402765] [ 0.35889642 0.91186916 0.19921845 34.37114479] [-0.60316281 0.06369354 0.79507092 27.60135921] [ 0. 0. 0. 1. ]] SLAMing on 234.36037174299997 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:58.00, Y:34.38, Z:27.58 [[ 0.71280827 -0.402793 0.57416214 57.99626711] [ 0.35768461 0.912954 0.19640955 34.38332902] [-0.60329602 0.06536661 0.79483402 27.58234656] [ 0. 0. 0. 1. ]] SLAMing on 234.39037174299997 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:58.02, Y:34.39, Z:27.56 [[ 0.7130198 -0.40382363 0.5731747 58.01849094] [ 0.35730704 0.91264726 0.1985111 34.39334566] [-0.6032698 0.06325701 0.79502459 27.56212564] [ 0. 0. 0. 1. ]] SLAMing on 234.42037174299998 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:58.04, Y:34.41, Z:27.54 [[ 0.71337235 -0.40437667 0.57234552 58.0410349 ] [ 0.35652301 0.91254816 0.20036766 34.40570741] [-0.60331686 0.0611176 0.79515621 27.54224271] [ 0. 0. 0. 1. ]] SLAMing on 234.45037174299998 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:58.06, Y:34.42, Z:27.52 [[ 0.71359853 -0.40254413 0.57335449 58.06454823] [ 0.35575703 0.91327246 0.19841961 34.41741342] [-0.60350151 0.06238295 0.79491779 27.52286735] [ 0. 0. 0. 1. ]] SLAMing on 234.48037174299998 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:58.09, Y:34.43, Z:27.50 [[ 0.71394716 -0.40185991 0.57340044 58.08610864] [ 0.35447114 0.91365356 0.19896579 34.43004077] [-0.60384573 0.06120285 0.7947481 27.50453605] [ 0. 0. 0. 1. ]] SLAMing on 234.51037174299998 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:58.11, Y:34.44, Z:27.48 [[ 0.71381016 -0.40091102 0.57423463 58.10973698] [ 0.35384034 0.91404134 0.19830644 34.44113028] [-0.60437742 0.06163422 0.79431049 27.48411125] [ 0. 0. 0. 1. ]] SLAMing on 234.54037174299998 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:58.13, Y:34.45, Z:27.46 [[ 0.71334263 -0.3965075 0.57786165 58.13363553] [ 0.3521922 0.91569547 0.19355223 34.45377227] [-0.60589021 0.06544931 0.79285146 27.46355077] [ 0. 0. 0. 1. ]] SLAMing on 234.57037174299998 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:58.16, Y:34.46, Z:27.44 [[ 0.71354341 -0.39539262 0.57837745 58.15555445] [ 0.34984843 0.91632597 0.19481479 34.46396783] [-0.60701061 0.06333564 0.79216584 27.44240968] [ 0. 0. 0. 1. ]] SLAMing on 234.60037174299998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:58.18, Y:34.47, Z:27.42 [[ 0.71399966 -0.39659779 0.57698759 58.17900813] [ 0.34967887 0.91595066 0.19687324 34.47331157] [-0.60657166 0.06119294 0.79267033 27.42195677] [ 0. 0. 0. 1. ]] SLAMing on 234.63037174299998 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:58.20, Y:34.49, Z:27.40 [[ 0.71545694 -0.39480188 0.57641377 58.20207335] [ 0.34782521 0.91679785 0.19621245 34.48553926] [-0.60591995 0.06010968 0.79325143 27.40178839] [ 0. 0. 0. 1. ]] SLAMing on 234.66037174299998 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:58.23, Y:34.50, Z:27.38 [[ 0.7161331 -0.39237731 0.57722909 58.22562125] [ 0.34683618 0.91773929 0.19354396 34.49764933] [-0.60568807 0.0616007 0.79331413 27.38172992] [ 0. 0. 0. 1. ]] SLAMing on 234.690371743 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:58.25, Y:34.51, Z:27.36 [[ 7.16800643e-01 -3.94926718e-01 5.74656180e-01 5.82468554e+01] [ 3.46270204e-01 9.16949765e-01 1.98242463e-01 3.45058764e+01] [-6.05222095e-01 5.68859877e-02 7.94021537e-01 2.73620876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720371743 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:58.27, Y:34.52, Z:27.34 [[ 7.18131449e-01 -3.94027054e-01 5.73611282e-01 5.82696144e+01] [ 3.44734613e-01 9.17445445e-01 1.98625031e-01 3.45173268e+01] [-6.04520693e-01 5.51047815e-02 7.94681190e-01 2.73421230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750371743 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:58.29, Y:34.52, Z:27.32 [[ 7.14673957e-01 -3.96401850e-01 5.76287002e-01 5.82893935e+01] [ 3.40478300e-01 9.16860127e-01 2.08427529e-01 3.45222504e+01] [-6.10995632e-01 4.72554914e-02 7.90222283e-01 2.73210110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780371743 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:58.32, Y:34.54, Z:27.30 [[ 0.71793122 -0.38545632 0.57965351 58.31730855] [ 0.34224645 0.92055731 0.1882594 34.54354366] [-0.60617006 0.06322705 0.79281789 27.30191246] [ 0. 0. 0. 1. ]] SLAMing on 234.810371743 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:58.34, Y:34.55, Z:27.28 [[ 7.18044748e-01 -3.93178267e-01 5.74301828e-01 5.83396209e+01] [ 3.42808285e-01 9.17910069e-01 1.99808873e-01 3.45491210e+01] [-6.05717937e-01 5.34037131e-02 7.93885272e-01 2.72802391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840371743 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:58.36, Y:34.56, Z:27.26 [[ 7.17785240e-01 -3.89372496e-01 5.77211754e-01 5.83628159e+01] [ 3.41915768e-01 9.19288200e-01 1.94943102e-01 3.45617617e+01] [-6.06529436e-01 5.74305191e-02 7.92984097e-01 2.72614805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870371743 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:58.38, Y:34.56, Z:27.24 [[ 7.14590917e-01 -3.98115668e-01 5.75207560e-01 5.83800816e+01] [ 3.37876881e-01 9.16416182e-01 2.14524111e-01 3.45647389e+01] [-6.12534926e-01 4.10523556e-02 7.89376760e-01 2.72405135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90037174299997 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:58.41, Y:34.59, Z:27.22 [[ 7.18504393e-01 -3.87717789e-01 5.77430821e-01 5.84082095e+01] [ 3.40630892e-01 9.19989971e-01 1.93878956e-01 3.45859066e+01] [-6.06400884e-01 5.73878934e-02 7.93085492e-01 2.72246944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93037174299997 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:58.43, Y:34.60, Z:27.20 [[ 7.18727508e-01 -3.89582458e-01 5.75896065e-01 5.84305783e+01] [ 3.39570210e-01 9.19459567e-01 1.98207410e-01 3.45956608e+01] [-6.06731277e-01 5.31000299e-02 7.93131480e-01 2.72027916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96037174299997 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:58.45, Y:34.61, Z:27.18 [[ 7.18935567e-01 -3.89455003e-01 5.75722546e-01 5.84531057e+01] [ 3.39218688e-01 9.19540340e-01 1.98434484e-01 3.46057667e+01] [-6.06681409e-01 5.26342382e-02 7.93200671e-01 2.71834594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99037174299997 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:58.48, Y:34.62, Z:27.16 [[ 7.19144707e-01 -3.89840675e-01 5.75200086e-01 5.84761743e+01] [ 3.38872122e-01 9.19442941e-01 1.99475220e-01 3.46153067e+01] [-6.06627213e-01 5.14677255e-02 7.93318661e-01 2.71629446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02037174299997 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:58.50, Y:34.62, Z:27.14 [[ 7.16559221e-01 -3.96548183e-01 5.73840066e-01 5.84961884e+01] [ 3.36789286e-01 9.17121004e-01 2.13218293e-01 3.46195664e+01] [-6.10832104e-01 4.04796525e-02 7.90724692e-01 2.71401090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05037174299997 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:58.52, Y:34.64, Z:27.12 [[ 7.20011900e-01 -3.86297075e-01 5.76504496e-01 5.85237681e+01] [ 3.40518794e-01 9.20523341e-01 1.91529971e-01 3.46404437e+01] [-6.04673312e-01 5.84067577e-02 7.94329173e-01 2.71248651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08037174299997 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:58.55, Y:34.65, Z:27.10 [[ 7.19626687e-01 -3.89541097e-01 5.74800109e-01 5.85450698e+01] [ 3.41332285e-01 9.19343517e-01 1.95703269e-01 3.46487546e+01] [-6.04673219e-01 5.53645394e-02 7.94547082e-01 2.71037280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11037174299997 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:58.57, Y:34.66, Z:27.08 [[ 7.19564769e-01 -3.91525566e-01 5.73527919e-01 5.85671732e+01] [ 3.41005102e-01 9.18688054e-01 1.99318289e-01 3.46566057e+01] [-6.04931454e-01 5.21535283e-02 7.94567773e-01 2.70837060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14037174299997 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:58.59, Y:34.67, Z:27.06 [[ 7.19211388e-01 -3.91279043e-01 5.74139086e-01 5.85906899e+01] [ 3.41603672e-01 9.18710431e-01 1.98186972e-01 3.46675661e+01] [-6.05013976e-01 5.35896929e-02 7.94409362e-01 2.70638689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17037174299998 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:58.61, Y:34.68, Z:27.04 [[ 7.19063098e-01 -3.90777709e-01 5.74666027e-01 5.86142416e+01] [ 3.40921983e-01 9.18939141e-01 1.98300422e-01 3.46795404e+01] [-6.05574490e-01 5.33257657e-02 7.93999937e-01 2.70435829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20037174299998 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:58.64, Y:34.69, Z:27.02 [[ 7.18829383e-01 -3.90072987e-01 5.75436689e-01 5.86366477e+01] [ 3.39928049e-01 9.19262342e-01 1.98508611e-01 3.46898789e+01] [-6.06410125e-01 5.29132487e-02 7.93389531e-01 2.70242156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23037174299998 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:58.66, Y:34.70, Z:27.00 [[ 7.20301802e-01 -3.89892709e-01 5.73715077e-01 5.86591270e+01] [ 3.37708856e-01 9.19554631e-01 2.00927871e-01 3.47000590e+01] [-6.05902668e-01 4.90199550e-02 7.94027078e-01 2.70042771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26037174299998 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:58.68, Y:34.71, Z:26.99 [[ 7.20772280e-01 -3.85496268e-01 5.76090226e-01 5.86819982e+01] [ 3.35901823e-01 9.21237369e-01 1.96192957e-01 3.47121823e+01] [-6.06347496e-01 5.20993120e-02 7.93491257e-01 2.69858982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29037174299998 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:58.70, Y:34.72, Z:26.97 [[ 7.21120611e-01 -3.87145186e-01 5.74546490e-01 5.87047975e+01] [ 3.34970882e-01 9.20756532e-01 2.00004792e-01 3.47203236e+01] [-6.06448326e-01 4.82287665e-02 7.93658877e-01 2.69650593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32037174299998 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:58.73, Y:34.73, Z:26.94 [[ 7.21888784e-01 -3.84709603e-01 5.75217442e-01 5.87295612e+01] [ 3.33896899e-01 9.21706406e-01 1.97408616e-01 3.47322213e+01] [-6.06126592e-01 4.95562542e-02 7.93822860e-01 2.69444899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35037174299998 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:58.75, Y:34.74, Z:26.92 [[ 7.21957407e-01 -3.83597297e-01 5.75873786e-01 5.87518804e+01] [ 3.32731655e-01 9.22184543e-01 1.97142878e-01 3.47415775e+01] [-6.06685379e-01 4.92826767e-02 7.93412925e-01 2.69245844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38037174299998 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:58.78, Y:34.75, Z:26.90 [[ 7.22624322e-01 -3.82929719e-01 5.75481468e-01 5.87763704e+01] [ 3.32963748e-01 9.22411937e-01 1.95681786e-01 3.47518676e+01] [-6.05763347e-01 5.02100490e-02 7.94059015e-01 2.69041430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41037174299998 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:58.80, Y:34.76, Z:26.88 [[ 7.23113485e-01 -3.78482417e-01 5.77804420e-01 5.88010576e+01] [ 3.33704197e-01 9.23838359e-01 1.87521185e-01 3.47636862e+01] [-6.04771359e-01 5.72166627e-02 7.94341147e-01 2.68825362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440371743 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:58.82, Y:34.77, Z:26.86 [[ 7.23362039e-01 -3.84213294e-01 5.73696353e-01 5.88223778e+01] [ 3.34355801e-01 9.21880007e-01 1.95814840e-01 3.47679305e+01] [-6.04113862e-01 5.01736815e-02 7.95316945e-01 2.68610484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470371743 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:58.85, Y:34.78, Z:26.84 [[ 7.23386562e-01 -3.80898483e-01 5.75871712e-01 5.88453479e+01] [ 3.34345216e-01 9.22995607e-01 1.90505607e-01 3.47784661e+01] [-6.04090357e-01 5.47307561e-02 7.95034204e-01 2.68418792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500371743 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:58.87, Y:34.78, Z:26.82 [[ 7.23966105e-01 -3.88715366e-01 5.69888974e-01 5.88672726e+01] [ 3.35959700e-01 9.20207140e-01 2.00872845e-01 3.47829862e+01] [-6.02498264e-01 4.60345978e-02 7.96791477e-01 2.68225351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:58.89, Y:34.80, Z:26.80 [[ 7.24012837e-01 -3.82533346e-01 5.73997954e-01 5.88933628e+01] [ 3.36018927e-01 9.22320446e-01 1.90830490e-01 3.47969342e+01] [-6.02409075e-01 5.47104521e-02 7.96310287e-01 2.68044792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:58.92, Y:34.80, Z:26.78 [[ 7.24024637e-01 -3.85146487e-01 5.72232915e-01 5.89172044e+01] [ 3.36415475e-01 9.21407291e-01 1.94507666e-01 3.48045097e+01] [-6.02173525e-01 5.16796655e-02 7.96690817e-01 2.67832276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590371743 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:58.94, Y:34.81, Z:26.77 [[ 7.23671659e-01 -3.84914239e-01 5.72835368e-01 5.89402447e+01] [ 3.35805175e-01 9.21528163e-01 1.94989049e-01 3.48138391e+01] [-6.02937986e-01 5.12530328e-02 7.96140008e-01 2.67651046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620371743 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:58.96, Y:34.82, Z:26.75 [[ 7.23494986e-01 -3.85363924e-01 5.72756189e-01 5.89644024e+01] [ 3.35719549e-01 9.21376886e-01 1.95849481e-01 3.48229159e+01] [-6.03197638e-01 5.05893322e-02 7.95985760e-01 2.67461638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65037174299997 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:58.99, Y:34.83, Z:26.73 [[ 7.22634042e-01 -3.86181471e-01 5.73292170e-01 5.89871624e+01] [ 3.34606530e-01 9.21162182e-01 1.98742810e-01 3.48308235e+01] [-6.04845857e-01 4.82089836e-02 7.94881993e-01 2.67276313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68037174299997 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:59.01, Y:34.84, Z:26.71 [[ 7.22399650e-01 -3.85085595e-01 5.74323803e-01 5.90108004e+01] [ 3.33976475e-01 9.21584935e-01 1.97840649e-01 3.48402577e+01] [-6.05473749e-01 4.88906243e-02 7.94362163e-01 2.67090547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71037174299997 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:59.04, Y:34.85, Z:26.69 [[ 7.21836986e-01 -3.82924959e-01 5.76471891e-01 5.90362790e+01] [ 3.33909721e-01 9.22311215e-01 1.94541311e-01 3.48511552e+01] [-6.06181214e-01 5.20624542e-02 7.93620714e-01 2.66882328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74037174299997 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:59.06, Y:34.86, Z:26.67 [[ 7.21897967e-01 -3.89465528e-01 5.71996440e-01 5.90584262e+01] [ 3.34836945e-01 9.19970461e-01 2.03810134e-01 3.48554891e+01] [-6.05596851e-01 4.43954193e-02 7.94532253e-01 2.66686530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77037174299997 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:59.08, Y:34.87, Z:26.65 [[ 7.22234097e-01 -3.88818200e-01 5.72012514e-01 5.90829995e+01] [ 3.35997598e-01 9.20121069e-01 2.01203459e-01 3.48658355e+01] [-6.04552333e-01 4.68788322e-02 7.95184791e-01 2.66508301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80037174299997 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:59.11, Y:34.88, Z:26.63 [[ 7.22521260e-01 -3.88140255e-01 5.72110279e-01 5.91081344e+01] [ 3.37380952e-01 9.20255102e-01 1.98253980e-01 3.48753025e+01] [-6.03437753e-01 4.97763950e-02 7.95855005e-01 2.66310306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83037174299997 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:59.13, Y:34.89, Z:26.61 [[ 7.22236668e-01 -3.84722598e-01 5.74771883e-01 5.91335285e+01] [ 3.38575139e-01 9.21302061e-01 1.91231244e-01 3.48873332e+01] [-6.03109502e-01 5.64892532e-02 7.95655637e-01 2.66109358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86037174299997 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:59.16, Y:34.89, Z:26.59 [[ 7.21998748e-01 -3.89417677e-01 5.71901811e-01 5.91577648e+01] [ 3.39670067e-01 9.19605441e-01 1.97357744e-01 3.48926683e+01] [-6.02778611e-01 5.17658824e-02 7.96227505e-01 2.65887546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89037174299997 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:59.18, Y:34.90, Z:26.57 [[ 7.21858603e-01 -3.93623561e-01 5.69192981e-01 5.91806984e+01] [ 3.40727173e-01 9.18039505e-01 2.02752216e-01 3.48990267e+01] [-6.02349692e-01 4.75810834e-02 7.96812958e-01 2.65708020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92037174299998 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:59.20, Y:34.91, Z:26.55 [[ 7.21512137e-01 -3.87952814e-01 5.73509242e-01 5.92047469e+01] [ 3.40718637e-01 9.19997313e-01 1.93689842e-01 3.49128118e+01] [-6.02769481e-01 5.56557159e-02 7.95971981e-01 2.65549994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95037174299998 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:59.23, Y:34.92, Z:26.53 [[ 7.21419739e-01 -3.91815491e-01 5.70994029e-01 5.92298085e+01] [ 3.41034637e-01 9.18639622e-01 1.99490906e-01 3.49200248e+01] [-6.02701366e-01 5.08120643e-02 7.96347410e-01 2.65338001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98037174299998 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:59.25, Y:34.93, Z:26.52 [[ 7.21601282e-01 -3.92877809e-01 5.70033873e-01 5.92521197e+01] [ 3.40786544e-01 9.18292078e-01 2.01504819e-01 3.49283347e+01] [-6.02624361e-01 4.88537376e-02 7.96528211e-01 2.65159783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01037174299998 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:59.28, Y:34.94, Z:26.50 [[ 7.23134492e-01 -3.94825913e-01 5.66735392e-01 5.92756471e+01] [ 3.41144704e-01 9.17612041e-01 2.03981453e-01 3.49367029e+01] [-6.00580384e-01 4.58327532e-02 7.98249686e-01 2.64978610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04037174299998 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:59.30, Y:34.94, Z:26.48 [[ 7.24873586e-01 -4.01282921e-01 5.59937765e-01 5.92996122e+01] [ 3.41915890e-01 9.15212031e-01 2.13261487e-01 3.49431070e+01] [-5.98039972e-01 3.68640005e-02 8.00618035e-01 2.64788744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07037174299998 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:59.33, Y:34.96, Z:26.46 [[ 7.25768216e-01 -3.94990275e-01 5.63243447e-01 5.93252576e+01] [ 3.41400736e-01 9.17605110e-01 2.03583889e-01 3.49583647e+01] [-5.97248721e-01 4.45370114e-02 8.00818594e-01 2.64626137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10037174299998 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:59.35, Y:34.97, Z:26.45 [[ 7.26592667e-01 -3.89941414e-01 5.65693195e-01 5.93480424e+01] [ 3.37700615e-01 9.19712067e-01 2.00219899e-01 3.49697716e+01] [-5.98348888e-01 4.55566295e-02 7.99939499e-01 2.64455188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13037174299998 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:59.36, Y:34.98, Z:26.43 [[ 7.26252515e-01 -3.96879618e-01 5.61287675e-01 5.93639217e+01] [ 3.40761241e-01 9.16972698e-01 2.07467705e-01 3.49806028e+01] [-5.97025177e-01 4.05911422e-02 8.01194919e-01 2.64324721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16037174299998 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:59.39, Y:34.99, Z:26.41 [[ 7.26846615e-01 -4.00135589e-01 5.58198449e-01 5.93874528e+01] [ 3.36804815e-01 9.15980374e-01 2.18042360e-01 3.49857392e+01] [-5.98545332e-01 2.95205741e-02 8.00544828e-01 2.64091795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190371743 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:59.42, Y:35.00, Z:26.38 [[ 7.27101951e-01 -3.85391242e-01 5.68151691e-01 5.94194960e+01] [ 3.28878590e-01 9.21963943e-01 2.04502717e-01 3.49964387e+01] [-6.02628929e-01 3.81586023e-02 7.97108710e-01 2.63831367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220371743 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:59.44, Y:35.01, Z:26.36 [[ 7.27646449e-01 -3.80272359e-01 5.70897169e-01 5.94442318e+01] [ 3.26399481e-01 9.23955112e-01 1.99424998e-01 3.50080458e+01] [-6.03319172e-01 4.12296483e-02 7.96433357e-01 2.63642325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250371743 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:59.47, Y:35.01, Z:26.34 [[ 7.29319504e-01 -3.90217165e-01 5.61981873e-01 5.94663583e+01] [ 3.27521649e-01 9.20296748e-01 2.13970712e-01 3.50118658e+01] [-6.00685134e-01 2.80082161e-02 7.98994937e-01 2.63441047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280371743 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:59.49, Y:35.03, Z:26.33 [[ 7.30806501e-01 -3.81919278e-01 5.65738034e-01 5.94899497e+01] [ 3.24610828e-01 9.23553355e-01 2.04149483e-01 3.50257480e+01] [-6.00457882e-01 3.44509226e-02 7.98913929e-01 2.63291567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310371743 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:59.51, Y:35.04, Z:26.31 [[ 7.30455149e-01 -3.76294028e-01 5.69945681e-01 5.95145459e+01] [ 3.21792829e-01 9.25711788e-01 1.98763833e-01 3.50362817e+01] [-6.02399079e-01 3.82163674e-02 7.97279662e-01 2.63081426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:59.54, Y:35.04, Z:26.28 [[ 7.31513359e-01 -3.78195541e-01 5.67323839e-01 5.95387030e+01] [ 3.20145754e-01 9.25157084e-01 2.03938879e-01 3.50414738e+01] [-6.01992443e-01 3.24423039e-02 7.97842463e-01 2.62849113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370371743 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:59.56, Y:35.05, Z:26.27 [[ 7.32478405e-01 -3.76010453e-01 5.67531079e-01 5.95633405e+01] [ 3.19102423e-01 9.26013995e-01 2.01672317e-01 3.50508660e+01] [-6.01372622e-01 3.33799255e-02 7.98271101e-01 2.62651560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40037174299997 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:59.59, Y:35.06, Z:26.25 [[ 7.33691350e-01 -3.81737345e-01 5.62115293e-01 5.95860649e+01] [ 3.19623419e-01 9.23921797e-01 2.10260274e-01 3.50554973e+01] [-5.99614770e-01 2.53990674e-02 7.99885626e-01 2.62451445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43037174299997 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:59.61, Y:35.07, Z:26.23 [[ 7.33725793e-01 -3.70881143e-01 5.69292226e-01 5.96111458e+01] [ 3.16400489e-01 9.27992212e-01 1.96776994e-01 3.50684876e+01] [-6.01279628e-01 3.57439828e-02 7.98238796e-01 2.62281389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46037174299997 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:59.64, Y:35.07, Z:26.21 [[ 7.33876154e-01 -3.72518590e-01 5.68027896e-01 5.96357170e+01] [ 3.15601430e-01 9.27468299e-01 2.00495117e-01 3.50744588e+01] [-6.01516025e-01 3.21318309e-02 7.98214268e-01 2.62060090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49037174299997 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:59.66, Y:35.08, Z:26.19 [[ 7.34306113e-01 -3.71643956e-01 5.68045159e-01 5.96614969e+01] [ 3.14850795e-01 9.27824728e-01 2.00025627e-01 3.50816484e+01] [-6.01384660e-01 3.19694288e-02 7.98319764e-01 2.61858361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52037174299997 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:59.69, Y:35.09, Z:26.17 [[ 7.34005935e-01 -3.66795433e-01 5.71573616e-01 5.96872411e+01] [ 3.13514594e-01 9.29571250e-01 1.93922381e-01 3.50919767e+01] [-6.02448244e-01 3.68564918e-02 7.97306536e-01 2.61655232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55037174299997 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:59.71, Y:35.10, Z:26.14 [[ 7.34505373e-01 -3.71253860e-01 5.68042630e-01 5.97111507e+01] [ 3.14172860e-01 9.28001567e-01 2.00271080e-01 3.50967914e+01] [-6.01495862e-01 3.13633935e-02 7.98260024e-01 2.61439268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58037174299997 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:59.74, Y:35.10, Z:26.13 [[ 7.35775522e-01 -3.77493351e-01 5.62257193e-01 5.97356309e+01] [ 3.16078775e-01 9.25680860e-01 2.07868118e-01 3.51015160e+01] [-5.98939554e-01 2.47732924e-02 8.00410953e-01 2.61250368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61037174299997 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:59.75, Y:35.11, Z:26.12 [[ 7.37068422e-01 -3.94363038e-01 5.48824139e-01 5.97525301e+01] [ 3.26518573e-01 9.18819180e-01 2.21713634e-01 3.51068206e+01] [-5.91705808e-01 1.57831564e-02 8.05999460e-01 2.61169201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64037174299997 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:59.79, Y:35.12, Z:26.09 [[ 7.35250811e-01 -3.70971800e-01 5.67261993e-01 5.97850574e+01] [ 3.18256976e-01 9.27879517e-01 1.94298995e-01 3.51209845e+01] [-5.98430232e-01 3.76765934e-02 8.00288530e-01 2.60920934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67037174299998 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:59.80, Y:35.12, Z:26.08 [[ 7.35204228e-01 -3.98995423e-01 5.47975725e-01 5.98013647e+01] [ 3.29730656e-01 9.16828013e-01 2.25175684e-01 3.51177085e+01] [-5.92243562e-01 1.51342799e-02 8.05616855e-01 2.60778526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70037174299998 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:59.84, Y:35.14, Z:26.05 [[ 7.32742023e-01 -3.71141897e-01 5.70388307e-01 5.98351088e+01] [ 3.22186230e-01 9.27493137e-01 1.89611482e-01 3.51357692e+01] [-5.99404005e-01 4.48349570e-02 7.99190006e-01 2.60539865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73037174299998 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:59.86, Y:35.14, Z:26.03 [[ 7.31723734e-01 -3.78682884e-01 5.66727139e-01 5.98586235e+01] [ 3.24106376e-01 9.24756779e-01 1.99449133e-01 3.51378956e+01] [-5.99612737e-01 3.77382148e-02 7.99400021e-01 2.60309203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76037174299998 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:59.88, Y:35.14, Z:26.01 [[ 7.31003453e-01 -3.83055720e-01 5.64714324e-01 5.98844328e+01] [ 3.28391129e-01 9.22920150e-01 2.00941942e-01 3.51431350e+01] [-5.98158188e-01 3.85579213e-02 8.00449916e-01 2.60108167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79037174299998 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:59.91, Y:35.15, Z:25.99 [[ 7.30334035e-01 -3.82664473e-01 5.65844589e-01 5.99092784e+01] [ 3.30153158e-01 9.22923313e-01 1.98018815e-01 3.51522489e+01] [-5.98005928e-01 4.21954984e-02 8.00380191e-01 2.59914257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82037174299998 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:59.93, Y:35.15, Z:25.98 [[ 7.31884476e-01 -4.14282129e-01 5.41031821e-01 5.99251009e+01] [ 3.41461723e-01 9.10058613e-01 2.34940869e-01 3.51489926e+01] [-5.89702473e-01 1.27920834e-02 8.07519261e-01 2.59792751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85037174299998 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:59.96, Y:35.17, Z:25.96 [[ 7.28948872e-01 -3.77948878e-01 5.70778581e-01 5.99591818e+01] [ 3.35086035e-01 9.24059012e-01 1.83935562e-01 3.51733966e+01] [-5.96951331e-01 5.71803113e-02 8.00237165e-01 2.59597076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88037174299998 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:59.97, Y:35.16, Z:25.94 [[ 7.29643989e-01 -4.18357002e-01 5.40922423e-01 5.99738545e+01] [ 3.45581194e-01 9.08165918e-01 2.36237813e-01 3.51624439e+01] [-5.90079052e-01 1.45631163e-02 8.07214115e-01 2.59420144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91037174299998 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:60.01, Y:35.19, Z:25.92 [[ 7.27551930e-01 -3.84460088e-01 5.68206504e-01 6.00072282e+01] [ 3.39724174e-01 9.21447074e-01 1.88474866e-01 3.51859866e+01] [-5.96033284e-01 5.59082328e-02 8.01010983e-01 2.59220129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940371743 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:60.02, Y:35.18, Z:25.90 [[ 7.28148977e-01 -4.19857617e-01 5.41773614e-01 6.00228744e+01] [ 3.49168804e-01 9.07394323e-01 2.33915988e-01 3.51793386e+01] [-5.89813710e-01 1.88447577e-02 8.07319430e-01 2.59046572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970371743 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:60.05, Y:35.20, Z:25.88 [[ 7.27456687e-01 -3.88889840e-01 5.65306520e-01 6.00545402e+01] [ 3.42277811e-01 9.19721328e-01 1.92246142e-01 3.52020870e+01] [-5.94687035e-01 5.36411367e-02 8.02165793e-01 2.58844089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000371743 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:60.08, Y:35.21, Z:25.86 [[ 7.26336273e-01 -3.94314358e-01 5.62984729e-01 6.00774725e+01] [ 3.42363947e-01 9.17789977e-01 2.01118089e-01 3.52053807e+01] [-5.96005492e-01 4.66663104e-02 8.01623172e-01 2.58614596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030371743 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:60.10, Y:35.21, Z:25.84 [[ 7.25705695e-01 -3.98504647e-01 5.60843375e-01 6.01034485e+01] [ 3.45281645e-01 9.16035619e-01 2.04106173e-01 3.52126590e+01] [-5.95089767e-01 4.55279106e-02 8.02368605e-01 2.58408144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060371743 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:60.13, Y:35.22, Z:25.82 [[ 7.25170007e-01 -3.98625838e-01 5.61449822e-01 6.01290095e+01] [ 3.46751312e-01 9.15861081e-01 2.02390730e-01 3.52229303e+01] [-5.94888215e-01 4.79157755e-02 8.02379019e-01 2.58219260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090371743 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:60.15, Y:35.23, Z:25.80 [[ 7.24042774e-01 -4.04960825e-01 5.58362599e-01 6.01540212e+01] [ 3.50984417e-01 9.13177176e-01 2.07165115e-01 3.52295643e+01] [-5.93777737e-01 4.59801665e-02 8.03314274e-01 2.58031544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120371743 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:60.18, Y:35.24, Z:25.79 [[ 7.23780035e-01 -4.04471485e-01 5.59057492e-01 6.01778573e+01] [ 3.52896015e-01 9.13195113e-01 2.03811406e-01 3.52398796e+01] [-5.92964471e-01 4.97745342e-02 8.03688765e-01 2.57861536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15037174299997 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:60.20, Y:35.25, Z:25.77 [[ 7.23178611e-01 -4.07120857e-01 5.57911556e-01 6.02023051e+01] [ 3.55331272e-01 9.12001982e-01 2.04919672e-01 3.52485626e+01] [-5.92243517e-01 5.00498991e-02 8.04203099e-01 2.57669853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18037174299997 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:60.23, Y:35.26, Z:25.75 [[ 7.21279979e-01 -4.05133211e-01 5.61802699e-01 6.02275630e+01] [ 3.58052034e-01 9.12406909e-01 1.98273481e-01 3.52595256e+01] [-5.92919836e-01 5.81439066e-02 8.03159607e-01 2.57479517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21037174299997 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:60.25, Y:35.27, Z:25.73 [[ 7.20547198e-01 -4.09273236e-01 5.59738469e-01 6.02513447e+01] [ 3.59953467e-01 9.10719915e-01 2.02540707e-01 3.52668847e+01] [-5.92659462e-01 5.55396634e-02 8.03536003e-01 2.57279060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24037174299997 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:60.28, Y:35.28, Z:25.71 [[ 7.19954076e-01 -4.08814127e-01 5.60836107e-01 6.02759350e+01] [ 3.61138487e-01 9.10750611e-01 2.00280597e-01 3.52771737e+01] [-5.92659364e-01 5.83466713e-02 8.03337130e-01 2.57089047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27037174299997 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:60.30, Y:35.28, Z:25.69 [[ 7.19241390e-01 -4.14409578e-01 5.57634760e-01 6.02993228e+01] [ 3.63232821e-01 9.08491822e-01 2.06650737e-01 3.52835134e+01] [-5.92244664e-01 5.39194835e-02 8.03952080e-01 2.56900821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30037174299997 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:60.32, Y:35.29, Z:25.67 [[ 7.19376496e-01 -4.13753126e-01 5.57947854e-01 6.03233791e+01] [ 3.64401118e-01 9.08629019e-01 2.03973358e-01 3.52945531e+01] [-5.91362226e-01 5.65831823e-02 8.04418462e-01 2.56724075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33037174299997 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:60.35, Y:35.30, Z:25.65 [[ 7.19888485e-01 -4.14388325e-01 5.56814948e-01 6.03477960e+01] [ 3.66082840e-01 9.08252335e-01 2.02635262e-01 3.53045344e+01] [-5.89698163e-01 5.79656059e-02 8.05540852e-01 2.56531198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36037174299997 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:60.36, Y:35.31, Z:25.64 [[ 7.20615189e-01 -4.33294063e-01 5.41267037e-01 6.03632259e+01] [ 3.73220709e-01 9.00332900e-01 2.23845866e-01 3.53092252e+01] [-5.84311606e-01 4.07053358e-02 8.10507880e-01 2.56409483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39037174299997 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:60.39, Y:35.33, Z:25.62 [[ 0.72192857 -0.40866574 0.5584008 60.39274764] [ 0.36384492 0.91059924 0.19602526 35.32514205] [-0.58858815 0.06165506 0.80607856 25.61742133] [ 0. 0. 0. 1. ]] SLAMing on 237.42037174299998 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:60.42, Y:35.33, Z:25.59 [[ 7.22406464e-01 -4.13048410e-01 5.54544779e-01 6.04197992e+01] [ 3.63452159e-01 9.09081018e-01 2.03652229e-01 3.53331601e+01] [-5.88244361e-01 5.44308109e-02 8.06849340e-01 2.55923464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45037174299998 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:60.43, Y:35.34, Z:25.58 [[ 7.23788221e-01 -4.34312027e-01 5.36193691e-01 6.04342831e+01] [ 3.70445359e-01 9.00164039e-01 2.29074089e-01 3.53376369e+01] [-5.82151910e-01 3.28293371e-02 8.12417004e-01 2.55825768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48037174299998 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:60.46, Y:35.35, Z:25.57 [[ 7.24261531e-01 -4.28777454e-01 5.39995491e-01 6.04599293e+01] [ 3.70402603e-01 9.02487753e-01 2.19813028e-01 3.53525042e+01] [-5.81590187e-01 4.08136152e-02 8.12457447e-01 2.55658731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51037174299998 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:60.49, Y:35.37, Z:25.54 [[ 0.72446757 -0.3989597 0.56211911 60.49231435] [ 0.35739015 0.91471405 0.18860142 35.37278435] [-0.58942261 0.06426022 0.80526493 25.54067757] [ 0. 0. 0. 1. ]] SLAMing on 237.54037174299998 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:60.52, Y:35.38, Z:25.52 [[ 7.24465279e-01 -4.00439980e-01 5.61068518e-01 6.05168272e+01] [ 3.54829476e-01 9.14474651e-01 1.94504899e-01 3.53801871e+01] [-5.90970475e-01 5.81716017e-02 8.04593042e-01 2.55170451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57037174299998 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:60.54, Y:35.39, Z:25.50 [[ 7.24889043e-01 -4.05188671e-01 5.57097851e-01 6.05387592e+01] [ 3.52572654e-01 9.12992248e-01 2.05274642e-01 3.53852060e+01] [-5.91800979e-01 4.76161288e-02 8.04676522e-01 2.54969049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60037174299998 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:60.56, Y:35.40, Z:25.48 [[ 0.72556729 -0.38842217 0.56804958 60.56261851] [ 0.34605361 0.91945247 0.1866924 35.40342875] [-0.59481005 0.06111771 0.80153953 25.47922071] [ 0. 0. 0. 1. ]] SLAMing on 237.63037174299998 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:60.59, Y:35.41, Z:25.46 [[ 7.26826923e-01 -4.01503576e-01 5.57240973e-01 6.05867995e+01] [ 3.48152996e-01 9.14750623e-01 2.04989728e-01 3.54064040e+01] [-5.92040636e-01 4.50130612e-02 8.04650054e-01 2.54579394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66037174299998 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:60.61, Y:35.42, Z:25.44 [[ 7.27881591e-01 -3.99779094e-01 5.57104178e-01 6.06118366e+01] [ 3.48644230e-01 9.15371091e-01 2.01352841e-01 3.54196501e+01] [-5.90453716e-01 4.76701315e-02 8.05662441e-01 2.54412916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:60.64, Y:35.44, Z:25.42 [[ 7.27893304e-01 -3.91692957e-01 5.62803666e-01 6.06368642e+01] [ 3.47379719e-01 9.18308338e-01 1.89834473e-01 3.54355275e+01] [-5.91184125e-01 5.73273377e-02 8.04496679e-01 2.54229237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720371743 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:60.65, Y:35.43, Z:25.41 [[ 7.30088956e-01 -4.33276750e-01 5.28432943e-01 6.06485793e+01] [ 3.59426426e-01 9.01166740e-01 2.42303841e-01 3.54271619e+01] [-5.81190813e-01 1.30294058e-02 8.13662998e-01 2.54112613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750371743 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:60.69, Y:35.48, Z:25.39 [[ 0.72715957 -0.36116706 0.58377848 60.6862916 ] [ 0.34576553 0.92735432 0.14303905 35.4765617 ] [-0.59303049 0.09783826 0.79921368 25.39267146] [ 0. 0. 0. 1. ]] SLAMing on 237.780371743 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:60.69, Y:35.43, Z:25.37 [[ 7.29316332e-01 -4.50273724e-01 5.15122569e-01 6.06931661e+01] [ 3.61679789e-01 8.92840904e-01 2.68370734e-01 3.54331716e+01] [-5.80762790e-01 -9.41773723e-03 8.14018358e-01 2.53660588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810371743 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:60.72, Y:35.47, Z:25.36 [[ 7.31194665e-01 -4.23413649e-01 5.34860023e-01 6.07193435e+01] [ 3.62656284e-01 9.05355973e-01 2.20932076e-01 3.54680072e+01] [-5.77784373e-01 3.24259930e-02 8.15545078e-01 2.53627922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840371743 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:60.76, Y:35.51, Z:25.34 [[ 0.72658242 -0.35197115 0.5900799 60.75600963] [ 0.34843242 0.92895265 0.12506724 35.51226633] [-0.59217636 0.11473131 0.79759883 25.3362318 ] [ 0. 0. 0. 1. ]] SLAMing on 237.870371743 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:60.78, Y:35.47, Z:25.29 [[ 7.28540434e-01 -4.22869100e-01 5.38897542e-01 6.07767733e+01] [ 3.56273242e-01 9.05844708e-01 2.29160952e-01 3.54742053e+01] [-5.85062572e-01 2.50417551e-02 8.10601442e-01 2.52932576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90037174299997 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:60.80, Y:35.50, Z:25.29 [[ 7.28479167e-01 -4.00305859e-01 5.55943633e-01 6.08006787e+01] [ 3.56755602e-01 9.14466942e-01 1.90986001e-01 3.55039959e+01] [-5.84844889e-01 5.92066825e-02 8.08981474e-01 2.52866275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93037174299997 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:60.83, Y:35.51, Z:25.27 [[ 7.29500336e-01 -4.04934300e-01 5.51232684e-01 6.08270654e+01] [ 3.59713056e-01 9.12597968e-01 1.94348825e-01 3.55143354e+01] [-5.81752333e-01 5.65080600e-02 8.11400679e-01 2.52664218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96037174299997 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:60.85, Y:35.52, Z:25.25 [[ 7.28722478e-01 -4.05964522e-01 5.51503724e-01 6.08491321e+01] [ 3.59321203e-01 9.12243700e-01 1.96722407e-01 3.55233209e+01] [-5.82968116e-01 5.48109414e-02 8.10644149e-01 2.52480377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99037174299997 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:60.86, Y:35.51, Z:25.24 [[ 7.30578050e-01 -4.51703510e-01 5.12073874e-01 6.08609012e+01] [ 3.73312263e-01 8.92152198e-01 2.54366686e-01 3.55148343e+01] [-5.71746157e-01 5.32873956e-03 8.20413272e-01 2.52402944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02037174299997 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:60.89, Y:35.54, Z:25.23 [[ 7.31733233e-01 -4.32555024e-01 5.26747214e-01 6.08871359e+01] [ 3.73826859e-01 9.00905923e-01 2.20503961e-01 3.55433380e+01] [-5.69929782e-01 3.55621801e-02 8.20923489e-01 2.52328846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05037174299997 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:60.92, Y:35.57, Z:25.21 [[ 0.72855961 -0.3937531 0.56049923 60.91944215] [ 0.36480568 0.91561182 0.16903201 35.5717664 ] [-0.5797566 0.08132341 0.81072116 25.20960676] [ 0. 0. 0. 1. ]] SLAMing on 238.08037174299997 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:60.93, Y:35.55, Z:25.18 [[ 7.29452603e-01 -4.53401109e-01 5.12178029e-01 6.09329104e+01] [ 3.76150998e-01 8.91271506e-01 2.53269678e-01 3.55468578e+01] [-5.71322436e-01 7.90805124e-03 8.20687600e-01 2.51841918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11037174299997 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:60.96, Y:35.58, Z:25.18 [[ 7.30957339e-01 -4.35396305e-01 5.25482090e-01 6.09584051e+01] [ 3.77681816e-01 8.99447606e-01 2.19887359e-01 3.55754324e+01] [-5.68381751e-01 3.77367509e-02 8.21899095e-01 2.51764986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14037174299997 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:60.98, Y:35.59, Z:25.16 [[ 7.30952962e-01 -4.35869102e-01 5.25096080e-01 6.09822795e+01] [ 3.78502020e-01 8.99194851e-01 2.19510456e-01 3.55862556e+01] [-5.67841517e-01 3.82981095e-02 8.22246476e-01 2.51578892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17037174299998 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:61.01, Y:35.61, Z:25.14 [[ 0.7292224 -0.40184594 0.55385425 61.0132093 ] [ 0.37037124 0.91237859 0.17432858 35.61302396] [-0.57537799 0.07800738 0.81415908 25.13504694] [ 0. 0. 0. 1. ]] SLAMing on 238.20037174299998 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:61.03, Y:35.60, Z:25.11 [[ 7.27633115e-01 -4.24163525e-01 5.39106069e-01 6.10333221e+01] [ 3.71150893e-01 9.04373244e-01 2.10608762e-01 3.56047792e+01] [-5.76885659e-01 4.68437893e-02 8.15480592e-01 2.51059014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23037174299998 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:61.05, Y:35.61, Z:25.10 [[ 7.28707871e-01 -4.51479871e-01 5.14927921e-01 6.10511289e+01] [ 3.81551134e-01 8.92057335e-01 2.42182664e-01 3.56055166e+01] [-5.68685828e-01 1.99909183e-02 8.22311859e-01 2.50955493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26037174299998 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:61.08, Y:35.63, Z:25.08 [[ 7.29647398e-01 -4.38213659e-01 5.24960440e-01 6.10772307e+01] [ 3.81660488e-01 8.97958471e-01 2.19102387e-01 3.56284015e+01] [-5.67406333e-01 4.04891710e-02 8.22441901e-01 2.50847559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29037174299998 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:61.10, Y:35.64, Z:25.07 [[ 7.29485351e-01 -4.37962068e-01 5.25395422e-01 6.11013708e+01] [ 3.81403023e-01 8.98076985e-01 2.19064976e-01 3.56402668e+01] [-5.67787686e-01 4.05827118e-02 8.22174061e-01 2.50652801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32037174299998 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:61.12, Y:35.65, Z:25.05 [[ 7.29553047e-01 -4.37654091e-01 5.25558035e-01 6.11248387e+01] [ 3.81138014e-01 8.98226293e-01 2.18914002e-01 3.56513786e+01] [-5.67878654e-01 4.06007687e-02 8.22110340e-01 2.50466307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35037174299998 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:61.15, Y:35.66, Z:25.03 [[ 7.29868599e-01 -4.37097745e-01 5.25582904e-01 6.11497348e+01] [ 3.80587821e-01 8.98506530e-01 2.18721113e-01 3.56626737e+01] [-5.67842177e-01 4.03927797e-02 8.22145781e-01 2.50277306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38037174299998 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:61.17, Y:35.67, Z:25.01 [[ 7.29783158e-01 -4.36785237e-01 5.25961215e-01 6.11734512e+01] [ 3.80265394e-01 8.98656927e-01 2.18664030e-01 3.56749217e+01] [-5.68167909e-01 4.04275223e-02 8.21919000e-01 2.50089673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41037174299998 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:61.20, Y:35.69, Z:24.99 [[ 7.29774013e-01 -4.36544735e-01 5.26173530e-01 6.11981584e+01] [ 3.80058861e-01 8.98771301e-01 2.18552993e-01 3.56862794e+01] [-5.68317826e-01 4.04826177e-02 8.21812634e-01 2.49897768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440371743 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:61.23, Y:35.71, Z:24.97 [[ 0.72858684 -0.41337118 0.54615519 61.22676342] [ 0.37371703 0.90812679 0.18878907 35.70734787] [-0.57401812 0.06655827 0.81613308 24.96744758] [ 0. 0. 0. 1. ]] SLAMing on 238.470371743 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:61.25, Y:35.71, Z:24.94 [[ 7.28655293e-01 -4.25905709e-01 5.36344842e-01 6.12510186e+01] [ 3.72992756e-01 9.03573785e-01 2.10786194e-01 3.57072639e+01] [-5.74402183e-01 4.64622649e-02 8.17253566e-01 2.49399380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500371743 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:61.27, Y:35.71, Z:24.93 [[ 7.29645683e-01 -4.43538999e-01 5.20471260e-01 6.12681672e+01] [ 3.79778510e-01 8.95781171e-01 2.30964018e-01 3.57129000e+01] [-5.68669904e-01 2.91419011e-02 8.22049445e-01 2.49290518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530371743 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:61.30, Y:35.73, Z:24.91 [[ 7.30057199e-01 -4.25898291e-01 5.34440953e-01 6.12963422e+01] [ 3.75583088e-01 9.03405108e-01 2.06873284e-01 3.57331502e+01] [-5.70923665e-01 4.96976534e-02 8.19497597e-01 2.49107054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560371743 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:61.32, Y:35.75, Z:24.89 [[ 7.29984755e-01 -4.23722366e-01 5.36266365e-01 6.13191336e+01] [ 3.75002071e-01 9.04289512e-01 2.04043930e-01 3.57464801e+01] [-5.71398026e-01 5.21520394e-02 8.19014323e-01 2.48914116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590371743 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:61.34, Y:35.75, Z:24.87 [[ 7.29858288e-01 -4.29326746e-01 5.31963744e-01 6.13425004e+01] [ 3.75041272e-01 9.02091560e-01 2.13482695e-01 3.57527298e+01] [-5.71533834e-01 4.36962451e-02 8.19414251e-01 2.48701679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620371743 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:61.37, Y:35.76, Z:24.85 [[ 7.30214937e-01 -4.30356713e-01 5.30640411e-01 6.13671437e+01] [ 3.75834285e-01 9.01627781e-01 2.14046571e-01 3.57642429e+01] [-5.70556515e-01 4.31328563e-02 8.20124881e-01 2.48526626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65037174299997 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:61.39, Y:35.78, Z:24.83 [[ 7.29794715e-01 -4.28566759e-01 5.32663315e-01 6.13909912e+01] [ 3.74974679e-01 9.02398692e-01 2.12298352e-01 3.57770097e+01] [-5.71658695e-01 4.48010405e-02 8.19267479e-01 2.48346430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68037174299997 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:61.41, Y:35.79, Z:24.82 [[ 7.29826839e-01 -4.32090994e-01 5.29764247e-01 6.14139509e+01] [ 3.75582551e-01 9.00929004e-01 2.17404409e-01 3.57854986e+01] [-5.71218463e-01 4.03026342e-02 8.19808005e-01 2.48176027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71037174299997 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:61.44, Y:35.80, Z:24.80 [[ 7.29654306e-01 -4.29921781e-01 5.31762970e-01 6.14375015e+01] [ 3.75436445e-01 9.01816048e-01 2.13951609e-01 3.57988048e+01] [-5.71534837e-01 4.35324861e-02 8.19422268e-01 2.48007222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74037174299997 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:61.46, Y:35.81, Z:24.78 [[ 7.29768312e-01 -4.29753878e-01 5.31742245e-01 6.14624472e+01] [ 3.75705840e-01 9.01866341e-01 2.13265621e-01 3.58097768e+01] [-5.71212160e-01 4.41441745e-02 8.19614519e-01 2.47815898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77037174299997 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:61.49, Y:35.82, Z:24.76 [[ 7.30126043e-01 -4.31293998e-01 5.30001366e-01 6.14861395e+01] [ 3.76230598e-01 9.01216170e-01 2.15081270e-01 3.58191890e+01] [-5.70409062e-01 4.23662938e-02 8.20267395e-01 2.47631343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80037174299997 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:61.51, Y:35.83, Z:24.75 [[ 7.30344275e-01 -4.31342363e-01 5.29661218e-01 6.15096554e+01] [ 3.76732658e-01 9.01165620e-01 2.14413222e-01 3.58294951e+01] [-5.69797986e-01 4.29452091e-02 8.20661906e-01 2.47452422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83037174299997 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:61.53, Y:35.84, Z:24.73 [[ 7.30407191e-01 -4.31139302e-01 5.29739783e-01 6.15340748e+01] [ 3.77696104e-01 9.01175253e-01 2.12670677e-01 3.58407200e+01] [-5.69079070e-01 4.47444608e-02 8.21064519e-01 2.47271328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86037174299997 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:61.56, Y:35.85, Z:24.71 [[ 7.30486895e-01 -4.29705698e-01 5.30793660e-01 6.15582596e+01] [ 3.78584242e-01 9.01675102e-01 2.08940141e-01 3.58532808e+01] [-5.68386197e-01 4.83220810e-02 8.21341651e-01 2.47084657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89037174299997 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:61.58, Y:35.86, Z:24.69 [[ 7.30799579e-01 -4.34210959e-01 5.26680945e-01 6.15815976e+01] [ 3.79000123e-01 8.99841791e-01 2.15971429e-01 3.58601751e+01] [-5.67706686e-01 4.17803135e-02 8.22170009e-01 2.46893097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92037174299998 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:61.61, Y:35.87, Z:24.67 [[ 7.31289437e-01 -4.32307321e-01 5.27566242e-01 6.16058845e+01] [ 3.79182809e-01 9.00616526e-01 2.12391783e-01 3.58731137e+01] [-5.66953399e-01 4.47241820e-02 8.22534857e-01 2.46730842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95037174299998 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:61.63, Y:35.89, Z:24.65 [[ 7.31574056e-01 -4.30591375e-01 5.28573995e-01 6.16308721e+01] [ 3.77765277e-01 9.01426301e-01 2.11480541e-01 3.58855811e+01] [-5.67532198e-01 4.49632246e-02 8.22122566e-01 2.46543038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98037174299998 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:61.66, Y:35.90, Z:24.63 [[ 7.31546895e-01 -4.26429065e-01 5.31974992e-01 6.16563501e+01] [ 3.76094489e-01 9.03204952e-01 2.06818158e-01 3.58985193e+01] [-5.68675721e-01 4.87756816e-02 8.21114400e-01 2.46348717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01037174299998 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:61.68, Y:35.91, Z:24.62 [[ 7.31305478e-01 -4.28227179e-01 5.30861358e-01 6.16798246e+01] [ 3.74489373e-01 9.02618513e-01 2.12220475e-01 3.59068566e+01] [-5.70043864e-01 4.36039414e-02 8.20456391e-01 2.46155620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04037174299998 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:61.70, Y:35.92, Z:24.60 [[ 7.31490868e-01 -4.25261252e-01 5.32985908e-01 6.17043185e+01] [ 3.73627313e-01 9.03865233e-01 2.08399306e-01 3.59195598e+01] [-5.70371582e-01 4.66959038e-02 8.20058383e-01 2.45979329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07037174299998 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:61.73, Y:35.92, Z:24.58 [[ 7.32370784e-01 -4.39080031e-01 5.20424597e-01 6.17288003e+01] [ 3.75166363e-01 8.98041973e-01 2.29718992e-01 3.59209175e+01] [-5.68228154e-01 2.70063246e-02 8.22427762e-01 2.45770614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10037174299998 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:61.76, Y:35.95, Z:24.57 [[ 0.73124814 -0.41082625 0.54451625 61.75528236] [ 0.37032958 0.9094968 0.18886919 35.95081527] [-0.57282821 0.06354023 0.81720896 24.56607134] [ 0. 0. 0. 1. ]] SLAMing on 239.13037174299998 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:61.78, Y:35.95, Z:24.54 [[ 7.31155971e-01 -4.27038254e-01 5.32023755e-01 6.17786591e+01] [ 3.70457899e-01 9.03385106e-01 2.16000682e-01 3.59480822e+01] [-5.72862890e-01 3.91622142e-02 8.18715109e-01 2.45395294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16037174299998 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:61.80, Y:35.96, Z:24.52 [[ 7.31326280e-01 -4.22140400e-01 5.35685874e-01 6.18041815e+01] [ 3.70475685e-01 9.05332257e-01 2.07656617e-01 3.59632689e+01] [-5.72633948e-01 4.65938502e-02 8.18486026e-01 2.45242973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190371743 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:61.83, Y:35.98, Z:24.51 [[ 7.29960348e-01 -4.15436390e-01 5.42743490e-01 6.18280164e+01] [ 3.68847246e-01 9.07958183e-01 1.98906127e-01 3.59761891e+01] [-5.75421236e-01 5.49958557e-02 8.16006040e-01 2.45057232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220371743 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:61.85, Y:35.98, Z:24.48 [[ 7.30162309e-01 -4.25895182e-01 5.34299819e-01 6.18525953e+01] [ 3.70804142e-01 9.03792817e-01 2.13688634e-01 3.59784347e+01] [-5.73905298e-01 4.20931994e-02 8.17839148e-01 2.44827209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250371743 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:61.88, Y:36.00, Z:24.47 [[ 7.29603867e-01 -4.15225741e-01 5.43383641e-01 6.18768469e+01] [ 3.70561302e-01 9.07853321e-01 1.96180196e-01 3.59951450e+01] [-5.74771710e-01 5.82231198e-02 8.16239885e-01 2.44675421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:61.90, Y:36.00, Z:24.44 [[ 7.29980783e-01 -4.22736002e-01 5.37049652e-01 6.19013372e+01] [ 3.72878125e-01 9.04855853e-01 2.05421006e-01 3.59989376e+01] [-5.72791376e-01 5.03006807e-02 8.18156392e-01 2.44442112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310371743 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:61.93, Y:36.01, Z:24.43 [[ 7.30134769e-01 -4.19929201e-01 5.39038668e-01 6.19265433e+01] [ 3.73359980e-01 9.05874225e-01 1.99985535e-01 3.60114993e+01] [-5.72281001e-01 5.52390737e-02 8.18195026e-01 2.44256764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340371743 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:61.95, Y:36.02, Z:24.41 [[ 7.30612422e-01 -4.19325144e-01 5.38861683e-01 6.19515432e+01] [ 3.73407206e-01 9.06110306e-01 1.98824474e-01 3.60218102e+01] [-5.71640226e-01 5.59512048e-02 8.18594475e-01 2.44054934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370371743 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:61.98, Y:36.03, Z:24.39 [[ 7.30572032e-01 -4.21171988e-01 5.37474336e-01 6.19761040e+01] [ 3.73884286e-01 9.05376521e-01 2.01255799e-01 3.60310862e+01] [-5.71379949e-01 5.39213503e-02 8.18912353e-01 2.43859773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40037174299997 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:62.00, Y:36.04, Z:24.37 [[ 7.31141841e-01 -4.18039133e-01 5.39142737e-01 6.20012334e+01] [ 3.73773247e-01 9.06564176e-01 1.96048347e-01 3.60432326e+01] [-5.70723372e-01 5.81779822e-02 8.19078845e-01 2.43664540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43037174299997 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:62.03, Y:36.05, Z:24.35 [[ 7.31181432e-01 -4.19200449e-01 5.38186489e-01 6.20260504e+01] [ 3.73673017e-01 9.06150756e-01 1.98139556e-01 3.60525528e+01] [-5.70738284e-01 5.62298049e-02 8.19204504e-01 2.43476078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46037174299997 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:62.05, Y:36.06, Z:24.33 [[ 7.31282935e-01 -4.17382547e-01 5.39459988e-01 6.20507230e+01] [ 3.73063057e-01 9.06880255e-01 1.95939171e-01 3.60646174e+01] [-5.71007202e-01 5.79656204e-02 8.18896063e-01 2.43288117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49037174299997 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:62.07, Y:36.07, Z:24.31 [[ 7.32381182e-01 -4.20978167e-01 5.35159030e-01 6.20731491e+01] [ 3.70878274e-01 9.05780417e-01 2.04966197e-01 3.60714417e+01] [-5.71022863e-01 4.83654720e-02 8.19508189e-01 2.43105653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52037174299997 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:62.10, Y:36.08, Z:24.29 [[ 7.32825195e-01 -4.17401304e-01 5.37348477e-01 6.20965838e+01] [ 3.69351693e-01 9.07282083e-01 2.01043648e-01 3.60842388e+01] [-5.71442526e-01 5.11407192e-02 8.19047048e-01 2.42944364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55037174299997 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:62.12, Y:36.10, Z:24.28 [[ 7.33319222e-01 -4.16095291e-01 5.37687296e-01 6.21217479e+01] [ 3.68519490e-01 9.07860551e-01 1.99956509e-01 3.60961669e+01] [-5.71346046e-01 5.15162963e-02 8.19090817e-01 2.42758467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58037174299997 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:62.14, Y:36.10, Z:24.26 [[ 7.34241031e-01 -4.17108323e-01 5.35640509e-01 6.21446707e+01] [ 3.65918847e-01 9.07727783e-01 2.05264875e-01 3.61044402e+01] [-5.71833460e-01 4.52870642e-02 8.19118780e-01 2.42574417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61037174299997 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:62.17, Y:36.11, Z:24.24 [[ 7.35235376e-01 -4.24180372e-01 5.28677553e-01 6.21663028e+01] [ 3.67302451e-01 9.04863396e-01 2.15200240e-01 3.61105277e+01] [-5.69664684e-01 3.59617320e-02 8.21090069e-01 2.42428419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64037174299997 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:62.19, Y:36.13, Z:24.23 [[ 7.35792687e-01 -4.20957926e-01 5.30474831e-01 6.21920771e+01] [ 3.68233395e-01 9.06103265e-01 2.08281157e-01 3.61251910e+01] [-5.68342580e-01 4.20867957e-02 8.21714922e-01 2.42275745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67037174299998 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:62.22, Y:36.14, Z:24.21 [[ 7.35191433e-01 -4.13377436e-01 5.37226817e-01 6.22174618e+01] [ 3.67260868e-01 9.09041759e-01 1.96882033e-01 3.61400520e+01] [-5.69748201e-01 5.25564028e-02 8.20137069e-01 2.42093626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70037174299998 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:62.24, Y:36.15, Z:24.19 [[ 7.35176961e-01 -4.17327128e-01 5.34184336e-01 6.22418266e+01] [ 3.67651903e-01 9.07532861e-01 2.03017696e-01 3.61466924e+01] [-5.69514631e-01 4.71399550e-02 8.20628363e-01 2.41874227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73037174299998 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:62.26, Y:36.16, Z:24.17 [[ 7.35508330e-01 -4.18299510e-01 5.32966243e-01 6.22641405e+01] [ 3.67802530e-01 9.07159650e-01 2.04408092e-01 3.61552865e+01] [-5.68989275e-01 4.56824777e-02 8.21075098e-01 2.41696041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76037174299998 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:62.29, Y:36.16, Z:24.15 [[ 7.36244719e-01 -4.20914612e-01 5.29881687e-01 6.22886392e+01] [ 3.69987330e-01 9.05999583e-01 2.05606739e-01 3.61645545e+01] [-5.66615469e-01 4.46726346e-02 8.22770482e-01 2.41502371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79037174299998 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:62.31, Y:36.17, Z:24.13 [[ 7.37136617e-01 -4.25943074e-01 5.24597088e-01 6.23120755e+01] [ 3.71707222e-01 9.03908818e-01 2.11618972e-01 3.61723611e+01] [-5.64325570e-01 3.90044329e-02 8.24630405e-01 2.41337099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82037174299998 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:62.34, Y:36.19, Z:24.12 [[ 7.37212679e-01 -4.20364316e-01 5.28971935e-01 6.23360430e+01] [ 3.71562907e-01 9.06113566e-01 2.02235537e-01 3.61873538e+01] [-5.64321249e-01 4.74557476e-02 8.24190196e-01 2.41183402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85037174299998 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:62.36, Y:36.20, Z:24.10 [[ 7.36480499e-01 -4.20774910e-01 5.29664941e-01 6.23607912e+01] [ 3.71706893e-01 9.05920803e-01 2.02833637e-01 3.61977380e+01] [-5.65181794e-01 4.74970913e-02 8.23597940e-01 2.40986544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88037174299998 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:62.39, Y:36.21, Z:24.08 [[ 7.35943650e-01 -4.22472390e-01 5.29059565e-01 6.23857941e+01] [ 3.72370266e-01 9.05195013e-01 2.04847195e-01 3.62079512e+01] [-5.65444364e-01 4.62500587e-02 8.23488678e-01 2.40798170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91037174299998 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:62.41, Y:36.22, Z:24.06 [[ 7.35535548e-01 -4.23194808e-01 5.29049726e-01 6.24117305e+01] [ 3.72319721e-01 9.04905626e-01 2.06213079e-01 3.62182410e+01] [-5.66008378e-01 4.52985965e-02 8.23154028e-01 2.40600552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940371743 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:62.44, Y:36.23, Z:24.04 [[ 7.34503146e-01 -4.20305995e-01 5.32773873e-01 6.24352447e+01] [ 3.72112163e-01 9.05999587e-01 2.01735686e-01 3.62313004e+01] [-5.67483627e-01 5.00761417e-02 8.21860520e-01 2.40439350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970371743 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:62.46, Y:36.24, Z:24.03 [[ 7.34405177e-01 -4.23623932e-01 5.30275211e-01 6.24583670e+01] [ 3.72555807e-01 9.04683988e-01 2.06758439e-01 3.62394092e+01] [-5.67319316e-01 4.57126410e-02 8.22228161e-01 2.40255694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000371743 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:62.48, Y:36.25, Z:24.01 [[ 7.34344603e-01 -4.22635138e-01 5.31147385e-01 6.24832288e+01] [ 3.73111492e-01 9.05018966e-01 2.04275513e-01 3.62510857e+01] [-5.67032467e-01 4.81685725e-02 8.22285820e-01 2.40061044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030371743 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:62.51, Y:36.26, Z:23.99 [[ 7.34711042e-01 -4.23907343e-01 5.29624631e-01 6.25073234e+01] [ 3.73750338e-01 9.04485794e-01 2.05465651e-01 3.62612236e+01] [-5.66136353e-01 4.69895025e-02 8.22971212e-01 2.39873771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060371743 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:62.53, Y:36.28, Z:23.97 [[ 7.35072041e-01 -4.19143583e-01 5.32905012e-01 6.25324774e+01] [ 3.73861983e-01 9.06293046e-01 1.97129735e-01 3.62758926e+01] [-5.65593770e-01 5.43283683e-02 8.22892530e-01 2.39681113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090371743 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:62.55, Y:36.28, Z:23.95 [[ 7.35219943e-01 -4.25637772e-01 5.27526419e-01 6.25545927e+01] [ 3.73981677e-01 9.03806363e-01 2.08018661e-01 3.62806018e+01] [-5.65322334e-01 4.43457469e-02 8.23677190e-01 2.39476797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120371743 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:62.57, Y:36.29, Z:23.94 [[ 7.35190413e-01 -4.46545291e-01 5.09992509e-01 6.25684340e+01] [ 3.84032606e-01 8.94349140e-01 2.29474559e-01 3.62875384e+01] [-5.58582146e-01 2.71462562e-02 8.29004866e-01 2.39384382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15037174299997 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:62.59, Y:36.30, Z:23.92 [[ 7.35340832e-01 -4.42541881e-01 5.13254853e-01 6.25938616e+01] [ 3.84929264e-01 8.96065880e-01 2.21123044e-01 3.63029571e+01] [-5.57766370e-01 3.49660093e-02 8.29261150e-01 2.39229423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18037174299997 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:62.63, Y:36.32, Z:23.90 [[ 7.35667293e-01 -4.26199186e-01 5.26448371e-01 6.26268696e+01] [ 3.78102339e-01 9.03257943e-01 2.02888414e-01 3.63158643e+01] [-5.61989550e-01 4.97929899e-02 8.25644236e-01 2.38984196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21037174299997 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:62.65, Y:36.32, Z:23.88 [[ 7.36676583e-01 -4.38184680e-01 5.15074556e-01 6.26490814e+01] [ 3.81329128e-01 8.98192118e-01 2.18721320e-01 3.63191810e+01] [-5.58476238e-01 3.52860567e-02 8.28769682e-01 2.38807628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24037174299997 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:62.67, Y:36.33, Z:23.87 [[ 7.36691442e-01 -4.33419632e-01 5.19069496e-01 6.26746973e+01] [ 3.82026132e-01 9.00115691e-01 2.09398607e-01 3.63345981e+01] [-5.57980065e-01 4.40359503e-02 8.28685152e-01 2.38659989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27037174299997 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:62.70, Y:36.35, Z:23.85 [[ 7.36487331e-01 -4.32527323e-01 5.20102419e-01 6.26979679e+01] [ 3.82140432e-01 9.00458063e-01 2.07711259e-01 3.63464356e+01] [-5.58171211e-01 4.57754523e-02 8.28462134e-01 2.38493353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30037174299997 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:62.72, Y:36.36, Z:23.83 [[ 7.35629148e-01 -4.34101341e-01 5.20005559e-01 6.27229533e+01] [ 3.82147440e-01 8.99796872e-01 2.10544351e-01 3.63566832e+01] [-5.59296961e-01 4.38362314e-02 8.27807523e-01 2.38306084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33037174299997 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:62.75, Y:36.37, Z:23.81 [[ 7.35227626e-01 -4.33758282e-01 5.20858993e-01 6.27478274e+01] [ 3.82283262e-01 8.99911797e-01 2.09805304e-01 3.63684580e+01] [-5.59731941e-01 4.48610190e-02 8.27458545e-01 2.38134056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36037174299997 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:62.77, Y:36.38, Z:23.79 [[ 7.34775760e-01 -4.34635781e-01 5.20765130e-01 6.27726133e+01] [ 3.82207530e-01 8.99548423e-01 2.11494773e-01 3.63784863e+01] [-5.60376647e-01 4.36391220e-02 8.27087444e-01 2.37941699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39037174299997 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:62.80, Y:36.39, Z:23.78 [[ 7.35148630e-01 -4.33059817e-01 5.21551231e-01 6.27965305e+01] [ 3.81348957e-01 9.00265089e-01 2.09989863e-01 3.63898918e+01] [-5.60472537e-01 4.45192583e-02 8.26975556e-01 2.37771478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42037174299998 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:62.82, Y:36.40, Z:23.76 [[ 7.35422660e-01 -4.33692647e-01 5.20638261e-01 6.28209327e+01] [ 3.81339484e-01 9.00018843e-01 2.11059895e-01 3.64002555e+01] [-5.60119370e-01 4.33216964e-02 8.27278382e-01 2.37583823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45037174299998 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:62.85, Y:36.41, Z:23.74 [[ 7.36176120e-01 -4.36750645e-01 5.17004444e-01 6.28456181e+01] [ 3.81710298e-01 8.98756649e-01 2.15716792e-01 3.64090557e+01] [-5.58875629e-01 3.85403694e-02 8.28355401e-01 2.37392655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48037174299998 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:62.87, Y:36.42, Z:23.72 [[ 7.38102090e-01 -4.39429327e-01 5.11964033e-01 6.28700026e+01] [ 3.82754326e-01 8.97610794e-01 2.18618363e-01 3.64193381e+01] [-5.55611762e-01 3.45937780e-02 8.30721879e-01 2.37222799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51037174299998 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:62.90, Y:36.44, Z:23.71 [[ 7.38919270e-01 -4.34028489e-01 5.15381008e-01 6.28950862e+01] [ 3.82215295e-01 8.99924038e-01 2.09876618e-01 3.64350380e+01] [-5.54896189e-01 4.19046270e-02 8.30863540e-01 2.37060295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54037174299998 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:62.92, Y:36.45, Z:23.69 [[ 7.40410739e-01 -4.32888047e-01 5.14198284e-01 6.29188984e+01] [ 3.80587371e-01 9.00554676e-01 2.10129792e-01 3.64465848e+01] [-5.54026344e-01 4.01150184e-02 8.31532077e-01 2.36881781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57037174299998 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:62.94, Y:36.46, Z:23.67 [[ 7.40652132e-01 -4.26980794e-01 5.18769526e-01 6.29436357e+01] [ 3.78278946e-01 9.03104711e-01 2.03241040e-01 3.64609516e+01] [-5.55283223e-01 4.57086803e-02 8.30404274e-01 2.36696743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60037174299998 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:62.97, Y:36.47, Z:23.65 [[ 7.41138254e-01 -4.27527993e-01 5.17623322e-01 6.29672045e+01] [ 3.76336284e-01 9.03055388e-01 2.07031322e-01 3.64701315e+01] [-5.55954215e-01 4.13616052e-02 8.30183190e-01 2.36504434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63037174299998 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:62.99, Y:36.48, Z:23.63 [[ 7.40700295e-01 -4.23528198e-01 5.21523670e-01 6.29918383e+01] [ 3.74904675e-01 9.04729277e-01 2.02265714e-01 3.64837899e+01] [-5.57502967e-01 4.57033884e-02 8.28915944e-01 2.36315663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66037174299998 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:63.02, Y:36.49, Z:23.61 [[ 7.40851165e-01 -4.23404665e-01 5.21409667e-01 6.30163305e+01] [ 3.72754506e-01 9.04951744e-01 2.05222855e-01 3.64938075e+01] [-5.58742901e-01 4.23182117e-02 8.28260550e-01 2.36115288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690371743 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:63.04, Y:36.51, Z:23.59 [[ 7.40588459e-01 -4.19935557e-01 5.24578748e-01 6.30410484e+01] [ 3.71013593e-01 9.06429861e-01 2.01826215e-01 3.65058951e+01] [-5.60247845e-01 4.51556805e-02 8.27093294e-01 2.35920233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:63.06, Y:36.52, Z:23.57 [[ 7.40215578e-01 -4.19806754e-01 5.25207756e-01 6.30640323e+01] [ 3.69499380e-01 9.06587467e-01 2.03885688e-01 3.65150270e+01] [-5.61739358e-01 4.31445778e-02 8.26188501e-01 2.35725746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750371743 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:63.09, Y:36.53, Z:23.55 [[ 7.39495276e-01 -4.13567853e-01 5.31138746e-01 6.30887560e+01] [ 3.68100700e-01 9.09039532e-01 1.95317701e-01 3.65299380e+01] [-5.63603239e-01 5.10760274e-02 8.24465056e-01 2.35542219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780371743 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:63.11, Y:36.53, Z:23.53 [[ 7.39537107e-01 -4.20957270e-01 5.25242653e-01 6.31109973e+01] [ 3.68102748e-01 9.06219386e-01 2.08006712e-01 3.65341464e+01] [-5.63547012e-01 3.95145815e-02 8.25138390e-01 2.35327984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810371743 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:63.14, Y:36.55, Z:23.52 [[ 7.40174706e-01 -4.16054206e-01 5.28242655e-01 6.31355081e+01] [ 3.68146857e-01 9.08131105e-01 1.99413609e-01 3.65492967e+01] [-5.62680457e-01 4.68699636e-02 8.25344722e-01 2.35164558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840371743 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:63.16, Y:36.56, Z:23.50 [[ 7.39945277e-01 -4.17997911e-01 5.27028209e-01 6.31581340e+01] [ 3.67719280e-01 9.07416355e-01 2.03416049e-01 3.65571686e+01] [-5.63261500e-01 4.32816887e-02 8.25144338e-01 2.34960419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:63.18, Y:36.57, Z:23.48 [[ 7.40105222e-01 -4.20901522e-01 5.24486577e-01 6.31830016e+01] [ 3.69127294e-01 9.06184226e-01 2.06337563e-01 3.65668980e+01] [-5.62129257e-01 4.08908036e-02 8.26037917e-01 2.34774117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90037174299997 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:63.21, Y:36.58, Z:23.46 [[ 7.40043933e-01 -4.22862567e-01 5.22993524e-01 6.32075341e+01] [ 3.71498217e-01 9.05235707e-01 2.06245944e-01 3.65778295e+01] [-5.60646102e-01 4.16601022e-02 8.27006883e-01 2.34603171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93037174299997 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:63.22, Y:36.58, Z:23.45 [[ 7.41192430e-01 -4.47881138e-01 5.00036267e-01 6.32224293e+01] [ 3.80955935e-01 8.93957952e-01 2.36033379e-01 3.65796020e+01] [-5.52726295e-01 1.55456292e-02 8.33217844e-01 2.34487099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96037174299997 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:63.25, Y:36.60, Z:23.44 [[ 7.41933618e-01 -4.39729501e-01 5.06134836e-01 6.32484462e+01] [ 3.80694784e-01 8.97691272e-01 2.21860004e-01 3.65981186e+01] [-5.51911213e-01 2.80774970e-02 8.33430061e-01 2.34350123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99037174299997 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:63.27, Y:36.61, Z:23.42 [[ 7.42947343e-01 -4.38931556e-01 5.05339822e-01 6.32727652e+01] [ 3.80064656e-01 8.98095157e-01 2.21305097e-01 3.66089926e+01] [-5.50981037e-01 2.76437716e-02 8.34059781e-01 2.34173427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02037174299997 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:63.30, Y:36.62, Z:23.40 [[ 7.44923141e-01 -4.36568470e-01 5.04477438e-01 6.32963371e+01] [ 3.77553240e-01 8.99294187e-01 2.20734037e-01 3.66207291e+01] [-5.50039148e-01 2.60371991e-02 8.34732891e-01 2.33993986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05037174299997 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:63.32, Y:36.63, Z:23.38 [[ 7.46425116e-01 -4.34653544e-01 5.03910551e-01 6.33212762e+01] [ 3.75467464e-01 9.00258442e-01 2.20360889e-01 3.66324811e+01] [-5.49430369e-01 2.47191150e-02 8.35173776e-01 2.33812553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08037174299997 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:63.35, Y:36.64, Z:23.36 [[ 7.47534931e-01 -4.32345751e-01 5.04250612e-01 6.33452121e+01] [ 3.72730022e-01 9.01407847e-01 2.20309383e-01 3.66438970e+01] [-5.49785284e-01 2.32603820e-02 8.34982094e-01 2.33634157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11037174299997 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:63.37, Y:36.66, Z:23.35 [[ 7.48899593e-01 -4.29714132e-01 5.04475136e-01 6.33701055e+01] [ 3.69622026e-01 9.02708013e-01 2.20222164e-01 3.66555923e+01] [-5.50026324e-01 2.15408331e-02 8.34869472e-01 2.33454808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14037174299997 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:63.40, Y:36.67, Z:23.33 [[ 7.50850896e-01 -4.24718238e-01 5.05803667e-01 6.33950546e+01] [ 3.63387475e-01 9.05143355e-01 2.20601563e-01 3.66684013e+01] [-5.51518335e-01 1.81638359e-02 8.33964988e-01 2.33271892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17037174299998 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:63.43, Y:36.68, Z:23.30 [[ 7.50581713e-01 -4.03243056e-01 5.23471231e-01 6.34278683e+01] [ 3.52077277e-01 9.14442587e-01 1.99590447e-01 3.66838797e+01] [-5.59167848e-01 3.44933864e-02 8.28336600e-01 2.33024137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20037174299998 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:63.45, Y:36.69, Z:23.28 [[ 7.52514057e-01 -4.09890261e-01 5.15473150e-01 6.34514265e+01] [ 3.48604064e-01 9.11977339e-01 2.16269598e-01 3.66875825e+01] [-5.58746633e-01 1.69501221e-02 8.29165178e-01 2.32823555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23037174299998 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:63.48, Y:36.71, Z:23.27 [[ 7.51954432e-01 -3.94320592e-01 5.28276256e-01 6.34776307e+01] [ 3.44739986e-01 9.18279450e-01 1.94723376e-01 3.67084240e+01] [-5.61888667e-01 3.56948433e-02 8.26442378e-01 2.32675742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26037174299998 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:63.50, Y:36.71, Z:23.25 [[ 7.53874116e-01 -4.09576410e-01 5.13732402e-01 6.35020716e+01] [ 3.47023362e-01 9.12169361e-01 2.17995053e-01 3.67087822e+01] [-5.57896588e-01 1.39363179e-02 8.29793454e-01 2.32456317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29037174299998 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:63.53, Y:36.73, Z:23.23 [[ 7.53952748e-01 -4.03059421e-01 5.18746911e-01 6.35275008e+01] [ 3.47481409e-01 9.14829295e-01 2.05776653e-01 3.67262730e+01] [-5.57505089e-01 2.51090346e-02 8.29793716e-01 2.32322851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32037174299998 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:63.55, Y:36.74, Z:23.21 [[ 7.52699500e-01 -3.92485511e-01 5.28581674e-01 6.35513904e+01] [ 3.43988492e-01 9.19018109e-01 1.92555532e-01 3.67393323e+01] [-5.61351387e-01 3.68895603e-02 8.26754970e-01 2.32143714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35037174299998 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:63.58, Y:36.74, Z:23.19 [[ 7.52958738e-01 -4.04270240e-01 5.19248218e-01 6.35752467e+01] [ 3.45678300e-01 9.14401313e-01 2.10657905e-01 3.67400341e+01] [-5.59963974e-01 2.08761310e-02 8.28253908e-01 2.31906595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38037174299998 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:63.60, Y:36.75, Z:23.17 [[ 7.52347050e-01 -3.97821692e-01 5.25082677e-01 6.36013530e+01] [ 3.45184946e-01 9.16949462e-01 2.00127552e-01 3.67535080e+01] [-5.61089360e-01 3.06852619e-02 8.27186282e-01 2.31732453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41037174299998 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:63.63, Y:36.76, Z:23.15 [[ 7.51668943e-01 -4.03199854e-01 5.21942217e-01 6.36270878e+01] [ 3.47891198e-01 9.14712557e-01 2.05603144e-01 3.67582564e+01] [-5.60326258e-01 2.70336057e-02 8.27830701e-01 2.31527427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440371743 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:63.64, Y:36.76, Z:23.14 [[ 7.52812517e-01 -4.30165175e-01 4.98228096e-01 6.36430333e+01] [ 3.60681219e-01 9.02744481e-01 2.34438608e-01 3.67608427e+01] [-5.50619989e-01 3.21319811e-03 8.34749845e-01 2.31426863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470371743 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:63.68, Y:36.78, Z:23.12 [[ 7.51080551e-01 -3.98828767e-01 5.26130801e-01 6.36778374e+01] [ 3.50869835e-01 9.16188159e-01 1.93622355e-01 3.67829946e+01] [-5.59256975e-01 3.91774426e-02 8.28068091e-01 2.31224727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:63.70, Y:36.78, Z:23.10 [[ 7.50889225e-01 -4.09737207e-01 5.17958293e-01 6.37019702e+01] [ 3.51895463e-01 9.11896617e-01 2.11220601e-01 3.67828485e+01] [-5.58869354e-01 2.36639002e-02 8.28918008e-01 2.30988840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530371743 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:63.72, Y:36.79, Z:23.09 [[ 7.51466110e-01 -4.30791114e-01 4.99717622e-01 6.37181850e+01] [ 3.63998995e-01 9.02410359e-01 2.30565124e-01 3.67878835e+01] [-5.50275765e-01 8.63483558e-03 8.34938334e-01 2.30909933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560371743 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:63.74, Y:36.80, Z:23.08 [[ 7.51472358e-01 -4.26513344e-01 5.03364344e-01 6.37443306e+01] [ 3.64769159e-01 9.04321167e-01 2.21690523e-01 3.68018477e+01] [-5.49756997e-01 1.70174886e-02 8.35151274e-01 2.30756601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590371743 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:63.77, Y:36.81, Z:23.06 [[ 7.50845298e-01 -4.27972711e-01 5.03061325e-01 6.37702984e+01] [ 3.66738050e-01 9.03606613e-01 2.21355579e-01 3.68096635e+01] [-5.49303687e-01 1.82879331e-02 8.35422654e-01 2.30567386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620371743 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:63.80, Y:36.82, Z:23.04 [[ 7.50680679e-01 -4.28393958e-01 5.02948441e-01 6.37962092e+01] [ 3.67410242e-01 9.03396192e-01 2.21099603e-01 3.68190744e+01] [-5.49079441e-01 1.88132081e-02 8.35558395e-01 2.30382352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65037174299997 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:63.83, Y:36.83, Z:23.01 [[ 7.49732174e-01 -4.16982253e-01 5.13836032e-01 6.38294630e+01] [ 3.61677793e-01 9.08459106e-01 2.09502332e-01 3.68252215e+01] [-5.54157777e-01 2.87724436e-02 8.31914241e-01 2.30119145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68037174299997 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:63.86, Y:36.84, Z:22.99 [[ 7.48122054e-01 -4.08362348e-01 5.23023504e-01 6.38551744e+01] [ 3.61314289e-01 9.11805606e-01 1.95096186e-01 3.68405294e+01] [-5.56565699e-01 4.30201063e-02 8.29689034e-01 2.29948028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71037174299997 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:63.88, Y:36.84, Z:22.97 [[ 7.47424392e-01 -4.16342055e-01 5.17702687e-01 6.38794217e+01] [ 3.62604511e-01 9.08614610e-01 2.07213562e-01 3.68435000e+01] [-5.56663945e-01 3.28448595e-02 8.30088229e-01 2.29730304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74037174299997 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:63.90, Y:36.85, Z:22.96 [[ 7.47750489e-01 -4.24429266e-01 5.10616298e-01 6.39039474e+01] [ 3.65956307e-01 9.05115167e-01 2.16431317e-01 3.68495257e+01] [-5.54026341e-01 2.50266313e-02 8.32122876e-01 2.29561704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77037174299997 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:63.93, Y:36.86, Z:22.94 [[ 7.46751438e-01 -4.21653439e-01 5.14364334e-01 6.39305920e+01] [ 3.68309140e-01 9.06117286e-01 2.08086142e-01 3.68612845e+01] [-5.53814652e-01 3.40564593e-02 8.31943201e-01 2.29404927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80037174299997 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:63.95, Y:36.87, Z:22.93 [[ 7.45733510e-01 -4.34167180e-01 5.05351751e-01 6.39455046e+01] [ 3.77607876e-01 9.00348383e-01 2.16298592e-01 3.68725238e+01] [-5.48902382e-01 2.95236934e-02 8.35364906e-01 2.29335566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83037174299997 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:63.97, Y:36.88, Z:22.91 [[ 7.43874911e-01 -4.39480065e-01 5.03495174e-01 6.39720534e+01] [ 3.80005347e-01 8.97876728e-01 2.22291066e-01 3.68768042e+01] [-5.49769091e-01 2.59741114e-02 8.34912745e-01 2.29123240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86037174299997 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:64.00, Y:36.89, Z:22.89 [[ 7.43419777e-01 -4.40418657e-01 5.03347238e-01 6.39978273e+01] [ 3.81310191e-01 8.97390142e-01 2.22021332e-01 3.68863736e+01] [-5.49481186e-01 2.68763824e-02 8.35073701e-01 2.28938351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89037174299997 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:64.03, Y:36.89, Z:22.87 [[ 7.43030216e-01 -4.32951402e-01 5.10352017e-01 6.40324747e+01] [ 3.77236383e-01 9.00820699e-01 2.14976232e-01 3.68918900e+01] [-5.52809921e-01 3.27895125e-02 8.32662020e-01 2.28677124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92037174299998 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:64.06, Y:36.91, Z:22.85 [[ 7.42782589e-01 -4.29448182e-01 5.13661644e-01 6.40565272e+01] [ 3.78813310e-01 9.02149996e-01 2.06460314e-01 3.69053280e+01] [-5.52063856e-01 4.12267406e-02 8.32781997e-01 2.28541101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95037174299998 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:64.07, Y:36.91, Z:22.84 [[ 7.37598852e-01 -4.46024027e-01 5.06962031e-01 6.40703451e+01] [ 3.86265386e-01 8.94522838e-01 2.25006542e-01 3.69118328e+01] [-5.53847439e-01 2.98573177e-02 8.32082661e-01 2.28413890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98037174299998 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:64.10, Y:36.92, Z:22.82 [[ 7.39419547e-01 -4.44281946e-01 5.05838202e-01 6.40963430e+01] [ 3.90672456e-01 8.95055215e-01 2.15060908e-01 3.69243336e+01] [-5.48300799e-01 3.85968134e-02 8.35390040e-01 2.28249765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01037174299998 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:64.13, Y:36.92, Z:22.80 [[ 7.36947341e-01 -4.40341433e-01 5.12843094e-01 6.41268642e+01] [ 3.81435003e-01 8.97267389e-01 2.22302881e-01 3.69240898e+01] [-5.58046554e-01 3.17907903e-02 8.29200452e-01 2.27956114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04037174299998 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:64.15, Y:36.94, Z:22.78 [[ 7.35964706e-01 -4.36819719e-01 5.17247024e-01 6.41523310e+01] [ 3.83083093e-01 8.98624250e-01 2.13826568e-01 3.69381601e+01] [-5.58214381e-01 4.07797825e-02 8.28693981e-01 2.27798112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07037174299998 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:64.18, Y:36.95, Z:22.76 [[ 7.35034254e-01 -4.35192655e-01 5.19934610e-01 6.41779180e+01] [ 3.83524619e-01 8.99226968e-01 2.10475005e-01 3.69507706e+01] [-5.59136398e-01 4.47013847e-02 8.27869721e-01 2.27612510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10037174299998 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:64.20, Y:36.96, Z:22.74 [[ 7.34885352e-01 -4.39330790e-01 5.16654600e-01 6.42011797e+01] [ 3.84546026e-01 8.97441957e-01 2.16153389e-01 3.69581250e+01] [-5.58630355e-01 3.98295137e-02 8.28459858e-01 2.27436287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13037174299998 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:64.23, Y:36.97, Z:22.73 [[ 7.33722328e-01 -4.33761289e-01 5.22974846e-01 6.42263619e+01] [ 3.83840988e-01 8.99730950e-01 2.07726537e-01 3.69732148e+01] [-5.60640386e-01 4.83255838e-02 8.26648048e-01 2.27254297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16037174299998 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:64.25, Y:36.98, Z:22.70 [[ 7.32620544e-01 -4.34411795e-01 5.23978560e-01 6.42524013e+01] [ 3.83872146e-01 8.99431731e-01 2.08961091e-01 3.69827553e+01] [-5.62058106e-01 4.80515860e-02 8.25700751e-01 2.27042629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190371743 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:64.28, Y:36.99, Z:22.69 [[ 7.32554008e-01 -4.37317369e-01 5.21649446e-01 6.42775332e+01] [ 3.84703472e-01 8.98188963e-01 2.12743567e-01 3.69915141e+01] [-5.61576232e-01 4.48342008e-02 8.26209435e-01 2.26852323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220371743 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:64.29, Y:37.00, Z:22.68 [[ 7.34025233e-01 -4.59515152e-01 5.00052780e-01 6.42949307e+01] [ 3.98792720e-01 8.87650639e-01 2.30305688e-01 3.70007769e+01] [-5.49701123e-01 3.03672218e-02 8.34809264e-01 2.26751403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250371743 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:64.33, Y:37.02, Z:22.65 [[ 7.33802784e-01 -4.31934529e-01 5.24372041e-01 6.43290743e+01] [ 3.91105820e-01 8.99710572e-01 1.93796607e-01 3.70222978e+01] [-5.55490515e-01 6.28764678e-02 8.29142230e-01 2.26516885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280371743 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:64.34, Y:37.02, Z:22.64 [[ 7.33241847e-01 -4.63065624e-01 4.97922304e-01 6.43419225e+01] [ 4.01644478e-01 8.85829066e-01 2.32354424e-01 3.70202763e+01] [-5.48669396e-01 2.96157570e-02 8.35514692e-01 2.26389463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310371743 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:64.37, Y:37.04, Z:22.62 [[ 7.33653315e-01 -4.58125292e-01 5.01870531e-01 6.43670240e+01] [ 4.02507030e-01 8.88033060e-01 2.22228207e-01 3.70362908e+01] [-5.47485986e-01 3.89679554e-02 8.35907049e-01 2.26242114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340371743 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:64.40, Y:37.05, Z:22.60 [[ 0.73282795 -0.43494313 0.52324723 64.40116824] [ 0.39503027 0.89810488 0.193284 37.05416271] [-0.55399844 0.06505458 0.82997207 22.59743735] [ 0. 0. 0. 1. ]] SLAMing on 242.370371743 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:64.42, Y:37.05, Z:22.58 [[ 7.30395082e-01 -4.46061362e-01 5.17254566e-01 6.44220599e+01] [ 3.92907608e-01 8.93847127e-01 2.16011398e-01 3.70531526e+01] [-5.58700847e-01 4.54595916e-02 8.28122448e-01 2.25764060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40037174299997 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:64.45, Y:37.07, Z:22.56 [[ 7.31662550e-01 -4.45477922e-01 5.15964471e-01 6.44503874e+01] [ 3.99693506e-01 8.93509316e-01 2.04661191e-01 3.70701919e+01] [-5.52191103e-01 5.64847194e-02 8.31801937e-01 2.25596399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43037174299997 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:64.47, Y:37.08, Z:22.54 [[ 7.31488613e-01 -4.44651152e-01 5.16923362e-01 6.44747455e+01] [ 3.99943544e-01 8.93802406e-01 2.02885242e-01 3.70817908e+01] [-5.52240501e-01 5.83319176e-02 8.31641639e-01 2.25412223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46037174299997 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:64.50, Y:37.09, Z:22.52 [[ 7.31996619e-01 -4.47169280e-01 5.14023915e-01 6.44995342e+01] [ 4.00386874e-01 8.92777751e-01 2.06490287e-01 3.70917854e+01] [-5.51245227e-01 5.46582364e-02 8.32551005e-01 2.25229189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49037174299997 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:64.52, Y:37.11, Z:22.51 [[ 7.32613307e-01 -4.45361151e-01 5.14714667e-01 6.45230416e+01] [ 4.00005009e-01 8.93562289e-01 2.03819599e-01 3.71056211e+01] [-5.50702947e-01 5.65674941e-02 8.32782314e-01 2.25062184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52037174299997 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:64.54, Y:37.11, Z:22.50 [[ 7.35183528e-01 -4.66532275e-01 4.91785336e-01 6.45375281e+01] [ 4.04769839e-01 8.84081729e-01 2.33582690e-01 3.71118077e+01] [-5.43752294e-01 2.73337252e-02 8.38800518e-01 2.24962780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55037174299997 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:64.57, Y:37.14, Z:22.48 [[ 7.36691890e-01 -4.35431851e-01 5.17382028e-01 6.45695794e+01] [ 3.93000216e-01 8.98311258e-01 1.96437557e-01 3.71363629e+01] [-5.50305270e-01 5.86172939e-02 8.32903430e-01 2.24759728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58037174299997 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:64.58, Y:37.14, Z:22.46 [[ 7.37877384e-01 -4.60270023e-01 4.93648126e-01 6.45843997e+01] [ 3.97966767e-01 8.87431168e-01 2.32569073e-01 3.71371586e+01] [-5.45123306e-01 2.48480891e-02 8.37987562e-01 2.24621185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61037174299997 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:64.61, Y:37.16, Z:22.44 [[ 7.38526837e-01 -4.30448717e-01 5.18933534e-01 6.46126814e+01] [ 3.82176916e-01 9.01346037e-01 2.03755065e-01 3.71557952e+01] [-5.55444791e-01 4.78458342e-02 8.30175801e-01 2.24409798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64037174299997 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:64.64, Y:37.16, Z:22.42 [[ 7.41740987e-01 -4.33842388e-01 5.11469540e-01 6.46357254e+01] [ 3.74333175e-01 9.00568448e-01 2.21022952e-01 3.71616063e+01] [-5.56502455e-01 2.75182346e-02 8.30390128e-01 2.24185346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67037174299998 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:64.66, Y:37.18, Z:22.40 [[ 7.43802914e-01 -4.26780375e-01 5.14408142e-01 6.46610466e+01] [ 3.70777295e-01 9.03797171e-01 2.13716802e-01 3.71787447e+01] [-5.56130761e-01 3.17676799e-02 8.30487442e-01 2.24011747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70037174299998 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:64.69, Y:37.20, Z:22.38 [[ 7.47701303e-01 -4.15054229e-01 5.18336520e-01 6.46864352e+01] [ 3.65062198e-01 9.08971046e-01 2.01249172e-01 3.71997259e+01] [-5.54682208e-01 3.87508016e-02 8.31159445e-01 2.23828965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73037174299998 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:64.71, Y:37.21, Z:22.36 [[ 7.49511997e-01 -4.16402301e-01 5.14626942e-01 6.47099905e+01] [ 3.62384787e-01 9.08651258e-01 2.07437117e-01 3.72090985e+01] [-5.53993711e-01 3.10163666e-02 8.31942879e-01 2.23629903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76037174299998 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:64.73, Y:37.22, Z:22.34 [[ 7.52059173e-01 -4.21201647e-01 5.06947900e-01 6.47338929e+01] [ 3.61957249e-01 9.06729646e-01 2.16398472e-01 3.72181316e+01] [-5.50812083e-01 2.07490115e-02 8.34371337e-01 2.23449010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79037174299998 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:64.76, Y:37.23, Z:22.33 [[ 7.55086078e-01 -4.12061700e-01 5.09951145e-01 6.47566649e+01] [ 3.54839685e-01 9.10892490e-01 2.10626848e-01 3.72334215e+01] [-5.51301925e-01 2.19095026e-02 8.34018082e-01 2.23304979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82037174299998 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:64.78, Y:37.24, Z:22.31 [[ 7.55061324e-01 -4.10106878e-01 5.11561087e-01 6.47782842e+01] [ 3.48860352e-01 9.11909742e-01 2.16141337e-01 3.72409703e+01] [-5.55138588e-01 1.52634167e-02 8.31617807e-01 2.23111117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85037174299998 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:64.80, Y:37.25, Z:22.29 [[ 7.58592232e-01 -4.08267699e-01 5.07794556e-01 6.48029249e+01] [ 3.46169824e-01 9.12791530e-01 2.16744265e-01 3.72541712e+01] [-5.52000252e-01 1.13626362e-02 8.33766521e-01 2.22945924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88037174299998 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:64.83, Y:37.27, Z:22.28 [[ 7.58983031e-01 -4.00782106e-01 5.13145655e-01 6.48267643e+01] [ 3.42045324e-01 9.16025014e-01 2.09530834e-01 3.72681609e+01] [-5.54030464e-01 1.64887245e-02 8.32333086e-01 2.22769688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91037174299998 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:64.85, Y:37.28, Z:22.26 [[ 7.59002430e-01 -4.01606950e-01 5.12471627e-01 6.48495223e+01] [ 3.40481714e-01 9.15726074e-01 2.13349387e-01 3.72768295e+01] [-5.54966227e-01 1.25545144e-02 8.31778138e-01 2.22597172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940371743 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:64.87, Y:37.28, Z:22.25 [[ 7.61044515e-01 -4.23678326e-01 4.91231027e-01 6.48686918e+01] [ 3.53403287e-01 9.05802637e-01 2.33725692e-01 3.72837867e+01] [-5.43982870e-01 -4.27299605e-03 8.39085442e-01 2.22470580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970371743 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:64.90, Y:37.30, Z:22.22 [[ 7.58122828e-01 -3.94610608e-01 5.19164950e-01 6.48994394e+01] [ 3.39415508e-01 9.18569178e-01 2.02553151e-01 3.72997580e+01] [-5.56818544e-01 2.26524680e-02 8.30325223e-01 2.22224696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000371743 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:64.92, Y:37.31, Z:22.20 [[ 7.58478852e-01 -4.00618397e-01 5.14018221e-01 6.49248872e+01] [ 3.41957322e-01 9.16088235e-01 2.09398032e-01 3.73065818e+01] [-5.54774749e-01 1.69483152e-02 8.31827947e-01 2.22019652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030371743 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:64.95, Y:37.32, Z:22.18 [[ 7.57305686e-01 -4.02006617e-01 5.14663753e-01 6.49512121e+01] [ 3.43625666e-01 9.15454982e-01 2.09436334e-01 3.73150205e+01] [-5.55346288e-01 1.82443487e-02 8.31419054e-01 2.21827392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060371743 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:64.98, Y:37.32, Z:22.17 [[ 7.56179780e-01 -4.05067819e-01 5.13918477e-01 6.49763715e+01] [ 3.45623461e-01 9.14122087e-01 2.11955734e-01 3.73240935e+01] [-5.55640678e-01 1.73456427e-02 8.31241581e-01 2.21671390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090371743 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:65.00, Y:37.33, Z:22.15 [[ 7.56133035e-01 -4.07288541e-01 5.12229321e-01 6.50020497e+01] [ 3.48875958e-01 9.13099079e-01 2.11034687e-01 3.73336825e+01] [-5.53668131e-01 1.91341969e-02 8.32517557e-01 2.21490024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120371743 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:65.03, Y:37.34, Z:22.13 [[ 7.53818544e-01 -4.17355199e-01 5.07515755e-01 6.50282042e+01] [ 3.54038395e-01 9.08653221e-01 2.21373302e-01 3.73360854e+01] [-5.53547124e-01 1.28047633e-02 8.32719412e-01 2.21318115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15037174299997 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:65.06, Y:37.35, Z:22.12 [[ 7.54117737e-01 -4.13022520e-01 5.10606342e-01 6.50572534e+01] [ 3.59048588e-01 9.10291728e-01 2.06041456e-01 3.73533555e+01] [-5.49900491e-01 2.79529703e-02 8.34762291e-01 2.21159824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18037174299997 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:65.08, Y:37.36, Z:22.10 [[ 7.54140246e-01 -4.14576034e-01 5.09312480e-01 6.50821978e+01] [ 3.59602884e-01 9.09634208e-01 2.07969644e-01 3.73638505e+01] [-5.49507284e-01 2.63119585e-02 8.35074503e-01 2.20976048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21037174299997 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:65.11, Y:37.37, Z:22.08 [[ 7.52808319e-01 -4.19456139e-01 5.07283137e-01 6.51057070e+01] [ 3.61991420e-01 9.07480236e-01 2.13170902e-01 3.73699447e+01] [-5.49765265e-01 2.31553146e-02 8.34998195e-01 2.20806307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24037174299997 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:65.13, Y:37.37, Z:22.07 [[ 7.50166343e-01 -4.29968101e-01 5.02372263e-01 6.51283869e+01] [ 3.66105547e-01 9.02728742e-01 2.25937043e-01 3.73703752e+01] [-5.50651602e-01 1.44309063e-02 8.34610425e-01 2.20658487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27037174299997 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:65.15, Y:37.38, Z:22.05 [[ 7.49874279e-01 -4.38654988e-01 4.95247785e-01 6.51538855e+01] [ 3.73586728e-01 8.98570317e-01 2.30226720e-01 3.73787048e+01] [-5.46005058e-01 1.23769035e-02 8.37690450e-01 2.20513312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30037174299997 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:65.18, Y:37.39, Z:22.04 [[ 7.49632931e-01 -4.35186128e-01 4.98661711e-01 6.51791891e+01] [ 3.81441495e-01 8.99792494e-01 2.11839215e-01 3.73942515e+01] [-5.40881553e-01 3.14086169e-02 8.40512132e-01 2.20406466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33037174299997 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:65.21, Y:37.40, Z:22.02 [[ 7.47110665e-01 -4.42283442e-01 4.96196546e-01 6.52070536e+01] [ 3.85980935e-01 8.96414056e-01 2.17854440e-01 3.74009256e+01] [-5.41150970e-01 2.87610311e-02 8.40433478e-01 2.20175183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36037174299997 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:65.23, Y:37.41, Z:22.01 [[ 7.48311003e-01 -4.40725153e-01 4.95774125e-01 6.52274379e+01] [ 3.88680005e-01 8.96958329e-01 2.10697912e-01 3.74122406e+01] [-5.37548600e-01 3.50299237e-02 8.42504841e-01 2.20079884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39037174299997 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:65.26, Y:37.42, Z:21.98 [[ 7.44185977e-01 -4.50555262e-01 4.93140130e-01 6.52572018e+01] [ 3.92113409e-01 8.92340114e-01 2.23553564e-01 3.74161282e+01] [-5.40771954e-01 2.70014307e-02 8.40735759e-01 2.19802036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42037174299998 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:65.28, Y:37.43, Z:21.97 [[ 7.42571769e-01 -4.42698679e-01 5.02598296e-01 6.52784764e+01] [ 3.94263152e-01 8.95542443e-01 2.06301476e-01 3.74309752e+01] [-5.41427497e-01 4.49623365e-02 8.39544313e-01 2.19704861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45037174299998 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:65.30, Y:37.43, Z:21.95 [[ 7.39299975e-01 -4.55723015e-01 4.95733881e-01 6.53022311e+01] [ 3.94778318e-01 8.89733852e-01 2.29180610e-01 3.74300448e+01] [-5.45514094e-01 2.62717686e-02 8.37689780e-01 2.19484064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48037174299998 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:65.33, Y:37.44, Z:21.93 [[ 7.38589345e-01 -4.63475024e-01 4.89567852e-01 6.53322843e+01] [ 4.02875739e-01 8.85703250e-01 2.30696535e-01 3.74410896e+01] [-5.40533919e-01 2.68450073e-02 8.40893827e-01 2.19291662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51037174299998 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:65.36, Y:37.46, Z:21.92 [[ 7.38778420e-01 -4.53944318e-01 4.98137533e-01 6.53580731e+01] [ 4.03097933e-01 8.89977600e-01 2.13194577e-01 3.74607155e+01] [-5.40109713e-01 4.32946570e-02 8.40480262e-01 2.19154733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54037174299998 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:65.38, Y:37.47, Z:21.90 [[ 7.38411758e-01 -4.52239759e-01 5.00227225e-01 6.53831199e+01] [ 4.02941795e-01 8.90700958e-01 2.10451215e-01 3.74720778e+01] [-5.40727275e-01 4.61628046e-02 8.39930360e-01 2.18973537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57037174299998 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:65.41, Y:37.48, Z:21.88 [[ 7.38636825e-01 -4.54724216e-01 4.97635940e-01 6.54077989e+01] [ 4.02618324e-01 8.89674723e-01 2.15354061e-01 3.74805773e+01] [-5.40660824e-01 4.12889086e-02 8.40226815e-01 2.18791652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60037174299998 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:65.43, Y:37.49, Z:21.86 [[ 7.38974075e-01 -4.53633007e-01 4.98130918e-01 6.54323397e+01] [ 4.01485556e-01 8.90243751e-01 2.15117207e-01 3.74923380e+01] [-5.41042202e-01 4.10263292e-02 8.39994152e-01 2.18623007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63037174299998 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:65.46, Y:37.50, Z:21.85 [[ 7.39526128e-01 -4.51057556e-01 4.99648064e-01 6.54562832e+01] [ 3.99451661e-01 8.91523693e-01 2.13597461e-01 3.75048145e+01] [-5.41792836e-01 4.16243457e-02 8.39480754e-01 2.18454709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66037174299998 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:65.48, Y:37.52, Z:21.83 [[ 7.40535491e-01 -4.49194623e-01 4.99831348e-01 6.54809757e+01] [ 3.96180097e-01 8.92597153e-01 2.15201426e-01 3.75169337e+01] [-5.42815362e-01 3.86589382e-02 8.38961840e-01 2.18269520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690371743 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:65.51, Y:37.53, Z:21.81 [[ 7.41145013e-01 -4.46718683e-01 5.01145178e-01 6.55056827e+01] [ 3.94965527e-01 8.93762671e-01 2.12580621e-01 3.75304612e+01] [-5.42868587e-01 4.03820021e-02 8.38846226e-01 2.18092097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720371743 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:65.53, Y:37.54, Z:21.79 [[ 7.41660771e-01 -4.47500151e-01 4.99682816e-01 6.55299123e+01] [ 3.94360193e-01 8.93488326e-01 2.14845643e-01 3.75411414e+01] [-5.42604220e-01 3.77124270e-02 8.39141486e-01 2.17918323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750371743 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:65.55, Y:37.56, Z:21.77 [[ 7.41705036e-01 -4.43433763e-01 5.03229707e-01 6.55539849e+01] [ 3.92667682e-01 8.95336798e-01 2.10200166e-01 3.75567928e+01] [-5.43769925e-01 4.16955207e-02 8.38197920e-01 2.17740770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780371743 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:65.58, Y:37.57, Z:21.76 [[ 7.41215533e-01 -4.43000601e-01 5.04331242e-01 6.55767864e+01] [ 3.92038199e-01 8.95550219e-01 2.10465808e-01 3.75682368e+01] [-5.44890433e-01 4.17165858e-02 8.37468891e-01 2.17562735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810371743 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:65.60, Y:37.58, Z:21.74 [[ 7.40494014e-01 -4.46067637e-01 5.02685069e-01 6.56027008e+01] [ 3.93628482e-01 8.94117181e-01 2.13567520e-01 3.75802557e+01] [-5.44724916e-01 3.97256908e-02 8.37673347e-01 2.17372720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840371743 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:65.62, Y:37.59, Z:21.73 [[ 7.38590975e-01 -4.53229049e-01 4.99065929e-01 6.56172485e+01] [ 3.99964708e-01 8.90519371e-01 2.16802866e-01 3.75939717e+01] [-5.42689234e-01 3.94801187e-02 8.39005194e-01 2.17259067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:65.65, Y:37.60, Z:21.70 [[ 7.38694994e-01 -4.49977809e-01 5.01846268e-01 6.56508402e+01] [ 3.95641266e-01 8.92240702e-01 2.17656882e-01 3.76014136e+01] [-5.45708433e-01 3.77690435e-02 8.37123530e-01 2.16994500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90037174299997 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:65.67, Y:37.62, Z:21.68 [[ 7.37697991e-01 -4.48554425e-01 5.04579628e-01 6.56736504e+01] [ 3.99036814e-01 8.92550809e-01 2.10053980e-01 3.76160574e+01] [-5.44583598e-01 4.63894485e-02 8.37422668e-01 2.16833346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93037174299997 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:65.70, Y:37.63, Z:21.66 [[ 7.37146312e-01 -4.48550756e-01 5.05388498e-01 6.56979359e+01] [ 4.00930345e-01 8.92364713e-01 2.07219876e-01 3.76284910e+01] [-5.43939495e-01 4.98742173e-02 8.37640967e-01 2.16645004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96037174299997 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:65.72, Y:37.64, Z:21.65 [[ 7.36555252e-01 -4.53045717e-01 5.02230961e-01 6.57211803e+01] [ 4.02955956e-01 8.90293366e-01 2.12141980e-01 3.76368670e+01] [-5.43242909e-01 4.61226672e-02 8.38307725e-01 2.16452262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99037174299997 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:65.75, Y:37.65, Z:21.63 [[ 7.36042839e-01 -4.54171145e-01 5.01965647e-01 6.57456087e+01] [ 4.06672066e-01 8.89471035e-01 2.08468482e-01 3.76503478e+01] [-5.41164273e-01 5.06936737e-02 8.39387504e-01 2.16270346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02037174299997 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:65.77, Y:37.66, Z:21.61 [[ 7.35741780e-01 -4.57939771e-01 4.98974146e-01 6.57688206e+01] [ 4.07987241e-01 8.87753660e-01 2.13166253e-01 3.76596856e+01] [-5.40583430e-01 4.67397664e-02 8.39991042e-01 2.16093958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05037174299997 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:65.79, Y:37.67, Z:21.59 [[ 7.35550470e-01 -4.56743570e-01 5.00350694e-01 6.57939600e+01] [ 4.09579806e-01 8.88106331e-01 2.08594168e-01 3.76741553e+01] [-5.39638664e-01 5.15020024e-02 8.40319972e-01 2.15922035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08037174299997 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:65.81, Y:37.68, Z:21.58 [[ 7.34212957e-01 -4.72784486e-01 4.87243433e-01 6.58089852e+01] [ 4.16910811e-01 8.80393460e-01 2.26037012e-01 3.76824876e+01] [-5.35832725e-01 3.71777516e-02 8.43505250e-01 2.15803212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11037174299997 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:65.84, Y:37.69, Z:21.56 [[ 7.35236664e-01 -4.66592667e-01 4.91648585e-01 6.58406273e+01] [ 4.12538049e-01 8.83572502e-01 2.21612255e-01 3.76929481e+01] [-5.37809823e-01 3.98862929e-02 8.42122128e-01 2.15576715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14037174299997 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:65.86, Y:37.71, Z:21.55 [[ 7.34103867e-01 -4.66573603e-01 4.93356449e-01 6.58566465e+01] [ 4.17393218e-01 8.83138722e-01 2.14123561e-01 3.77122143e+01] [-5.35606585e-01 4.87347012e-02 8.43060208e-01 2.15500586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17037174299998 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:65.89, Y:37.72, Z:21.52 [[ 7.34387024e-01 -4.59769343e-01 4.99287342e-01 6.58881065e+01] [ 4.11930026e-01 8.86567984e-01 2.10501458e-01 3.77233824e+01] [-5.39434290e-01 5.10819086e-02 8.40476821e-01 2.15233650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20037174299998 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:65.91, Y:37.73, Z:21.51 [[ 7.34062422e-01 -4.61345549e-01 4.98309788e-01 6.59114856e+01] [ 4.12030796e-01 8.85876447e-01 2.13198366e-01 3.77344493e+01] [-5.39799022e-01 4.88180697e-02 8.40377185e-01 2.15067780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23037174299998 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:65.93, Y:37.75, Z:21.49 [[ 7.34574061e-01 -4.62893462e-01 4.96115502e-01 6.59348555e+01] [ 4.12814545e-01 8.85160310e-01 2.14651756e-01 3.77465456e+01] [-5.38502646e-01 4.71260834e-02 8.41304958e-01 2.14908546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26037174299998 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:65.96, Y:37.76, Z:21.47 [[ 7.34587708e-01 -4.60866851e-01 4.97978558e-01 6.59603220e+01] [ 4.12963585e-01 8.86014649e-01 2.10805879e-01 3.77614669e+01] [-5.38369739e-01 5.07916031e-02 8.41176698e-01 2.14729374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29037174299998 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:65.99, Y:37.78, Z:21.45 [[ 7.34554346e-01 -4.56743102e-01 5.01812367e-01 6.59850352e+01] [ 4.11624651e-01 8.87862830e-01 2.05583906e-01 3.77775679e+01] [-5.39439579e-01 5.55457888e-02 8.40190220e-01 2.14544857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32037174299998 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:66.00, Y:37.78, Z:21.44 [[ 7.32572031e-01 -4.62617389e-01 4.99322913e-01 6.60032602e+01] [ 4.06585999e-01 8.85705906e-01 2.24082292e-01 3.77790425e+01] [-5.45917618e-01 3.88612860e-02 8.36937127e-01 2.14360481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35037174299998 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:66.03, Y:37.79, Z:21.42 [[ 7.33057275e-01 -4.60006929e-01 5.01019617e-01 6.60278598e+01] [ 4.06010740e-01 8.86924025e-01 2.20274948e-01 3.77945308e+01] [-5.45694338e-01 4.19451921e-02 8.36933863e-01 2.14184975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38037174299998 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:66.05, Y:37.81, Z:21.40 [[ 7.33874767e-01 -4.57957120e-01 5.01700211e-01 6.60526549e+01] [ 4.05636790e-01 8.87875833e-01 2.17106655e-01 3.78090742e+01] [-5.44873031e-01 4.41789675e-02 8.37353927e-01 2.14016282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41037174299998 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:66.08, Y:37.82, Z:21.38 [[ 7.34576736e-01 -4.58850406e-01 4.99853303e-01 6.60771084e+01] [ 4.05517300e-01 8.87520702e-01 2.18775507e-01 3.78213203e+01] [-5.44015385e-01 4.19917638e-02 8.38023838e-01 2.13831674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440371743 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:66.10, Y:37.84, Z:21.37 [[ 7.38762438e-01 -4.53438291e-01 4.98621876e-01 6.61041229e+01] [ 4.08037043e-01 8.89750390e-01 2.04572764e-01 3.78427616e+01] [-5.36410134e-01 5.23255217e-02 8.42333787e-01 2.13675408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470371743 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:66.13, Y:37.85, Z:21.35 [[ 7.39342194e-01 -4.56423274e-01 4.95026176e-01 6.61286639e+01] [ 4.07400583e-01 8.88582934e-01 2.10820146e-01 3.78523647e+01] [-5.36095033e-01 4.58057235e-02 8.42913964e-01 2.13474660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:66.15, Y:37.87, Z:21.33 [[ 7.40678826e-01 -4.54066617e-01 4.95195299e-01 6.61520047e+01] [ 4.03899467e-01 8.89926204e-01 2.11888114e-01 3.78655997e+01] [-5.36898592e-01 4.30680781e-02 8.42546760e-01 2.13305021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:66.18, Y:37.88, Z:21.31 [[ 7.41747422e-01 -4.51101122e-01 4.96304885e-01 6.61768057e+01] [ 4.02378520e-01 8.91346088e-01 2.08790993e-01 3.78797636e+01] [-5.36565269e-01 4.48322439e-02 8.42667065e-01 2.13142379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560371743 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:66.20, Y:37.89, Z:21.30 [[ 7.42307628e-01 -4.51061659e-01 4.95502539e-01 6.61997550e+01] [ 4.00234856e-01 8.91553031e-01 2.12002955e-01 3.78902334e+01] [-5.37393195e-01 4.09459761e-02 8.42337213e-01 2.12967576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590371743 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:66.22, Y:37.90, Z:21.28 [[ 7.43434739e-01 -4.47693970e-01 4.96865070e-01 6.62248261e+01] [ 3.97857636e-01 8.93203647e-01 2.09515027e-01 3.79037576e+01] [-5.37600307e-01 4.19208124e-02 8.42157085e-01 2.12793621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620371743 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:66.25, Y:37.91, Z:21.26 [[ 7.45356789e-01 -4.44617238e-01 4.96748194e-01 6.62471041e+01] [ 3.92121862e-01 8.94986755e-01 2.12694979e-01 3.79149972e+01] [-5.39150908e-01 3.62521801e-02 8.41428593e-01 2.12616633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65037174299997 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:66.27, Y:37.93, Z:21.25 [[ 7.46944179e-01 -4.44593048e-01 4.94379829e-01 6.62711515e+01] [ 3.90926683e-01 8.95118305e-01 2.14335131e-01 3.79271293e+01] [-5.37820344e-01 3.31698885e-02 8.42406693e-01 2.12451932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68037174299997 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:66.30, Y:37.94, Z:21.23 [[ 7.48695285e-01 -4.39093209e-01 4.96641243e-01 6.62965267e+01] [ 3.88667719e-01 8.97658147e-01 2.07719173e-01 3.79433836e+01] [-5.37022137e-01 3.75100537e-02 8.42733778e-01 2.12276579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71037174299997 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:66.31, Y:37.95, Z:21.22 [[ 7.52002372e-01 -4.54302376e-01 4.77600025e-01 6.63122780e+01] [ 3.92235774e-01 8.90727765e-01 2.29684885e-01 3.79493574e+01] [-5.29757992e-01 1.46082374e-02 8.48023036e-01 2.12157064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74037174299997 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:66.34, Y:37.97, Z:21.20 [[ 7.52852514e-01 -4.30721249e-01 4.97686947e-01 6.63426095e+01] [ 3.82882322e-01 9.01636140e-01 2.01130301e-01 3.79698137e+01] [-5.35363633e-01 3.91340811e-02 8.43714587e-01 2.11951198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77037174299997 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:66.36, Y:37.97, Z:21.18 [[ 7.55418483e-01 -4.52204053e-01 4.74188158e-01 6.63606258e+01] [ 3.88824504e-01 8.91860558e-01 2.31084940e-01 3.79715552e+01] [-5.27407262e-01 9.81014090e-03 8.49555967e-01 2.11799991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80037174299997 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:66.39, Y:37.99, Z:21.17 [[ 7.56594448e-01 -4.45885870e-01 4.78278822e-01 6.63852816e+01] [ 3.87450258e-01 8.94912684e-01 2.21390123e-01 3.79879021e+01] [-5.26732512e-01 1.78067151e-02 8.49844564e-01 2.11660988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83037174299997 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:66.42, Y:38.01, Z:21.14 [[ 7.56795204e-01 -4.22705336e-01 4.98579200e-01 6.64176446e+01] [ 3.78252337e-01 9.05281759e-01 1.93365218e-01 3.80078197e+01] [-5.33091165e-01 4.22508780e-02 8.45002174e-01 2.11426781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86037174299997 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:66.44, Y:38.01, Z:21.12 [[ 7.57031545e-01 -4.28356706e-01 4.93369813e-01 6.64427594e+01] [ 3.77887570e-01 9.03048577e-01 2.04216189e-01 3.80140688e+01] [-5.33014282e-01 3.18402226e-02 8.45506934e-01 2.11198976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89037174299997 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:66.47, Y:38.03, Z:21.10 [[ 7.57333857e-01 -4.25217825e-01 4.95616010e-01 6.64687827e+01] [ 3.76162614e-01 9.04449470e-01 2.01178637e-01 3.80275942e+01] [-5.33804380e-01 3.40728204e-02 8.44921255e-01 2.11017078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92037174299998 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:66.49, Y:38.04, Z:21.08 [[ 7.56422004e-01 -4.21395665e-01 5.00251382e-01 6.64927518e+01] [ 3.74015625e-01 9.06099686e-01 1.97726253e-01 3.80404209e+01] [-5.36598606e-01 3.75373450e-02 8.43002303e-01 2.10831895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95037174299998 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:66.52, Y:38.05, Z:21.06 [[ 7.56461279e-01 -4.27393250e-01 4.95077109e-01 6.65169187e+01] [ 3.74243319e-01 9.03640390e-01 2.08269018e-01 3.80463227e+01] [-5.36384444e-01 2.77318527e-02 8.43518033e-01 2.10645310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98037174299998 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:66.54, Y:38.06, Z:21.05 [[ 7.55105852e-01 -4.24474811e-01 4.99636155e-01 6.65429798e+01] [ 3.74496692e-01 9.04799406e-01 2.02707334e-01 3.80613367e+01] [-5.38114653e-01 3.40465931e-02 8.42183738e-01 2.10500335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01037174299998 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:66.56, Y:38.06, Z:21.04 [[ 7.55703401e-01 -4.58486610e-01 4.67656281e-01 6.65569612e+01] [ 3.86447887e-01 8.88682590e-01 2.46781858e-01 3.80570071e+01] [-5.28744173e-01 -5.76910763e-03 8.48761638e-01 2.10412654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04037174299998 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:66.58, Y:38.08, Z:21.03 [[ 7.54470944e-01 -4.47637056e-01 4.79994438e-01 6.65828231e+01] [ 3.87948316e-01 8.94049534e-01 2.23990031e-01 3.80807036e+01] [-5.29405042e-01 1.72190641e-02 8.48194438e-01 2.10323494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07037174299998 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:66.61, Y:38.09, Z:21.02 [[ 7.53657165e-01 -4.48922409e-01 4.80072440e-01 6.66079176e+01] [ 3.89573927e-01 8.93382655e-01 2.23829372e-01 3.80915814e+01] [-5.29370412e-01 1.83330959e-02 8.48192705e-01 2.10152181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10037174299998 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:66.63, Y:38.10, Z:21.00 [[ 7.53710756e-01 -4.48782237e-01 4.80119360e-01 6.66336154e+01] [ 3.89471806e-01 8.93452397e-01 2.23728691e-01 3.81034974e+01] [-5.29369255e-01 1.83662332e-02 8.48192710e-01 2.09972314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13037174299998 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:66.66, Y:38.11, Z:20.98 [[ 7.52794840e-01 -4.50436657e-01 4.80007028e-01 6.66591304e+01] [ 3.91511195e-01 8.92593133e-01 2.23598935e-01 3.81147142e+01] [-5.29168134e-01 1.96040010e-02 8.48290498e-01 2.09789345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16037174299998 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:66.68, Y:38.12, Z:20.96 [[ 7.50496617e-01 -4.54997291e-01 4.79303966e-01 6.66838774e+01] [ 3.97225899e-01 8.90196373e-01 2.23073984e-01 3.81237699e+01] [-5.28172711e-01 2.29756788e-02 8.48826075e-01 2.09606481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190371743 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:66.71, Y:38.13, Z:20.94 [[ 7.49196023e-01 -4.57686043e-01 4.78778451e-01 6.67093380e+01] [ 4.00663902e-01 8.88761661e-01 2.22645789e-01 3.81339322e+01] [-5.27421801e-01 2.50239027e-02 8.49234978e-01 2.09422031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:66.74, Y:38.15, Z:20.92 [[ 7.47506733e-01 -4.35522229e-01 5.01551664e-01 6.67420265e+01] [ 3.94845470e-01 8.98514514e-01 1.91751724e-01 3.81536452e+01] [-5.34163588e-01 5.46996979e-02 8.43609628e-01 2.09179227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250371743 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:66.77, Y:38.15, Z:20.89 [[ 7.44762397e-01 -4.53085824e-01 4.89941026e-01 6.67671376e+01] [ 4.03201129e-01 8.90538817e-01 2.10640605e-01 3.81526896e+01] [-5.31749774e-01 4.06675726e-02 8.45924540e-01 2.08948456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280371743 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:66.79, Y:38.16, Z:20.88 [[ 7.43508787e-01 -4.56275285e-01 4.88883982e-01 6.67911304e+01] [ 4.06607715e-01 8.88858139e-01 2.11190376e-01 3.81628804e+01] [-5.30909455e-01 4.17620982e-02 8.46398888e-01 2.08785632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310371743 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:66.82, Y:38.17, Z:20.86 [[ 7.42475327e-01 -4.59057530e-01 4.87848925e-01 6.68154370e+01] [ 4.09587088e-01 8.87380960e-01 2.11644629e-01 3.81736889e+01] [-5.30064908e-01 4.26757056e-02 8.46882505e-01 2.08625128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340371743 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:66.84, Y:38.18, Z:20.85 [[ 7.41632298e-01 -4.67101413e-01 4.81453845e-01 6.68411080e+01] [ 4.15326654e-01 8.83350145e-01 2.17247076e-01 3.81836549e+01] [-5.26768740e-01 3.88431664e-02 8.49120665e-01 2.08469715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:66.87, Y:38.20, Z:20.83 [[ 7.40824797e-01 -4.58376658e-01 4.90988248e-01 6.68661563e+01] [ 4.14866395e-01 8.87123549e-01 2.02231754e-01 3.82027652e+01] [-5.28265553e-01 5.38762265e-02 8.47368195e-01 2.08320838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40037174299997 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:66.89, Y:38.21, Z:20.81 [[ 7.39957248e-01 -4.65236987e-01 4.85816649e-01 6.68914473e+01] [ 4.15621571e-01 8.84099063e-01 2.13606080e-01 3.82097227e+01] [-5.28887493e-01 4.38565118e-02 8.47558037e-01 2.08126624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43037174299997 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:66.92, Y:38.22, Z:20.80 [[ 7.39379609e-01 -4.62514321e-01 4.89283452e-01 6.69156513e+01] [ 4.15280101e-01 8.85287833e-01 2.09303344e-01 3.82245168e+01] [-5.29962481e-01 4.84350568e-02 8.46636767e-01 2.07965782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46037174299997 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:66.94, Y:38.24, Z:20.78 [[ 7.39113833e-01 -4.63177870e-01 4.89057259e-01 6.69389290e+01] [ 4.14818816e-01 8.85033704e-01 2.11283442e-01 3.82353676e+01] [-5.30693972e-01 4.67076388e-02 8.46275549e-01 2.07805143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49037174299997 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:66.96, Y:38.24, Z:20.77 [[ 7.38141006e-01 -4.79977222e-01 4.74098851e-01 6.69552411e+01] [ 4.21967481e-01 8.76775114e-01 2.30670423e-01 3.82425930e+01] [-5.26394623e-01 2.97870003e-02 8.49718445e-01 2.07704007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52037174299997 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:66.99, Y:38.26, Z:20.75 [[ 7.37865032e-01 -4.57554540e-01 4.96184479e-01 6.69874135e+01] [ 4.15764259e-01 8.87234809e-01 1.99886155e-01 3.82641742e+01] [-5.31690959e-01 5.88067680e-02 8.44894365e-01 2.07500316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55037174299997 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:67.00, Y:38.26, Z:20.73 [[ 7.36906098e-01 -4.83335743e-01 4.72605504e-01 6.70034456e+01] [ 4.23939037e-01 8.74985693e-01 2.33828421e-01 3.82627093e+01] [-5.26540688e-01 2.80463329e-02 8.49687182e-01 2.07348507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58037174299997 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:67.04, Y:38.29, Z:20.71 [[ 7.37083046e-01 -4.59982552e-01 4.95100631e-01 6.70357629e+01] [ 4.18878492e-01 8.85871850e-01 1.99428871e-01 3.82853169e+01] [-5.30329513e-01 6.03913662e-02 8.45637919e-01 2.07148153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61037174299997 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:67.06, Y:38.29, Z:20.69 [[ 7.36269347e-01 -4.66262647e-01 4.90414715e-01 6.70603521e+01] [ 4.20917681e-01 8.83022739e-01 2.07603341e-01 3.82917284e+01] [-5.29845029e-01 5.35722481e-02 8.46400768e-01 2.06939245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64037174299997 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:67.09, Y:38.30, Z:20.68 [[ 7.35536225e-01 -4.72470274e-01 4.85549484e-01 6.70852603e+01] [ 4.25467036e-01 8.79875221e-01 2.11653956e-01 3.83003750e+01] [-5.27223162e-01 5.09061479e-02 8.48200626e-01 2.06753374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67037174299998 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:67.11, Y:38.31, Z:20.66 [[ 7.35389901e-01 -4.74591344e-01 4.83699028e-01 6.71079838e+01] [ 4.26918102e-01 8.78800772e-01 2.13190377e-01 3.83102716e+01] [-5.26253387e-01 4.97218204e-02 8.48872849e-01 2.06594111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70037174299998 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:67.13, Y:38.32, Z:20.64 [[ 7.35848880e-01 -4.76178413e-01 4.81435920e-01 6.71337938e+01] [ 4.29995147e-01 8.77825186e-01 2.11014493e-01 3.83237494e+01] [-5.23097123e-01 5.17403310e-02 8.50701086e-01 2.06432208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73037174299998 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:67.16, Y:38.33, Z:20.63 [[ 7.36608242e-01 -4.79253421e-01 4.77204836e-01 6.71573487e+01] [ 4.31354049e-01 8.76363302e-01 2.14291967e-01 3.83344281e+01] [-5.20904965e-01 4.79950089e-02 8.52264335e-01 2.06274385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76037174299998 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:67.18, Y:38.35, Z:20.61 [[ 7.36812614e-01 -4.73900187e-01 4.82209274e-01 6.71823247e+01] [ 4.30762570e-01 8.78773402e-01 2.05428618e-01 3.83516953e+01] [-5.21105345e-01 5.63553092e-02 8.51629790e-01 2.06121121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79037174299998 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:67.21, Y:38.36, Z:20.59 [[ 7.36513085e-01 -4.76175953e-01 4.80421625e-01 6.72071640e+01] [ 4.30493663e-01 8.77805619e-01 2.10077370e-01 3.83625359e+01] [-5.21750594e-01 5.20937335e-02 8.51506055e-01 2.05942125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82037174299998 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:67.23, Y:38.37, Z:20.58 [[ 7.36649260e-01 -4.76340534e-01 4.80049543e-01 6.72324628e+01] [ 4.27892581e-01 8.77985950e-01 2.14589400e-01 3.83743372e+01] [-5.23694383e-01 4.73325153e-02 8.50590281e-01 2.05771837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85037174299998 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:67.26, Y:38.39, Z:20.56 [[ 7.37230340e-01 -4.72721831e-01 4.82727144e-01 6.72575900e+01] [ 4.26031932e-01 8.79782206e-01 2.10902971e-01 3.83894320e+01] [-5.24393190e-01 5.01731093e-02 8.49996730e-01 2.05613586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88037174299998 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:67.28, Y:38.40, Z:20.54 [[ 7.37523543e-01 -4.70280942e-01 4.84659530e-01 6.72814614e+01] [ 4.24026749e-01 8.81048606e-01 2.09653690e-01 3.84025262e+01] [-5.25604738e-01 5.08840727e-02 8.49205788e-01 2.05447527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91037174299998 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:67.31, Y:38.41, Z:20.53 [[ 7.38140659e-01 -4.69495953e-01 4.84481080e-01 6.73068742e+01] [ 4.21868683e-01 8.81618314e-01 2.11603315e-01 3.84144129e+01] [-5.26474293e-01 4.81943849e-02 8.48823963e-01 2.05263896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940371743 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:67.33, Y:38.43, Z:20.51 [[ 7.39210342e-01 -4.62577780e-01 4.89479179e-01 6.73307602e+01] [ 4.18342930e-01 8.84958729e-01 2.04541538e-01 3.84308273e+01] [-5.27785243e-01 5.35709339e-02 8.47686789e-01 2.05093182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970371743 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:67.36, Y:38.44, Z:20.49 [[ 7.39528235e-01 -4.67568505e-01 4.84228957e-01 6.73552165e+01] [ 4.18083888e-01 8.82850344e-01 2.13965262e-01 3.84381370e+01] [-5.27545119e-01 4.42149724e-02 8.48375615e-01 2.04895751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000371743 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:67.38, Y:38.45, Z:20.47 [[ 7.40275246e-01 -4.62693700e-01 4.87757215e-01 6.73794642e+01] [ 4.16390868e-01 8.85143934e-01 2.07698967e-01 3.84526942e+01] [-5.27836344e-01 4.93432458e-02 8.47911575e-01 2.04733938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030371743 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:67.41, Y:38.46, Z:20.46 [[ 7.40440716e-01 -4.63513376e-01 4.86726716e-01 6.74052817e+01] [ 4.17188860e-01 8.84726463e-01 2.07876265e-01 3.84642356e+01] [-5.26973435e-01 4.91369130e-02 8.48460112e-01 2.04554016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060371743 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:67.43, Y:38.47, Z:20.44 [[ 7.40178115e-01 -4.67610292e-01 4.83194550e-01 6.74305899e+01] [ 4.19318885e-01 8.82750908e-01 2.11949303e-01 3.84742226e+01] [-5.25650103e-01 4.57323645e-02 8.49470729e-01 2.04377214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090371743 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:67.45, Y:38.48, Z:20.42 [[ 7.39360146e-01 -4.71483841e-01 4.80676151e-01 6.74541326e+01] [ 4.22150281e-01 8.80763120e-01 2.14582074e-01 3.84839069e+01] [-5.24533807e-01 4.42641386e-02 8.50238185e-01 2.04227370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120371743 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:67.48, Y:38.49, Z:20.41 [[ 7.39315464e-01 -4.72998799e-01 4.79254401e-01 6.74777220e+01] [ 4.23610935e-01 8.79960356e-01 2.14996620e-01 3.84947546e+01] [-5.23418017e-01 4.40670793e-02 8.50935763e-01 2.04078693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15037174299997 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:67.50, Y:38.51, Z:20.39 [[ 7.38557406e-01 -4.73989719e-01 4.79444162e-01 6.75023010e+01] [ 4.25792662e-01 8.79299261e-01 2.13385611e-01 3.85064547e+01] [-5.22717483e-01 4.65462827e-02 8.51234325e-01 2.03918169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18037174299997 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:67.53, Y:38.52, Z:20.38 [[ 7.38226521e-01 -4.72737477e-01 4.81186950e-01 6.75264442e+01] [ 4.26006814e-01 8.79819168e-01 2.10799493e-01 3.85185540e+01] [-5.23010322e-01 4.93711430e-02 8.50895230e-01 2.03752718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21037174299997 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:67.55, Y:38.53, Z:20.36 [[ 7.37962640e-01 -4.71502837e-01 4.82800390e-01 6.75523193e+01] [ 4.27068792e-01 8.80238322e-01 2.06864069e-01 3.85320556e+01] [-5.22516400e-01 5.35310248e-02 8.50947143e-01 2.03574646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24037174299997 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:67.58, Y:38.54, Z:20.34 [[ 7.37730899e-01 -4.72935382e-01 4.81752265e-01 6.75780904e+01] [ 4.28209437e-01 8.79496058e-01 2.07661653e-01 3.85431281e+01] [-5.21909761e-01 5.30924486e-02 8.51346811e-01 2.03386801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27037174299997 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:67.60, Y:38.55, Z:20.32 [[ 7.37598117e-01 -4.77834782e-01 4.77098459e-01 6.76018060e+01] [ 4.29695174e-01 8.77192109e-01 2.14233661e-01 3.85516392e+01] [-5.20875298e-01 4.69885600e-02 8.52338547e-01 2.03217802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30037174299997 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:67.63, Y:38.57, Z:20.31 [[ 7.37862811e-01 -4.76208180e-01 4.78313957e-01 6.76273422e+01] [ 4.30326617e-01 8.77866398e-01 2.10165625e-01 3.85660238e+01] [-5.19978340e-01 5.07578287e-02 8.52670023e-01 2.03062289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33037174299997 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:67.65, Y:38.58, Z:20.29 [[ 7.37657481e-01 -4.75111475e-01 4.79719217e-01 6.76525628e+01] [ 4.30235607e-01 8.78345613e-01 2.08341800e-01 3.85791928e+01] [-5.20344850e-01 5.27074014e-02 8.52328086e-01 2.02885308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36037174299997 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:67.68, Y:38.59, Z:20.27 [[ 7.38018755e-01 -4.73949830e-01 4.80312269e-01 6.76763465e+01] [ 4.29224384e-01 8.78967511e-01 2.07804097e-01 3.85907423e+01] [-5.20667596e-01 5.27984165e-02 8.52125332e-01 2.02709989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39037174299997 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:67.70, Y:38.60, Z:20.25 [[ 7.38299186e-01 -4.71979875e-01 4.81818751e-01 6.77013018e+01] [ 4.28255340e-01 8.79926401e-01 2.05735007e-01 3.86034299e+01] [-5.21067822e-01 5.44474645e-02 8.51776848e-01 2.02529161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42037174299998 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:67.73, Y:38.62, Z:20.23 [[ 7.39120451e-01 -4.70545145e-01 4.81962888e-01 6.77262107e+01] [ 4.27089748e-01 8.80695987e-01 2.04863187e-01 3.86154735e+01] [-5.20860159e-01 5.44228371e-02 8.51905423e-01 2.02349234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45037174299998 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:67.75, Y:38.63, Z:20.22 [[ 7.40678640e-01 -4.72111731e-01 4.78022662e-01 6.77511038e+01] [ 4.26244020e-01 8.80171832e-01 2.08838648e-01 3.86262786e+01] [-5.19337258e-01 4.90719759e-02 8.53159278e-01 2.02165977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48037174299998 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:67.78, Y:38.64, Z:20.20 [[ 7.41465508e-01 -4.70835168e-01 4.78061863e-01 6.77762255e+01] [ 4.25479026e-01 8.80833016e-01 2.07607313e-01 3.86392123e+01] [-5.18841497e-01 4.94716336e-02 8.53437789e-01 2.02001143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51037174299998 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:67.79, Y:38.64, Z:20.19 [[ 7.42176214e-01 -4.92989770e-01 4.54021535e-01 6.77920049e+01] [ 4.32149716e-01 8.69815848e-01 2.38048344e-01 3.86414244e+01] [-5.12270524e-01 1.95314588e-02 8.58602022e-01 2.01902771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54037174299998 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:67.82, Y:38.67, Z:20.18 [[ 7.43473754e-01 -4.61063653e-01 4.84424489e-01 6.78241659e+01] [ 4.23166400e-01 8.85237902e-01 1.93090794e-01 3.86722289e+01] [-5.17858065e-01 6.14342299e-02 8.53257792e-01 2.01750126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57037174299998 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:67.85, Y:38.68, Z:20.15 [[ 7.43536692e-01 -4.69169484e-01 4.76479992e-01 6.78503816e+01] [ 4.22887341e-01 8.81882515e-01 2.08445500e-01 3.86766841e+01] [-5.17995641e-01 4.65104789e-02 8.54117844e-01 2.01518814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60037174299998 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:67.87, Y:38.69, Z:20.14 [[ 7.43912873e-01 -4.70096591e-01 4.74976666e-01 6.78737688e+01] [ 4.21852899e-01 8.81576490e-01 2.11808934e-01 3.86867380e+01] [-5.18298919e-01 4.28028911e-02 8.54127709e-01 2.01361810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63037174299998 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:67.90, Y:38.70, Z:20.12 [[ 7.44796183e-01 -4.67197291e-01 4.76450771e-01 6.78986840e+01] [ 4.21523645e-01 8.82914332e-01 2.06833504e-01 3.87018919e+01] [-5.17297267e-01 4.67864612e-02 8.54525930e-01 2.01219650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66037174299998 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:67.92, Y:38.71, Z:20.10 [[ 7.45097325e-01 -4.66006653e-01 4.77145445e-01 6.79245002e+01] [ 4.21199211e-01 8.83470392e-01 2.05112876e-01 3.87145605e+01] [-5.17127839e-01 4.81442295e-02 8.54553060e-01 2.01041408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690371743 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:67.95, Y:38.72, Z:20.09 [[ 7.45382499e-01 -4.68611525e-01 4.74139398e-01 6.79492889e+01] [ 4.21190026e-01 8.82345739e-01 2.09916554e-01 3.87239138e+01] [-5.16724194e-01 4.32346600e-02 8.55059572e-01 2.00866610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720371743 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:67.98, Y:38.74, Z:20.07 [[ 7.45580097e-01 -4.64434256e-01 4.77923782e-01 6.79757043e+01] [ 4.21118664e-01 8.84168392e-01 2.02250649e-01 3.87408954e+01] [-5.16497232e-01 5.04685657e-02 8.54800289e-01 2.00709758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:68.00, Y:38.75, Z:20.05 [[ 7.45654357e-01 -4.69382874e-01 4.72947456e-01 6.79987908e+01] [ 4.20556042e-01 8.82063038e-01 2.12361516e-01 3.87475366e+01] [-5.16848329e-01 4.05526206e-02 8.55115951e-01 2.00532301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780371743 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:68.02, Y:38.76, Z:20.04 [[ 7.45857479e-01 -4.64028170e-01 4.77885424e-01 6.80240407e+01] [ 4.19665605e-01 8.84491332e-01 2.03852554e-01 3.87635972e+01] [-5.17278843e-01 4.85071234e-02 8.54441138e-01 2.00384133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810371743 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:68.05, Y:38.77, Z:20.02 [[ 7.45745678e-01 -4.69294445e-01 4.72891222e-01 6.80499642e+01] [ 4.20960472e-01 8.82073859e-01 2.11513567e-01 3.87727192e+01] [-5.16387127e-01 4.13331833e-02 8.55357179e-01 2.00204136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:68.08, Y:38.79, Z:20.01 [[ 7.46057135e-01 -4.69392312e-01 4.72302455e-01 6.80753841e+01] [ 4.21693521e-01 8.81982092e-01 2.10433276e-01 3.87858912e+01] [-5.15338069e-01 4.21716381e-02 8.55948729e-01 2.00056981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870371743 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:68.10, Y:38.80, Z:19.99 [[ 7.46198583e-01 -4.67418453e-01 4.74033401e-01 6.81013933e+01] [ 4.22515400e-01 8.82783538e-01 2.05363003e-01 3.88011663e+01] [-5.14459339e-01 4.70448301e-02 8.56223319e-01 1.99900204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90037174299997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:68.12, Y:38.81, Z:19.97 [[ 7.46031559e-01 -4.69402810e-01 4.72332420e-01 6.81244893e+01] [ 4.22338967e-01 8.81922947e-01 2.09384128e-01 3.88103548e+01] [-5.14846298e-01 4.32772184e-02 8.56189449e-01 1.99728222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93037174299997 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:68.15, Y:38.82, Z:19.96 [[ 7.46470553e-01 -4.71847670e-01 4.69192380e-01 6.81475061e+01] [ 4.23131481e-01 8.80779088e-01 2.12574571e-01 3.88197334e+01] [-5.13557653e-01 3.98494087e-02 8.57129256e-01 1.99581554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96037174299997 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:68.17, Y:38.83, Z:19.94 [[ 7.46737876e-01 -4.71863384e-01 4.68750992e-01 6.81713549e+01] [ 4.24389428e-01 8.80681489e-01 2.10460754e-01 3.88320122e+01] [-5.12129045e-01 4.17739493e-02 8.57892055e-01 1.99432845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99037174299997 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:68.20, Y:38.85, Z:19.93 [[ 7.46834864e-01 -4.70973237e-01 4.69491104e-01 6.81966039e+01] [ 4.24823875e-01 8.81045739e-01 2.08045864e-01 3.88456582e+01] [-5.11627170e-01 4.40751254e-02 8.58076350e-01 1.99274852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02037174299997 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:68.22, Y:38.86, Z:19.91 [[ 7.47064293e-01 -4.73159818e-01 4.66920473e-01 6.82227736e+01] [ 4.26822147e-01 8.79910171e-01 2.08760499e-01 3.88578135e+01] [-5.09625153e-01 4.33344845e-02 8.59304559e-01 1.99110392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05037174299997 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:68.25, Y:38.87, Z:19.89 [[ 7.46449142e-01 -4.69724829e-01 4.71351529e-01 6.82482171e+01] [ 4.27500852e-01 8.81323392e-01 2.01276182e-01 3.88722707e+01] [-5.09957548e-01 5.12607468e-02 8.58670854e-01 1.98944476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08037174299997 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:68.27, Y:38.88, Z:19.88 [[ 7.46415470e-01 -4.74702197e-01 4.66392292e-01 6.82744311e+01] [ 4.29038360e-01 8.79004446e-01 2.08031896e-01 3.88809373e+01] [-5.08714096e-01 4.48219582e-02 8.59767969e-01 1.98758141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11037174299997 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:68.30, Y:38.89, Z:19.86 [[ 7.46169433e-01 -4.75676908e-01 4.65792505e-01 6.82980518e+01] [ 4.28376647e-01 8.78613296e-01 2.11026359e-01 3.88905219e+01] [-5.09631854e-01 4.20732129e-02 8.59363264e-01 1.98592316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14037174299997 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:68.32, Y:38.91, Z:19.84 [[ 7.46741933e-01 -4.68370937e-01 4.72234212e-01 6.83230116e+01] [ 4.26213817e-01 8.82042245e-01 2.00856316e-01 3.89072523e+01] [-5.10605785e-01 5.12849126e-02 8.58284096e-01 1.98440511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17037174299998 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:68.35, Y:38.92, Z:19.83 [[ 7.47595638e-01 -4.73167182e-01 4.66061778e-01 6.83495444e+01] [ 4.26963699e-01 8.79915036e-01 2.08450304e-01 3.89163820e+01] [-5.08726609e-01 4.31549227e-02 8.59845853e-01 1.98255265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20037174299998 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:68.37, Y:38.93, Z:19.81 [[ 7.48204778e-01 -4.73029616e-01 4.65223165e-01 6.83734419e+01] [ 4.26130357e-01 8.80068868e-01 2.09503475e-01 3.89281258e+01] [-5.08529773e-01 4.14942121e-02 8.60044011e-01 1.98103340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23037174299998 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:68.40, Y:38.94, Z:19.80 [[ 7.49464119e-01 -4.75157512e-01 4.61008539e-01 6.83979807e+01] [ 4.25227425e-01 8.79205269e-01 2.14894699e-01 3.89388208e+01] [-5.07429967e-01 3.49776078e-02 8.60982808e-01 1.97956773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26037174299998 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:68.42, Y:38.95, Z:19.78 [[ 7.50493488e-01 -4.76333121e-01 4.58111649e-01 6.84213370e+01] [ 4.25440489e-01 8.78671245e-01 2.16650025e-01 3.89508809e+01] [-5.05727116e-01 3.23048114e-02 8.62088443e-01 1.97830312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29037174299998 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:68.45, Y:38.97, Z:19.77 [[ 7.51672187e-01 -4.65603684e-01 4.67121111e-01 6.84451460e+01] [ 4.22093987e-01 8.83821312e-01 2.01733868e-01 3.89699080e+01] [-5.06779626e-01 4.55312744e-02 8.60872415e-01 1.97699874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32037174299998 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:68.47, Y:38.98, Z:19.75 [[ 7.51939950e-01 -4.63922194e-01 4.68361517e-01 6.84716367e+01] [ 4.20519992e-01 8.84697422e-01 2.01180037e-01 3.89823733e+01] [-5.07690111e-01 4.56800745e-02 8.60327892e-01 1.97497083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35037174299998 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:68.49, Y:38.98, Z:19.74 [[ 7.52855715e-01 -4.87176258e-01 4.42569279e-01 6.84864455e+01] [ 4.28353968e-01 8.73182884e-01 2.32517804e-01 3.89835377e+01] [-4.99721073e-01 1.45239497e-02 8.66064607e-01 1.97386484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38037174299998 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:68.51, Y:39.00, Z:19.73 [[ 7.54311713e-01 -4.79584244e-01 4.48344502e-01 6.85117333e+01] [ 4.26704139e-01 8.77136866e-01 2.20350848e-01 3.90032444e+01] [-4.98936286e-01 2.50972298e-02 8.66275194e-01 1.97264268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41037174299998 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:68.55, Y:39.02, Z:19.70 [[ 7.56268945e-01 -4.62420449e-01 4.62844046e-01 6.85453010e+01] [ 4.16766000e-01 8.85820350e-01 2.04030412e-01 3.90202730e+01] [-5.04344510e-01 3.85957974e-02 8.62639542e-01 1.97040830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440371743 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:68.57, Y:39.03, Z:19.69 [[ 7.56276889e-01 -4.59320410e-01 4.65907747e-01 6.85696529e+01] [ 4.14789079e-01 8.87329686e-01 2.01484610e-01 3.90342569e+01] [-5.05959769e-01 4.08752913e-02 8.61588024e-01 1.96863654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470371743 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:68.58, Y:39.04, Z:19.68 [[ 7.56644325e-01 -4.79867830e-01 4.44090340e-01 6.85846866e+01] [ 4.21648793e-01 8.77235376e-01 2.29500307e-01 3.90373257e+01] [-4.99701571e-01 1.36000513e-02 8.66090861e-01 1.96757707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500371743 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:68.61, Y:39.05, Z:19.66 [[ 7.57357998e-01 -4.74694139e-01 4.48413132e-01 6.86101364e+01] [ 4.20843177e-01 8.79885949e-01 2.20662042e-01 3.90549012e+01] [-4.99299393e-01 2.15914450e-02 8.66160451e-01 1.96624426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530371743 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:68.64, Y:39.07, Z:19.64 [[ 7.58173615e-01 -4.59786677e-01 4.62351578e-01 6.86442233e+01] [ 4.13289627e-01 8.87302731e-01 2.04659589e-01 3.90703148e+01] [-5.04345570e-01 3.59176110e-02 8.62754583e-01 1.96396437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560371743 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:68.67, Y:39.08, Z:19.62 [[ 7.58129823e-01 -4.59287760e-01 4.62918919e-01 6.86706328e+01] [ 4.13227862e-01 8.87526043e-01 2.03814272e-01 3.90825978e+01] [-5.04461996e-01 3.67733174e-02 8.62650461e-01 1.96205502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590371743 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:68.70, Y:39.09, Z:19.60 [[ 7.58086466e-01 -4.58054875e-01 4.64209696e-01 6.86954346e+01] [ 4.12378731e-01 8.88128052e-01 2.02909697e-01 3.90943172e+01] [-5.05221429e-01 3.76071101e-02 8.62169944e-01 1.96033168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620371743 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:68.72, Y:39.11, Z:19.59 [[ 7.57341820e-01 -4.54363492e-01 4.69027915e-01 6.87194692e+01] [ 4.10925739e-01 8.89805188e-01 1.98460991e-01 3.91073655e+01] [-5.07516901e-01 4.24328342e-02 8.60596334e-01 1.95853733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65037174299997 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:68.73, Y:39.10, Z:19.58 [[ 7.57793167e-01 -4.82508437e-01 4.39243810e-01 6.87329635e+01] [ 4.20236773e-01 8.75877744e-01 2.37148124e-01 3.91040576e+01] [-4.99149848e-01 4.87717280e-03 8.66501958e-01 1.95753869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68037174299997 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:68.77, Y:39.14, Z:19.56 [[ 7.58303800e-01 -4.50321553e-01 4.71365935e-01 6.87679086e+01] [ 4.12068348e-01 8.91400242e-01 1.88693626e-01 3.91359783e+01] [-5.05148516e-01 5.11478882e-02 8.61515450e-01 1.95590148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71037174299997 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:68.79, Y:39.14, Z:19.54 [[ 7.58093100e-01 -4.61703204e-01 4.60570301e-01 6.87920329e+01] [ 4.12922097e-01 8.86465995e-01 2.08981772e-01 3.91367198e+01] [-5.04767464e-01 3.17520149e-02 8.62671210e-01 1.95372980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74037174299997 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:68.82, Y:39.15, Z:19.52 [[ 7.58191412e-01 -4.62340182e-01 4.59768788e-01 6.88173851e+01] [ 4.15131576e-01 8.86036419e-01 2.06410365e-01 3.91513153e+01] [-5.02803696e-01 3.43659753e-02 8.63717212e-01 1.95232533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77037174299997 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:68.84, Y:39.16, Z:19.51 [[ 7.58158638e-01 -4.61704957e-01 4.60460652e-01 6.88423513e+01] [ 4.15724393e-01 8.86276936e-01 2.04172527e-01 3.91647318e+01] [-5.02363124e-01 3.66295601e-02 8.63880528e-01 1.95078267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80037174299997 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:68.86, Y:39.17, Z:19.50 [[ 7.58322839e-01 -4.84499376e-01 4.36127076e-01 6.88573521e+01] [ 4.25168049e-01 8.74744072e-01 2.32497181e-01 3.91668699e+01] [-4.94144313e-01 9.11937535e-03 8.69332062e-01 1.94981025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83037174299997 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:68.89, Y:39.19, Z:19.48 [[ 7.58922582e-01 -4.58123199e-01 4.62773865e-01 6.88901111e+01] [ 4.16337280e-01 8.87807293e-01 1.96115987e-01 3.91927171e+01] [-5.00699295e-01 4.38331604e-02 8.64510769e-01 1.94818043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86037174299997 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:68.91, Y:39.20, Z:19.46 [[ 7.58950381e-01 -4.62426038e-01 4.58428270e-01 6.89143774e+01] [ 4.14732276e-01 8.86047363e-01 2.07164693e-01 3.91987309e+01] [-5.01987508e-01 3.28972771e-02 8.64248987e-01 1.94607902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89037174299997 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:68.93, Y:39.20, Z:19.45 [[ 7.59584645e-01 -4.82025506e-01 4.36672164e-01 6.89296946e+01] [ 4.22362882e-01 8.76121665e-01 2.32422943e-01 3.92026668e+01] [-4.94611730e-01 7.88921451e-03 8.69078245e-01 1.94520489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92037174299998 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:68.96, Y:39.23, Z:19.43 [[ 7.60688346e-01 -4.54352708e-01 4.63591261e-01 6.89623392e+01] [ 4.12386715e-01 8.89805727e-01 1.95404618e-01 3.92289546e+01] [-5.01288776e-01 4.25368616e-02 8.64233868e-01 1.94348589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95037174299998 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:68.99, Y:39.24, Z:19.41 [[ 7.60723823e-01 -4.58648166e-01 4.59283274e-01 6.89880127e+01] [ 4.11136810e-01 8.88032517e-01 2.05827045e-01 3.92353900e+01] [-5.02260678e-01 3.22507235e-02 8.64114635e-01 1.94129626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98037174299998 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:69.01, Y:39.25, Z:19.40 [[ 7.61110248e-01 -4.58165332e-01 4.59124949e-01 6.90128407e+01] [ 4.10920601e-01 8.88273698e-01 2.05217194e-01 3.92480455e+01] [-5.01852020e-01 3.24709911e-02 8.64343788e-01 1.93967988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01037174299998 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:69.04, Y:39.25, Z:19.38 [[ 7.60810904e-01 -4.61870032e-01 4.55897841e-01 6.90356916e+01] [ 4.10886627e-01 8.86576541e-01 2.12495215e-01 3.92546766e+01] [-5.02333502e-01 2.56536494e-02 8.64293320e-01 1.93801171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04037174299998 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:69.05, Y:39.26, Z:19.37 [[ 7.60663834e-01 -4.80722535e-01 4.36229727e-01 6.90533810e+01] [ 4.19708761e-01 8.76859841e-01 2.34438425e-01 3.92603037e+01] [-4.95212164e-01 4.76060707e-03 8.68759029e-01 1.93714522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07037174299998 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:69.08, Y:39.28, Z:19.36 [[ 7.59750033e-01 -4.75793728e-01 4.43170640e-01 6.90789653e+01] [ 4.22384694e-01 8.79327476e-01 2.19941720e-01 3.92788617e+01] [-4.94339012e-01 2.00877661e-02 8.69037067e-01 1.93600788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10037174299998 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:69.10, Y:39.29, Z:19.34 [[ 7.58973978e-01 -4.77148479e-01 4.43043824e-01 6.91041525e+01] [ 4.24086068e-01 8.78568369e-01 2.19701227e-01 3.92902328e+01] [-4.94074396e-01 2.11411993e-02 8.69162552e-01 1.93440807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13037174299998 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:69.14, Y:39.31, Z:19.32 [[ 7.57192491e-01 -4.58986498e-01 4.64748240e-01 6.91371761e+01] [ 4.19533602e-01 8.87081312e-01 1.92557270e-01 3.93099493e+01] [-5.00650665e-01 4.91745844e-02 8.64251567e-01 1.93221716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16037174299998 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:69.16, Y:39.31, Z:19.30 [[ 7.55908535e-01 -4.66809244e-01 4.59011346e-01 6.91630392e+01] [ 4.21235732e-01 8.83518740e-01 2.04829425e-01 3.93147541e+01] [-5.01161396e-01 3.85196696e-02 8.64496090e-01 1.92995777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190371743 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:69.18, Y:39.31, Z:19.29 [[ 7.54864977e-01 -4.92826798e-01 4.32782409e-01 6.91806382e+01] [ 4.32370748e-01 8.70086112e-01 2.36655223e-01 3.93141586e+01] [-4.93187999e-01 8.47971375e-03 8.69881424e-01 1.92887986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220371743 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:69.21, Y:39.34, Z:19.27 [[ 7.55385546e-01 -4.66307571e-01 4.60380198e-01 6.92127027e+01] [ 4.25986805e-01 8.83304800e-01 1.95723972e-01 3.93425335e+01] [-4.97923609e-01 4.82688302e-02 8.65876550e-01 1.92737370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250371743 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:69.24, Y:39.35, Z:19.25 [[ 7.53614993e-01 -4.71143380e-01 4.58353966e-01 6.92384150e+01] [ 4.27519977e-01 8.80996772e-01 2.02660694e-01 3.93511369e+01] [-4.99290609e-01 4.32273400e-02 8.65355583e-01 1.92532068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280371743 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:69.26, Y:39.36, Z:19.24 [[ 7.53037186e-01 -4.72817369e-01 4.57579208e-01 6.92646334e+01] [ 4.27757081e-01 8.80209029e-01 2.05562506e-01 3.93621764e+01] [-4.99958874e-01 4.09365357e-02 8.65081109e-01 1.92353431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310371743 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:69.29, Y:39.37, Z:19.22 [[ 7.52154757e-01 -4.80281238e-01 4.51212981e-01 6.92879181e+01] [ 4.30461494e-01 8.76523510e-01 2.15428501e-01 3.93703206e+01] [-4.98965053e-01 3.21942424e-02 8.66023907e-01 1.92201714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340371743 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:69.31, Y:39.38, Z:19.21 [[ 7.52486235e-01 -4.84886425e-01 4.45701269e-01 6.93127043e+01] [ 4.32790616e-01 8.74156979e-01 2.20322172e-01 3.93809521e+01] [-4.96444105e-01 2.71059253e-02 8.67645388e-01 1.92061606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370371743 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:69.34, Y:39.40, Z:19.19 [[ 7.52019203e-01 -4.72485513e-01 4.59591730e-01 6.93370769e+01] [ 4.31130190e-01 8.80013905e-01 1.99254324e-01 3.94036804e+01] [-4.98591895e-01 4.83007924e-02 8.65490125e-01 1.91933558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40037174299997 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:69.35, Y:39.40, Z:19.18 [[ 7.51581406e-01 -4.96043955e-01 4.34816956e-01 6.93547790e+01] [ 4.38217784e-01 8.68159654e-01 2.32946322e-01 3.94039809e+01] [-4.93042153e-01 1.54663987e-02 8.69867936e-01 1.91783342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43037174299997 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:69.39, Y:39.43, Z:19.16 [[ 7.52643142e-01 -4.73480260e-01 4.57542069e-01 6.93850423e+01] [ 4.31640500e-01 8.79557893e-01 2.00160911e-01 3.94300909e+01] [-4.97206978e-01 4.68439502e-02 8.66366473e-01 1.91618949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46037174299997 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:69.41, Y:39.44, Z:19.14 [[ 7.52539768e-01 -4.79788316e-01 4.51095410e-01 6.94085565e+01] [ 4.30866845e-01 8.76743297e-01 2.13716994e-01 3.94377083e+01] [-4.98033793e-01 3.35315188e-02 8.66509076e-01 1.91422403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49037174299997 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:69.43, Y:39.45, Z:19.13 [[ 7.52710585e-01 -4.92995633e-01 4.36327950e-01 6.94282836e+01] [ 4.36116877e-01 8.69869711e-01 2.30496761e-01 3.94471857e+01] [-4.93182364e-01 1.67926310e-02 8.69763855e-01 1.91318037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52037174299997 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:69.45, Y:39.47, Z:19.12 [[ 7.53323636e-01 -4.86859679e-01 4.42121196e-01 6.94536349e+01] [ 4.34922061e-01 8.73084950e-01 2.20375748e-01 3.94666716e+01] [-4.93301429e-01 2.62740024e-02 8.69461545e-01 1.91191647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55037174299997 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:69.48, Y:39.49, Z:19.10 [[ 7.53615700e-01 -4.68225850e-01 4.61332776e-01 6.94842281e+01] [ 4.26934442e-01 8.82321356e-01 1.98080808e-01 3.94875034e+01] [-4.99790315e-01 4.76820439e-02 8.64832968e-01 1.90989426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58037174299997 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:69.50, Y:39.49, Z:19.08 [[ 7.53317650e-01 -4.91756583e-01 4.36678350e-01 6.95023273e+01] [ 4.32527818e-01 8.70644817e-01 2.34301705e-01 3.94874547e+01] [-4.95411148e-01 1.23719244e-02 8.68570509e-01 1.90823115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61037174299997 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:69.53, Y:39.51, Z:19.07 [[ 7.54545520e-01 -4.74642026e-01 4.53184294e-01 6.95314785e+01] [ 4.27218171e-01 8.79470591e-01 2.09800179e-01 3.95100183e+01] [-4.98142241e-01 3.53047797e-02 8.66376292e-01 1.90665986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64037174299997 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:69.55, Y:39.52, Z:19.05 [[ 7.54720949e-01 -4.85421213e-01 4.41319086e-01 6.95492480e+01] [ 4.31306754e-01 8.74016835e-01 2.23761158e-01 3.95197946e+01] [-4.94338723e-01 2.14666690e-02 8.69004263e-01 1.90538887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67037174299998 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:69.57, Y:39.53, Z:19.04 [[ 7.55143399e-01 -4.83332648e-01 4.42885988e-01 6.95736810e+01] [ 4.30794675e-01 8.75099725e-01 2.20491313e-01 3.95342420e+01] [-4.94140057e-01 2.42903656e-02 8.69042912e-01 1.90390464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70037174299998 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:69.60, Y:39.55, Z:19.02 [[ 7.55723957e-01 -4.73126035e-01 4.52805759e-01 6.96036833e+01] [ 4.25079725e-01 8.80359059e-01 2.10416622e-01 3.95491199e+01] [-4.98185234e-01 3.34616654e-02 8.66424717e-01 1.90180023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73037174299998 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:69.63, Y:39.56, Z:19.00 [[ 7.54703268e-01 -4.70414913e-01 4.57310384e-01 6.96265815e+01] [ 4.22932112e-01 8.81724490e-01 2.09022373e-01 3.95619629e+01] [-5.01549007e-01 3.56613786e-02 8.64393926e-01 1.90011012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76037174299998 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:69.65, Y:39.57, Z:18.98 [[ 7.54879376e-01 -4.78019583e-01 4.49059468e-01 6.96525468e+01] [ 4.24711188e-01 8.78017818e-01 2.20692361e-01 3.95698492e+01] [-4.99777485e-01 2.41244690e-02 8.65817808e-01 1.89831374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79037174299998 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:69.68, Y:39.59, Z:18.97 [[ 7.53528909e-01 -4.70006308e-01 4.59661021e-01 6.96776961e+01] [ 4.25211370e-01 8.81693013e-01 2.04481595e-01 3.95910558e+01] [-5.01387550e-01 4.13702995e-02 8.64233200e-01 1.89698620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82037174299998 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:69.70, Y:39.60, Z:18.95 [[ 7.52969950e-01 -4.77561184e-01 4.52737860e-01 6.97013834e+01] [ 4.26122930e-01 8.78116193e-01 2.17557348e-01 3.95964098e+01] [-5.01453391e-01 2.91078377e-02 8.64694877e-01 1.89505801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85037174299998 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:69.73, Y:39.61, Z:18.94 [[ 7.52568527e-01 -4.76439688e-01 4.54583145e-01 6.97271168e+01] [ 4.28316550e-01 8.78493149e-01 2.11647632e-01 3.96120827e+01] [-5.00185510e-01 3.54261380e-02 8.65193299e-01 1.89356860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88037174299998 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:69.75, Y:39.62, Z:18.92 [[ 7.51789625e-01 -4.86625387e-01 4.44981001e-01 6.97517025e+01] [ 4.33969392e-01 8.73211731e-01 2.21747242e-01 3.96189588e+01] [-4.96470468e-01 2.64008586e-02 8.67652044e-01 1.89191612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91037174299998 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:69.78, Y:39.64, Z:18.91 [[ 7.52003801e-01 -4.82336510e-01 4.49268043e-01 6.97768629e+01] [ 4.34249385e-01 8.75285178e-01 2.12845787e-01 3.96364079e+01] [-4.95900953e-01 3.50335304e-02 8.67672114e-01 1.89063538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940371743 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:69.80, Y:39.65, Z:18.89 [[ 7.51256988e-01 -4.78085572e-01 4.55024311e-01 6.98025001e+01] [ 4.34571209e-01 8.77192173e-01 2.04161101e-01 3.96527207e+01] [-4.96750241e-01 4.43630111e-02 8.66758975e-01 1.88891698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970371743 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:69.82, Y:39.66, Z:18.88 [[ 7.51463645e-01 -4.94806633e-01 4.36427297e-01 6.98204973e+01] [ 4.41896627e-01 8.68656295e-01 2.23972347e-01 3.96582864e+01] [-4.89928322e-01 2.45486745e-02 8.71417008e-01 1.88754653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000371743 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:69.85, Y:39.68, Z:18.86 [[ 7.52843662e-01 -4.82304277e-01 4.47893967e-01 6.98509667e+01] [ 4.36585771e-01 8.75155789e-01 2.08555052e-01 3.96761632e+01] [-4.92563992e-01 3.85347836e-02 8.69422673e-01 1.88567497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030371743 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:69.87, Y:39.69, Z:18.85 [[ 7.53009017e-01 -4.90726322e-01 4.38366397e-01 6.98685111e+01] [ 4.39616972e-01 8.70887928e-01 2.19752441e-01 3.96864558e+01] [-4.89606310e-01 2.72377382e-02 8.71518082e-01 1.88461188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060371743 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:69.89, Y:39.70, Z:18.83 [[ 7.54099939e-01 -4.88104959e-01 4.39416466e-01 6.98931698e+01] [ 4.37031154e-01 8.72371182e-01 2.19025779e-01 3.97003166e+01] [-4.90241830e-01 2.68713589e-02 8.71172129e-01 1.88311715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090371743 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:69.93, Y:39.72, Z:18.81 [[ 7.56368317e-01 -4.69198338e-01 4.55806854e-01 6.99251140e+01] [ 4.24873727e-01 8.82183299e-01 2.03063889e-01 3.97208687e+01] [-4.97382433e-01 4.00692647e-02 8.66605544e-01 1.88111589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120371743 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:69.95, Y:39.73, Z:18.79 [[ 7.57306539e-01 -4.71270586e-01 4.52096053e-01 6.99493770e+01] [ 4.21877619e-01 8.81476692e-01 2.12174729e-01 3.97296918e+01] [-4.98503842e-01 3.00478963e-02 8.66366576e-01 1.87927818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15037174299997 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:69.98, Y:39.75, Z:18.78 [[ 7.59311157e-01 -4.63112444e-01 4.57136119e-01 6.99752389e+01] [ 4.16026368e-01 8.85662403e-01 2.06213890e-01 3.97471565e+01] [-5.00368492e-01 3.36001722e-02 8.65160332e-01 1.87773873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18037174299997 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:69.99, Y:39.75, Z:18.77 [[ 7.59935641e-01 -4.79884827e-01 4.38415756e-01 6.99918024e+01] [ 4.21418014e-01 8.77272920e-01 2.29780507e-01 3.97514615e+01] [-4.94878449e-01 1.01379005e-02 8.68903069e-01 1.87656336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21037174299997 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:70.02, Y:39.78, Z:18.75 [[ 7.60529488e-01 -4.56621096e-01 4.61618968e-01 7.00242392e+01] [ 4.13289809e-01 8.88760654e-01 1.98232272e-01 3.97767428e+01] [-5.00785813e-01 4.00209270e-02 8.64645531e-01 1.87481808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24037174299997 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:70.05, Y:39.78, Z:18.73 [[ 7.60512252e-01 -4.62308891e-01 4.55951317e-01 7.00483955e+01] [ 4.12843783e-01 8.86260064e-01 2.10007405e-01 3.97815751e+01] [-5.01179734e-01 2.85234616e-02 8.64872989e-01 1.87269904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27037174299997 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:70.07, Y:39.79, Z:18.71 [[ 7.60410564e-01 -4.65850521e-01 4.52503112e-01 7.00736164e+01] [ 4.15404253e-01 8.84469784e-01 2.12491195e-01 3.97918124e+01] [-4.99214464e-01 2.63911682e-02 8.66076455e-01 1.87112929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30037174299997 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:70.09, Y:39.80, Z:18.70 [[ 7.60014299e-01 -4.82182598e-01 4.35750166e-01 7.00910039e+01] [ 4.23642586e-01 8.76019855e-01 2.30469461e-01 3.97981242e+01] [-4.92854161e-01 9.44224173e-03 8.70060699e-01 1.87011205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33037174299997 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:70.12, Y:39.81, Z:18.68 [[ 7.59585037e-01 -4.75246303e-01 4.44040001e-01 7.01220536e+01] [ 4.24061571e-01 8.79517406e-01 2.15918773e-01 3.98134050e+01] [-4.93155509e-01 2.42916309e-02 8.69601956e-01 1.86849587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36037174299997 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:70.15, Y:39.83, Z:18.67 [[ 7.57852246e-01 -4.67844979e-01 4.54731842e-01 7.01482365e+01] [ 4.24866011e-01 8.82837332e-01 2.00217675e-01 3.98332103e+01] [-4.95125081e-01 4.14646893e-02 8.67831685e-01 1.86693093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39037174299997 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:70.17, Y:39.83, Z:18.65 [[ 7.54988955e-01 -4.90637069e-01 4.35048210e-01 7.01660629e+01] [ 4.35817450e-01 8.71159872e-01 2.26149571e-01 3.98337127e+01] [-4.89953905e-01 1.88611731e-02 8.71544277e-01 1.86543311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42037174299998 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:70.19, Y:39.85, Z:18.64 [[ 7.54332673e-01 -4.88775494e-01 4.38270162e-01 7.01918981e+01] [ 4.37673512e-01 8.72007738e-01 2.19190331e-01 3.98492901e+01] [-4.89309835e-01 2.64768128e-02 8.71708015e-01 1.86401890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45037174299998 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:70.22, Y:39.86, Z:18.62 [[ 7.53701102e-01 -4.90439312e-01 4.37497349e-01 7.02168385e+01] [ 4.39887492e-01 8.71035838e-01 2.18621963e-01 3.98611099e+01] [-4.88296675e-01 2.76739974e-02 8.72238790e-01 1.86238854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48037174299998 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:70.24, Y:39.87, Z:18.61 [[ 7.52464663e-01 -4.93486843e-01 4.36196822e-01 7.02419208e+01] [ 4.43816506e-01 8.69245957e-01 2.17803525e-01 3.98726676e+01] [-4.86645498e-01 2.97018933e-02 8.73094472e-01 1.86072710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51037174299998 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:70.27, Y:39.88, Z:18.59 [[ 7.52889237e-01 -4.89843628e-01 4.39557752e-01 7.02726502e+01] [ 4.41353164e-01 8.71215842e-01 2.14919384e-01 3.98837397e+01] [-4.88226567e-01 3.21897137e-02 8.72123065e-01 1.85872040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54037174299998 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:70.30, Y:39.90, Z:18.57 [[ 7.52402305e-01 -4.88846769e-01 4.41497008e-01 7.02973723e+01] [ 4.42716305e-01 8.71583930e-01 2.10579501e-01 3.98990600e+01] [-4.87742806e-01 3.70174222e-02 8.72202193e-01 1.85736016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57037174299998 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:70.32, Y:39.91, Z:18.56 [[ 7.51734091e-01 -4.90102237e-01 4.41243304e-01 7.03223970e+01] [ 4.43179962e-01 8.70923874e-01 2.12327875e-01 3.99115781e+01] [-4.88351695e-01 3.59360886e-02 8.71906658e-01 1.85590101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60037174299998 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:70.35, Y:39.92, Z:18.54 [[ 7.51766128e-01 -4.88623773e-01 4.42825584e-01 7.03473048e+01] [ 4.42312485e-01 8.71697876e-01 2.10956107e-01 3.99246782e+01] [-4.89088289e-01 3.72776289e-02 8.71437332e-01 1.85439179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63037174299998 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:70.37, Y:39.94, Z:18.53 [[ 7.51663451e-01 -4.89119902e-01 4.42452006e-01 7.03725245e+01] [ 4.41983745e-01 8.71481424e-01 2.12533518e-01 3.99371261e+01] [-4.89543078e-01 3.58029170e-02 8.71243781e-01 1.85283117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66037174299998 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:70.40, Y:39.95, Z:18.51 [[ 7.52118837e-01 -4.82386284e-01 4.49021967e-01 7.03976998e+01] [ 4.38889178e-01 8.74899326e-01 2.04761956e-01 3.99542944e+01] [-4.91623376e-01 4.30655577e-02 8.69742384e-01 1.85128738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690371743 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:70.42, Y:39.96, Z:18.50 [[ 7.52429577e-01 -4.84025906e-01 4.46731076e-01 7.04212747e+01] [ 4.37523261e-01 8.74262690e-01 2.10328660e-01 3.99640660e+01] [-4.92364832e-01 3.71977320e-02 8.69593699e-01 1.84950384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720371743 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:70.45, Y:39.98, Z:18.48 [[ 7.53543542e-01 -4.82860773e-01 4.46113892e-01 7.04457138e+01] [ 4.35030952e-01 8.75032724e-01 2.12287075e-01 3.99756409e+01] [-4.92869355e-01 3.41057971e-02 8.69434640e-01 1.84796762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750371743 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:70.47, Y:39.99, Z:18.46 [[ 7.54016228e-01 -4.80460766e-01 4.47902870e-01 7.04720622e+01] [ 4.33868380e-01 8.76264162e-01 2.09569433e-01 3.99898814e+01] [-4.93171123e-01 3.63121391e-02 8.69174132e-01 1.84629711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780371743 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:70.50, Y:40.01, Z:18.45 [[ 7.54242649e-01 -4.72144815e-01 4.56286423e-01 7.04982491e+01] [ 4.32123191e-01 8.80157931e-01 1.96447359e-01 4.00091644e+01] [-4.94355716e-01 4.90029685e-02 8.67877373e-01 1.84472906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810371743 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:70.52, Y:40.01, Z:18.43 [[ 7.54358978e-01 -4.78303392e-01 4.49631401e-01 7.05224816e+01] [ 4.31344156e-01 8.77467770e-01 2.09743968e-01 4.00143500e+01] [-4.94858314e-01 3.57236319e-02 8.68239063e-01 1.84264918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840371743 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:70.54, Y:40.02, Z:18.42 [[ 7.54344603e-01 -4.94484589e-01 4.31797650e-01 7.05378809e+01] [ 4.38597721e-01 8.69026580e-01 2.28964720e-01 4.00205103e+01] [-4.88463160e-01 1.66671641e-02 8.72425324e-01 1.84177261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870371743 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:70.57, Y:40.05, Z:18.40 [[ 7.54835758e-01 -4.69892779e-01 4.57628402e-01 7.05703068e+01] [ 4.31386221e-01 8.81218961e-01 1.93284948e-01 4.00476530e+01] [-4.94094027e-01 5.15161970e-02 8.67880853e-01 1.84010052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90037174299997 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:70.59, Y:40.05, Z:18.38 [[ 7.53910049e-01 -4.81719406e-01 4.46728164e-01 7.05942302e+01] [ 4.33065273e-01 8.75721509e-01 2.13462664e-01 4.00495322e+01] [-4.94038569e-01 3.25308064e-02 8.68831191e-01 1.83796611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93037174299997 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:70.62, Y:40.07, Z:18.37 [[ 7.53626136e-01 -4.79373192e-01 4.49721014e-01 7.06188289e+01] [ 4.34114494e-01 8.76736287e-01 2.07070253e-01 4.00652876e+01] [-4.93550660e-01 3.91768556e-02 8.68834231e-01 1.83661663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96037174299997 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:70.64, Y:40.08, Z:18.35 [[ 7.53280627e-01 -4.80983472e-01 4.48579086e-01 7.06433063e+01] [ 4.35142050e-01 8.75898345e-01 2.08454996e-01 4.00775369e+01] [-4.93173086e-01 3.81705128e-02 8.69093389e-01 1.83504272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99037174299997 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:70.67, Y:40.09, Z:18.34 [[ 7.52221049e-01 -4.83217145e-01 4.47956120e-01 7.06689004e+01] [ 4.38722450e-01 8.74536510e-01 2.06660362e-01 4.00921165e+01] [-4.91615812e-01 4.10741318e-02 8.69842980e-01 1.83351448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02037174299997 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:70.69, Y:40.10, Z:18.32 [[ 7.51362703e-01 -4.86735522e-01 4.45581217e-01 7.06928246e+01] [ 4.40123255e-01 8.72747288e-01 2.11195861e-01 4.01022457e+01] [-4.91676326e-01 3.74259627e-02 8.69973383e-01 1.83193127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05037174299997 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:70.72, Y:40.12, Z:18.30 [[ 7.50312960e-01 -4.85017450e-01 4.49208789e-01 7.07180835e+01] [ 4.41210498e-01 8.73418727e-01 2.06089843e-01 4.01173495e+01] [-4.92304539e-01 4.35637530e-02 8.69332181e-01 1.83038527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08037174299997 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:70.74, Y:40.13, Z:18.29 [[ 7.49172369e-01 -4.87578342e-01 4.48339294e-01 7.07443648e+01] [ 4.44450993e-01 8.71904249e-01 2.05539034e-01 4.01298720e+01] [-4.91125317e-01 4.52806799e-02 8.69911250e-01 1.82865900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11037174299997 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:70.77, Y:40.14, Z:18.27 [[ 7.48891339e-01 -4.92022862e-01 4.43931600e-01 7.07680469e+01] [ 4.46247374e-01 8.69661410e-01 2.11074189e-01 4.01392565e+01] [-4.89923508e-01 4.00316787e-02 8.70845808e-01 1.82700017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14037174299997 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:70.79, Y:40.15, Z:18.25 [[ 7.48848732e-01 -4.94256110e-01 4.41516109e-01 7.07919743e+01] [ 4.47301956e-01 8.68505149e-01 2.13587843e-01 4.01492268e+01] [-4.89026110e-01 3.75460345e-02 8.71460704e-01 1.82538743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17037174299998 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:70.82, Y:40.17, Z:18.24 [[ 7.48884837e-01 -4.91626448e-01 4.44381521e-01 7.08175588e+01] [ 4.47856673e-01 8.69710223e-01 2.07433190e-01 4.01651869e+01] [-4.88462794e-01 4.36756591e-02 8.71490984e-01 1.82395669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20037174299998 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:70.83, Y:40.17, Z:18.23 [[ 7.48162885e-01 -5.07400837e-01 4.27547294e-01 7.08348278e+01] [ 4.54687159e-01 8.61350673e-01 2.26571414e-01 4.01722884e+01] [-4.83230674e-01 2.48879413e-02 8.75139249e-01 1.82297401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23037174299998 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:70.86, Y:40.19, Z:18.22 [[ 7.48809979e-01 -5.02381411e-01 4.32315316e-01 7.08607933e+01] [ 4.53748690e-01 8.64022601e-01 2.18121688e-01 4.01903120e+01] [-4.83110486e-01 3.28308121e-02 8.74943653e-01 1.82175857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26037174299998 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:70.89, Y:40.21, Z:18.20 [[ 7.49821740e-01 -4.88793784e-01 4.45923755e-01 7.08922664e+01] [ 4.47282141e-01 8.71109211e-01 2.02749670e-01 4.02062400e+01] [-4.87551068e-01 4.74276214e-02 8.71805355e-01 1.81970744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29037174299998 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:70.92, Y:40.22, Z:18.18 [[ 7.50653211e-01 -4.87585729e-01 4.45847411e-01 7.09183990e+01] [ 4.45590840e-01 8.71857672e-01 2.03256005e-01 4.02188164e+01] [-4.87820212e-01 4.60907497e-02 8.71726496e-01 1.81779925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32037174299998 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:70.94, Y:40.23, Z:18.16 [[ 7.51116668e-01 -4.89795063e-01 4.42633649e-01 7.09441992e+01] [ 4.45111072e-01 8.70895778e-01 2.08366687e-01 4.02293703e+01] [-4.87544751e-01 4.05134466e-02 8.72157541e-01 1.81597335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35037174299998 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:70.97, Y:40.24, Z:18.14 [[ 7.51826336e-01 -4.90504857e-01 4.40638338e-01 7.09676707e+01] [ 4.44662322e-01 8.70622250e-01 2.10457398e-01 4.02404147e+01] [-4.86859917e-01 3.77078523e-02 8.72665766e-01 1.81449110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38037174299998 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:70.99, Y:40.25, Z:18.13 [[ 7.52998364e-01 -4.87181139e-01 4.42321152e-01 7.09917200e+01] [ 4.41333819e-01 8.72502854e-01 2.09674102e-01 4.02536461e+01] [-4.88075736e-01 3.73270273e-02 8.72002735e-01 1.81294098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41037174299998 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:71.02, Y:40.27, Z:18.11 [[ 7.53947351e-01 -4.87447278e-01 4.40407247e-01 7.10169283e+01] [ 4.40501688e-01 8.72470480e-01 2.11550289e-01 4.02661177e+01] [-4.87361935e-01 3.45023554e-02 8.72518156e-01 1.81142740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440371743 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:71.04, Y:40.28, Z:18.10 [[ 7.54901431e-01 -4.82860879e-01 4.43812124e-01 7.10421793e+01] [ 4.38504754e-01 8.74820779e-01 2.05917908e-01 4.02822571e+01] [-4.87685770e-01 3.91660030e-02 8.72140249e-01 1.80996093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470371743 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:71.07, Y:40.29, Z:18.08 [[ 7.56916739e-01 -4.88428770e-01 4.34182436e-01 7.10659361e+01] [ 4.37164515e-01 8.72275376e-01 2.19141177e-01 4.02893170e+01] [-4.85761503e-01 2.39375290e-02 8.73763559e-01 1.80837969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500371743 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:71.09, Y:40.31, Z:18.07 [[ 7.58017817e-01 -4.79638061e-01 4.41991312e-01 7.10922507e+01] [ 4.34619293e-01 8.76730821e-01 2.06031884e-01 4.03090600e+01] [-4.86328139e-01 3.59221127e-02 8.73037538e-01 1.80705901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:71.12, Y:40.32, Z:18.05 [[ 7.58845738e-01 -4.77799874e-01 4.42561213e-01 7.11163135e+01] [ 4.31684853e-01 8.77827214e-01 2.07527275e-01 4.03209139e+01] [-4.87648782e-01 3.35657841e-02 8.72394408e-01 1.80540148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:71.13, Y:40.33, Z:18.04 [[ 7.60752028e-01 -4.88724799e-01 4.27088309e-01 7.11330024e+01] [ 4.33941495e-01 8.72326231e-01 2.25259243e-01 4.03289178e+01] [-4.82650113e-01 1.39649136e-02 8.75701918e-01 1.80440780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590371743 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:71.17, Y:40.35, Z:18.03 [[ 7.63017333e-01 -4.68022895e-01 4.45824089e-01 7.11650695e+01] [ 4.23975066e-01 8.83007693e-01 2.01351823e-01 4.03491915e+01] [-4.87903364e-01 3.53833671e-02 8.72180214e-01 1.80254324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620371743 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:71.19, Y:40.35, Z:18.01 [[ 7.67342982e-01 -4.74035387e-01 4.31827744e-01 7.11900794e+01] [ 4.20772545e-01 8.80396942e-01 2.18750293e-01 4.03523830e+01] [-4.83875205e-01 1.38447572e-02 8.75027490e-01 1.80068409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65037174299997 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:71.21, Y:40.37, Z:18.00 [[ 7.68242177e-01 -4.74294835e-01 4.29939956e-01 7.12065276e+01] [ 4.23861975e-01 8.80179208e-01 2.13601470e-01 4.03709409e+01] [-4.79734284e-01 1.81375405e-02 8.77226337e-01 1.80014218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68037174299997 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:71.24, Y:40.38, Z:17.98 [[ 7.71014061e-01 -4.66745075e-01 4.33227830e-01 7.12387755e+01] [ 4.15795633e-01 8.84244125e-01 2.12664803e-01 4.03796054e+01] [-4.82339413e-01 1.61666869e-02 8.75835218e-01 1.79784714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71037174299997 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:71.26, Y:40.40, Z:17.96 [[ 7.72078349e-01 -4.56436633e-01 4.42222368e-01 7.12646719e+01] [ 4.11628867e-01 8.89308557e-01 1.99228428e-01 4.03982780e+01] [-4.84207289e-01 2.82115363e-02 8.74498377e-01 1.79636704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74037174299997 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:71.29, Y:40.41, Z:17.94 [[ 7.74381819e-01 -4.56211834e-01 4.38410265e-01 7.12916965e+01] [ 4.06852931e-01 8.89690437e-01 2.07175334e-01 4.04057067e+01] [-4.84565259e-01 1.79356892e-02 8.74571221e-01 1.79439280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77037174299997 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:71.31, Y:40.41, Z:17.93 [[ 7.74582443e-01 -4.68506908e-01 4.24880354e-01 7.13087560e+01] [ 4.12714508e-01 8.83452574e-01 2.21761774e-01 4.04147024e+01] [-4.79258566e-01 3.58150957e-03 8.77666451e-01 1.79348297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80037174299997 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:71.33, Y:40.43, Z:17.92 [[ 7.74692919e-01 -4.66471479e-01 4.26913622e-01 7.13348040e+01] [ 4.12576737e-01 8.84505145e-01 2.17786786e-01 4.04300644e+01] [-4.79198619e-01 7.41674809e-03 8.77675154e-01 1.79200458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83037174299997 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:71.36, Y:40.44, Z:17.90 [[ 7.75698320e-01 -4.64155708e-01 4.27611500e-01 7.13613189e+01] [ 4.09785680e-01 8.85732789e-01 2.18066788e-01 4.04391240e+01] [-4.79966471e-01 6.07502808e-03 8.77265798e-01 1.79045853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86037174299997 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:71.39, Y:40.45, Z:17.89 [[ 7.75955954e-01 -4.63836489e-01 4.27490431e-01 7.13885959e+01] [ 4.09543667e-01 8.85900231e-01 2.17841148e-01 4.04506155e+01] [-4.79756545e-01 6.04086233e-03 8.77380856e-01 1.78884946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89037174299997 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:71.42, Y:40.46, Z:17.87 [[ 7.75834380e-01 -4.63630393e-01 4.27934427e-01 7.14151553e+01] [ 4.09282044e-01 8.86007737e-01 2.17895612e-01 4.04612481e+01] [-4.80176241e-01 6.09496962e-03 8.77150859e-01 1.78725516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92037174299998 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:71.45, Y:40.47, Z:17.85 [[ 7.75948377e-01 -4.57602699e-01 4.34170342e-01 7.14526329e+01] [ 4.04655650e-01 8.89103617e-01 2.13889138e-01 4.04664011e+01] [-4.83898669e-01 9.72255270e-03 8.75070026e-01 1.78492721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95037174299998 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:71.48, Y:40.49, Z:17.84 [[ 7.73960079e-01 -4.48331997e-01 4.47195949e-01 7.14797617e+01] [ 4.04921106e-01 8.93353759e-01 1.94828026e-01 4.04855792e+01] [-4.86851820e-01 3.02899642e-02 8.72959234e-01 1.78350741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98037174299998 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:71.51, Y:40.49, Z:17.82 [[ 7.72710712e-01 -4.55058408e-01 4.42538135e-01 7.15050292e+01] [ 4.05828193e-01 8.90241763e-01 2.06816543e-01 4.04878143e+01] [-4.88079536e-01 1.97850932e-02 8.72574877e-01 1.78150944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01037174299998 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:71.52, Y:40.49, Z:17.81 [[ 7.70880750e-01 -4.73818598e-01 4.25721511e-01 7.15222932e+01] [ 4.17448916e-01 8.80608906e-01 2.24197138e-01 4.04939494e+01] [-4.81122928e-01 4.88772528e-03 8.76639515e-01 1.78073412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04037174299998 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:71.56, Y:40.51, Z:17.79 [[ 7.69070797e-01 -4.54207645e-01 4.49694923e-01 7.15607111e+01] [ 4.11749774e-01 8.90199113e-01 1.94955538e-01 4.05094789e+01] [-4.88868317e-01 3.52271716e-02 8.71646038e-01 1.77853373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07037174299998 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:71.59, Y:40.52, Z:17.77 [[ 7.67719785e-01 -4.59474156e-01 4.46642847e-01 7.15872905e+01] [ 4.13680932e-01 8.87698362e-01 2.02137838e-01 4.05156801e+01] [-4.89361236e-01 2.95824111e-02 8.71579292e-01 1.77655977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10037174299998 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:71.61, Y:40.51, Z:17.76 [[ 7.65526897e-01 -4.86317466e-01 4.21264635e-01 7.16051470e+01] [ 4.27108597e-01 8.73780148e-01 2.32565043e-01 4.05118930e+01] [-4.81193118e-01 1.89095189e-03 8.76612576e-01 1.77574661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13037174299998 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:71.64, Y:40.54, Z:17.74 [[ 7.65319317e-01 -4.60908474e-01 4.49276888e-01 7.16392587e+01] [ 4.20794530e-01 8.86470345e-01 1.92619549e-01 4.05373945e+01] [-4.87050620e-01 4.16377948e-02 8.72380644e-01 1.77403829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16037174299998 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:71.66, Y:40.53, Z:17.73 [[ 7.62964295e-01 -4.91299732e-01 4.20131002e-01 7.16575523e+01] [ 4.32600801e-01 8.70981178e-01 2.32912719e-01 4.05287117e+01] [-4.80356151e-01 4.04491974e-03 8.77064197e-01 1.77265155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190371743 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:71.68, Y:40.55, Z:17.72 [[ 7.62431664e-01 -4.85734002e-01 4.27504896e-01 7.16831874e+01] [ 4.34179133e-01 8.73901288e-01 2.18597849e-01 4.05465317e+01] [-4.79777487e-01 1.89477836e-02 8.77185581e-01 1.77155450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:71.71, Y:40.56, Z:17.70 [[ 7.61482609e-01 -4.86816630e-01 4.27964723e-01 7.17104349e+01] [ 4.35361189e-01 8.73280609e-01 2.18727256e-01 4.05570291e+01] [-4.80213360e-01 1.97622292e-02 8.76929064e-01 1.76990423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250371743 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:71.74, Y:40.57, Z:17.68 [[ 7.59513033e-01 -4.70480116e-01 4.49208652e-01 7.17448622e+01] [ 4.30983991e-01 8.81206754e-01 1.94235567e-01 4.05735272e+01] [-4.87229670e-01 4.60772929e-02 8.72057413e-01 1.76777054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280371743 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:71.76, Y:40.57, Z:17.66 [[ 7.57041522e-01 -4.98988306e-01 4.21780517e-01 7.17631564e+01] [ 4.41304299e-01 8.66554756e-01 2.33095196e-01 4.05696184e+01] [-4.81807690e-01 9.67081349e-03 8.76223616e-01 1.76631149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310371743 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:71.79, Y:40.59, Z:17.65 [[ 7.56993938e-01 -4.75819373e-01 4.47834905e-01 7.17948868e+01] [ 4.36133347e-01 8.78287520e-01 1.95955956e-01 4.05945064e+01] [-4.86567448e-01 4.69782653e-02 8.72379024e-01 1.76472358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340371743 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:71.82, Y:40.60, Z:17.63 [[ 7.54985406e-01 -4.83649828e-01 4.42809080e-01 7.18208585e+01] [ 4.37828998e-01 8.74507183e-01 2.08669489e-01 4.05982877e+01] [-4.88162683e-01 3.63322377e-02 8.71996080e-01 1.76260353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370371743 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:71.84, Y:40.60, Z:17.62 [[ 7.51535726e-01 -5.06967190e-01 4.22111739e-01 7.18391503e+01] [ 4.50734524e-01 8.61826549e-01 2.32579852e-01 4.06005810e+01] [-4.81697458e-01 1.54682659e-02 8.76201057e-01 1.76179872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40037174299997 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:71.86, Y:40.62, Z:17.61 [[ 7.51098900e-01 -5.01140577e-01 4.29777343e-01 7.18628970e+01] [ 4.52326839e-01 8.64820263e-01 2.17913616e-01 4.06193838e+01] [-4.80885510e-01 3.07251498e-02 8.76244881e-01 1.76070848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43037174299997 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:71.90, Y:40.64, Z:17.58 [[ 7.48395471e-01 -4.86656325e-01 4.50632712e-01 7.18965259e+01] [ 4.50044793e-01 8.71689129e-01 1.93952949e-01 4.06377525e+01] [-4.87200065e-01 5.76513966e-02 8.71385341e-01 1.75839325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46037174299997 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:71.92, Y:40.64, Z:17.56 [[ 7.46798874e-01 -5.00154455e-01 4.38334305e-01 7.19222780e+01] [ 4.52980345e-01 8.65114455e-01 2.15373600e-01 4.06382030e+01] [-4.86929409e-01 3.77160627e-02 8.72626638e-01 1.75646996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49037174299997 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:71.95, Y:40.66, Z:17.55 [[ 7.45723148e-01 -4.96724247e-01 4.44029288e-01 7.19477899e+01] [ 4.55361258e-01 8.66487298e-01 2.04562676e-01 4.06560618e+01] [-4.86356979e-01 4.96466126e-02 8.72348613e-01 1.75501050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52037174299997 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:71.97, Y:40.66, Z:17.53 [[ 7.44365362e-01 -5.04407524e-01 4.37599427e-01 7.19739427e+01] [ 4.59818466e-01 8.62368753e-01 2.11865791e-01 4.06646167e+01] [-4.84238771e-01 4.35107411e-02 8.73853322e-01 1.75340631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55037174299997 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:72.00, Y:40.68, Z:17.52 [[ 7.44064533e-01 -5.04901059e-01 4.37541873e-01 7.19989792e+01] [ 4.61442143e-01 8.61967802e-01 2.09958703e-01 4.06786566e+01] [-4.83155378e-01 4.56774353e-02 8.74342297e-01 1.75195786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58037174299997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:72.02, Y:40.69, Z:17.50 [[ 7.43921604e-01 -5.03933040e-01 4.38898778e-01 7.20235437e+01] [ 4.62395389e-01 8.62327039e-01 2.06355478e-01 4.06933365e+01] [-4.82463627e-01 4.94324730e-02 8.74520028e-01 1.75046967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61037174299997 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:72.05, Y:40.70, Z:17.49 [[ 7.43268486e-01 -5.06611852e-01 4.36916913e-01 7.20478497e+01] [ 4.63027192e-01 8.60958722e-01 2.10608402e-01 4.07041289e+01] [-4.82864140e-01 4.57658229e-02 8.74498549e-01 1.74882208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64037174299997 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:72.07, Y:40.72, Z:17.47 [[ 7.43762095e-01 -5.05626162e-01 4.37218630e-01 7.20734358e+01] [ 4.63944876e-01 8.61362518e-01 2.06905208e-01 4.07197572e+01] [-4.81220426e-01 4.89570921e-02 8.75231458e-01 1.74736292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67037174299998 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:72.10, Y:40.74, Z:17.46 [[ 7.43595268e-01 -4.96356952e-01 4.47990908e-01 7.20969266e+01] [ 4.60714390e-01 8.65929116e-01 1.94702380e-01 4.07392254e+01] [-4.84570251e-01 6.16160892e-02 8.72579583e-01 1.74557640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70037174299998 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:72.11, Y:40.73, Z:17.45 [[ 7.42812035e-01 -5.28722438e-01 4.10710194e-01 7.21147949e+01] [ 4.69842400e-01 8.48701106e-01 2.42805585e-01 4.07332239e+01] [-4.76946957e-01 1.26101528e-02 8.78841615e-01 1.74461444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73037174299998 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:72.14, Y:40.77, Z:17.43 [[ 7.44916386e-01 -4.93893086e-01 4.48518893e-01 7.21448100e+01] [ 4.61346773e-01 8.66973170e-01 1.88458689e-01 4.07707796e+01] [-4.81932290e-01 6.65367784e-02 8.73678502e-01 1.74322713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76037174299998 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:72.16, Y:40.77, Z:17.42 [[ 7.43195248e-01 -5.24242008e-01 4.15729648e-01 7.21630685e+01] [ 4.68846878e-01 8.51335167e-01 2.35395494e-01 4.07657389e+01] [-4.77329476e-01 1.99687348e-02 8.78497479e-01 1.74184074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79037174299998 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:72.19, Y:40.79, Z:17.41 [[ 7.44590818e-01 -5.14844966e-01 4.24875483e-01 7.21869033e+01] [ 4.67981904e-01 8.56496764e-01 2.17729717e-01 4.07899798e+01] [-4.76001525e-01 3.67144891e-02 8.78677754e-01 1.74084746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82037174299998 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:72.21, Y:40.80, Z:17.39 [[ 7.45059629e-01 -5.14291711e-01 4.24723656e-01 7.22120679e+01] [ 4.67468471e-01 8.56838148e-01 2.17489348e-01 4.08044834e+01] [-4.75772400e-01 3.65023851e-02 8.78810673e-01 1.73928173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85037174299998 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:72.24, Y:40.82, Z:17.38 [[ 7.45468981e-01 -5.13712977e-01 4.24705753e-01 7.22360924e+01] [ 4.66901912e-01 8.57193768e-01 2.17304967e-01 4.08188853e+01] [-4.75687506e-01 3.63018159e-02 8.78864936e-01 1.73777662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88037174299998 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:72.26, Y:40.83, Z:17.36 [[ 7.45927581e-01 -5.13323014e-01 4.24371921e-01 7.22602342e+01] [ 4.66618231e-01 8.57432720e-01 2.16971329e-01 4.08333578e+01] [-4.75246747e-01 3.61747762e-02 8.79108591e-01 1.73628341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91037174299998 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:72.28, Y:40.85, Z:17.35 [[ 7.46042777e-01 -5.13390095e-01 4.24088181e-01 7.22844223e+01] [ 4.66841033e-01 8.57385924e-01 2.16676778e-01 4.08486555e+01] [-4.74846949e-01 3.63316199e-02 8.79318138e-01 1.73469353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940371743 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:72.31, Y:40.86, Z:17.33 [[ 7.45078095e-01 -5.16098888e-01 4.22493277e-01 7.23079431e+01] [ 4.66600719e-01 8.55961449e-01 2.22741478e-01 4.08588919e+01] [-4.76594587e-01 3.11758712e-02 8.78570239e-01 1.73281766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970371743 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:72.33, Y:40.88, Z:17.32 [[ 7.45515692e-01 -5.13865905e-01 4.24438671e-01 7.23336114e+01] [ 4.69321946e-01 8.56922767e-01 2.13120348e-01 4.08784245e+01] [-4.73226441e-01 4.03138196e-02 8.80017916e-01 1.73164333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000371743 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:72.37, Y:40.91, Z:17.29 [[ 0.74610748 -0.48718631 0.45384262 72.36723336] [ 0.4602384 0.86992762 0.17721896 40.90608247] [-0.48114888 0.07665141 0.87328135 17.29256733] [ 0. 0. 0. 1. ]] SLAMing on 252.030371743 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:72.39, Y:40.90, Z:17.27 [[ 7.45094910e-01 -5.17318855e-01 4.20968855e-01 7.23896324e+01] [ 4.65981848e-01 8.55350515e-01 2.26354621e-01 4.08958984e+01] [-4.77173440e-01 2.75081692e-02 8.78378511e-01 1.72736884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060371743 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:72.41, Y:40.92, Z:17.26 [[ 7.45357787e-01 -5.08543164e-01 4.31074958e-01 7.24135129e+01] [ 4.67739232e-01 8.59667766e-01 2.05405313e-01 4.09223624e+01] [-4.75038714e-01 4.85302202e-02 8.78625653e-01 1.72646466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090371743 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:72.44, Y:40.94, Z:17.25 [[ 7.45253291e-01 -5.10303222e-01 4.29171473e-01 7.24383476e+01] [ 4.68388484e-01 8.58752698e-01 2.07740298e-01 4.09357052e+01] [-4.74562704e-01 4.61998354e-02 8.79008427e-01 1.72499221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120371743 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:72.46, Y:40.96, Z:17.23 [[ 7.45260217e-01 -5.01753702e-01 4.39124619e-01 7.24631994e+01] [ 4.66274009e-01 8.62950876e-01 1.94690355e-01 4.09562478e+01] [-4.76629581e-01 5.96574197e-02 8.77077668e-01 1.72347031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15037174299997 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:72.49, Y:40.97, Z:17.22 [[ 7.44783012e-01 -5.07611535e-01 4.33161395e-01 7.24862166e+01] [ 4.65997879e-01 8.60260511e-01 2.06876365e-01 4.09659278e+01] [-4.77644473e-01 4.77742890e-02 8.77253313e-01 1.72181737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18037174299997 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:72.51, Y:40.98, Z:17.21 [[ 7.46318901e-01 -5.12227622e-01 4.25007013e-01 7.25062780e+01] [ 4.66863520e-01 8.57985162e-01 2.14242655e-01 4.09751844e+01] [-4.74390717e-01 3.85269269e-02 8.79470934e-01 1.72086007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21037174299997 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:72.53, Y:40.99, Z:17.19 [[ 7.45103147e-01 -5.12373030e-01 4.26960395e-01 7.25330454e+01] [ 4.68127678e-01 8.57754257e-01 2.12400829e-01 4.09927074e+01] [-4.75055552e-01 4.16114522e-02 8.78971393e-01 1.71920347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24037174299997 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:72.55, Y:41.01, Z:17.18 [[ 7.44055703e-01 -5.16360774e-01 4.23972479e-01 7.25489407e+01] [ 4.72737646e-01 8.55308514e-01 2.12052974e-01 4.10092265e+01] [-4.72123108e-01 4.26485269e-02 8.80500354e-01 1.71837550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27037174299997 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:72.58, Y:41.02, Z:17.16 [[ 7.45264292e-01 -5.12344422e-01 4.26713403e-01 7.25811002e+01] [ 4.68476611e-01 8.57744747e-01 2.11668643e-01 4.10202246e+01] [-4.74458428e-01 4.21561674e-02 8.79267910e-01 1.71622355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30037174299997 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:72.61, Y:41.04, Z:17.15 [[ 7.45048851e-01 -5.12024052e-01 4.27473485e-01 7.26061121e+01] [ 4.69594857e-01 8.57789934e-01 2.08990668e-01 4.10356453e+01] [-4.73690701e-01 4.50310927e-02 8.79539266e-01 1.71481445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33037174299997 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:72.63, Y:41.05, Z:17.13 [[ 7.44701978e-01 -5.13401704e-01 4.26424266e-01 7.26300104e+01] [ 4.70767589e-01 8.56987363e-01 2.09643832e-01 4.10488888e+01] [-4.73071707e-01 4.46245470e-02 8.79893067e-01 1.71335136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36037174299997 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:72.65, Y:41.06, Z:17.12 [[ 7.44600590e-01 -5.12045275e-01 4.28228441e-01 7.26546873e+01] [ 4.71227274e-01 8.57597146e-01 2.06087339e-01 4.10643250e+01] [-4.72773537e-01 4.83401667e-02 8.79857040e-01 1.71191065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39037174299997 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:72.68, Y:41.08, Z:17.10 [[ 7.44600418e-01 -5.11458656e-01 4.28929203e-01 7.26797104e+01] [ 4.71188881e-01 8.57882437e-01 2.04984786e-01 4.10794935e+01] [-4.72812073e-01 4.94749137e-02 8.79773253e-01 1.71026764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42037174299998 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:72.70, Y:41.09, Z:17.09 [[ 7.44955761e-01 -5.18098301e-01 4.20255951e-01 7.27045494e+01] [ 4.72279405e-01 8.54504572e-01 2.16273209e-01 4.10880780e+01] [-4.71161414e-01 3.73642576e-02 8.81255261e-01 1.70858913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45037174299998 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:72.73, Y:41.11, Z:17.07 [[ 7.46045910e-01 -5.13687022e-01 4.23722956e-01 7.27296362e+01] [ 4.71950703e-01 8.56797546e-01 2.07751048e-01 4.11063425e+01] [-4.69763807e-01 4.49845272e-02 8.81645257e-01 1.70730881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48037174299998 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:72.75, Y:41.13, Z:17.06 [[ 7.46499113e-01 -5.11285695e-01 4.25823922e-01 7.27453938e+01] [ 4.73097949e-01 8.57856137e-01 2.00651884e-01 4.11250930e+01] [-4.67886103e-01 5.16699709e-02 8.82277059e-01 1.70625486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51037174299998 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:72.78, Y:41.13, Z:17.04 [[ 7.47850622e-01 -5.16775744e-01 4.16728063e-01 7.27765440e+01] [ 4.69514667e-01 8.55507820e-01 2.18317081e-01 4.11275947e+01] [-4.69335088e-01 3.23913732e-02 8.82425846e-01 1.70378747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54037174299998 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:72.80, Y:41.15, Z:17.03 [[ 7.50818327e-01 -5.08562087e-01 4.21469386e-01 7.28007078e+01] [ 4.65922227e-01 8.60079206e-01 2.07798553e-01 4.11492423e+01] [-4.68175520e-01 4.03529932e-02 8.82713611e-01 1.70259636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57037174299998 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:72.82, Y:41.17, Z:17.01 [[ 7.51204735e-01 -5.07492274e-01 4.22069945e-01 7.28180435e+01] [ 4.66021405e-01 8.60611160e-01 2.05359394e-01 4.11667070e+01] [-4.67456410e-01 4.24266798e-02 8.82997441e-01 1.70145423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60037174299998 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:72.85, Y:41.17, Z:16.99 [[ 7.53305298e-01 -5.10015976e-01 4.15228651e-01 7.28491374e+01] [ 4.61615351e-01 8.59739514e-01 2.18538865e-01 4.11731890e+01] [-4.68446791e-01 2.70494346e-02 8.83077535e-01 1.69929990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63037174299998 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:72.87, Y:41.19, Z:16.98 [[ 7.55200774e-01 -5.03746448e-01 4.19417821e-01 7.28733498e+01] [ 4.59253030e-01 8.63175133e-01 2.09798343e-01 4.11926779e+01] [-4.67716203e-01 3.41790343e-02 8.83217610e-01 1.69816042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66037174299998 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:72.90, Y:41.21, Z:16.97 [[ 7.58171132e-01 -4.97327901e-01 4.21712572e-01 7.28964230e+01] [ 4.53387195e-01 8.66892413e-01 2.07213888e-01 4.12104934e+01] [-4.68632677e-01 3.40954922e-02 8.82734905e-01 1.69667254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690371743 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:72.92, Y:41.23, Z:16.95 [[ 7.59082166e-01 -4.91182699e-01 4.27239771e-01 7.29216064e+01] [ 4.48736687e-01 8.70250859e-01 2.03221131e-01 4.12260802e+01] [-4.71624482e-01 3.74566227e-02 8.81003604e-01 1.69505834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720371743 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:72.95, Y:41.24, Z:16.93 [[ 7.58923066e-01 -4.93912335e-01 4.24365862e-01 7.29479198e+01] [ 4.48808198e-01 8.68919637e-01 2.08686044e-01 4.12366837e+01] [-4.71812442e-01 3.20822252e-02 8.81115061e-01 1.69323681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750371743 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:72.97, Y:41.25, Z:16.92 [[ 7.60194216e-01 -4.91400857e-01 4.25005826e-01 7.29729811e+01] [ 4.46064385e-01 8.70378516e-01 2.08489338e-01 4.12515914e+01] [-4.72367780e-01 3.10875735e-02 8.80853134e-01 1.69172454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780371743 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:73.00, Y:41.26, Z:16.90 [[ 7.62219529e-01 -4.92959230e-01 4.19538541e-01 7.29978983e+01] [ 4.42990162e-01 8.69815799e-01 2.17210018e-01 4.12644413e+01] [-4.71996935e-01 2.02897290e-02 8.81366678e-01 1.69015998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810371743 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:73.02, Y:41.28, Z:16.89 [[ 7.63460020e-01 -4.86918312e-01 4.24310447e-01 7.30221484e+01] [ 4.40487131e-01 8.73026093e-01 2.09276201e-01 4.12831843e+01] [-4.72334507e-01 2.71292794e-02 8.81001768e-01 1.68887953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:73.05, Y:41.30, Z:16.87 [[ 7.64480926e-01 -4.79658059e-01 4.30693695e-01 7.30453864e+01] [ 4.36990401e-01 8.76768704e-01 2.00788517e-01 4.13013594e+01] [-4.73928583e-01 3.47100193e-02 8.79878919e-01 1.68728647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870371743 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:73.07, Y:41.31, Z:16.85 [[ 7.65155914e-01 -4.89422423e-01 4.18332547e-01 7.30726636e+01] [ 4.38640792e-01 8.71883312e-01 2.17746975e-01 4.13073930e+01] [-4.71307419e-01 1.68873338e-02 8.81807312e-01 1.68524741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90037174299997 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:73.10, Y:41.33, Z:16.84 [[ 7.65440757e-01 -4.78517710e-01 4.30257188e-01 7.30951439e+01] [ 4.37794969e-01 8.77267670e-01 1.96817174e-01 4.13304850e+01] [-4.71631225e-01 3.77125454e-02 8.80989076e-01 1.68428859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93037174299997 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:73.12, Y:41.34, Z:16.82 [[ 7.65446286e-01 -4.87430198e-01 4.20123536e-01 7.31210754e+01] [ 4.39833315e-01 8.72858586e-01 2.11339877e-01 4.13375981e+01] [-4.69721874e-01 2.30150034e-02 8.82514403e-01 1.68235344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96037174299997 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:73.15, Y:41.36, Z:16.81 [[ 7.64560896e-01 -4.80501910e-01 4.29609766e-01 7.31459791e+01] [ 4.40876975e-01 8.76075070e-01 1.95243349e-01 4.13602203e+01] [-4.70185208e-01 4.01296240e-02 8.81654969e-01 1.68117224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99037174299997 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:73.17, Y:41.38, Z:16.79 [[ 7.62438107e-01 -4.77258496e-01 4.36935305e-01 7.31702363e+01] [ 4.41003501e-01 8.77412204e-01 1.88848449e-01 4.13768546e+01] [-4.73501896e-01 4.87047445e-02 8.79445168e-01 1.67940177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02037174299997 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:73.20, Y:41.38, Z:16.77 [[ 7.61857770e-01 -4.96113175e-01 4.16466633e-01 7.31954713e+01] [ 4.45808648e-01 8.68045918e-01 2.18519870e-01 4.13761104e+01] [-4.69922747e-01 1.91833661e-02 8.82499071e-01 1.67732564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05037174299997 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:73.21, Y:41.40, Z:16.77 [[ 7.59732403e-01 -4.97965283e-01 4.18135448e-01 7.32096727e+01] [ 4.52627860e-01 8.66680966e-01 2.09742994e-01 4.13968680e+01] [-4.66834764e-01 2.99112045e-02 8.83838573e-01 1.67699128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08037174299997 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:73.24, Y:41.40, Z:16.75 [[ 7.60728633e-01 -4.98899971e-01 4.15199669e-01 7.32424576e+01] [ 4.50010269e-01 8.66376990e-01 2.16521750e-01 4.14038699e+01] [-4.67742134e-01 2.21298197e-02 8.83587894e-01 1.67472740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11037174299997 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:73.26, Y:41.43, Z:16.74 [[ 7.58260053e-01 -4.98300944e-01 4.20402024e-01 7.32591897e+01] [ 4.55893987e-01 8.66230353e-01 2.04464297e-01 4.14272456e+01] [-4.66049746e-01 3.66216465e-02 8.84000277e-01 1.67411973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14037174299997 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:73.29, Y:41.43, Z:16.72 [[ 7.58838388e-01 -5.01735676e-01 4.15241631e-01 7.32912914e+01] [ 4.53520184e-01 8.64676380e-01 2.15995835e-01 4.14322329e+01] [-4.67422447e-01 2.44145297e-02 8.83696886e-01 1.67176009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17037174299998 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:73.31, Y:41.46, Z:16.71 [[ 7.56946806e-01 -4.92442450e-01 4.29571841e-01 7.33144099e+01] [ 4.54037723e-01 8.69102130e-01 1.96242792e-01 4.14561639e+01] [-4.69980083e-01 4.64964660e-02 8.81451530e-01 1.67076066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20037174299998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:73.34, Y:41.47, Z:16.69 [[ 7.55719331e-01 -4.97740896e-01 4.25608146e-01 7.33406349e+01] [ 4.54892077e-01 8.66483485e-01 2.05619961e-01 4.14653257e+01] [-4.71127893e-01 3.82147940e-02 8.81236709e-01 1.66879790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23037174299998 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:73.37, Y:41.48, Z:16.67 [[ 7.54948880e-01 -4.97533295e-01 4.27215179e-01 7.33665264e+01] [ 4.55482586e-01 8.66503140e-01 2.04225176e-01 4.14788968e+01] [-4.71792119e-01 4.04095070e-02 8.80783327e-01 1.66719996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26037174299998 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:73.39, Y:41.49, Z:16.66 [[ 7.53235700e-01 -4.98913038e-01 4.28627766e-01 7.33916626e+01] [ 4.58524737e-01 8.65501274e-01 2.01649720e-01 4.14925032e+01] [-4.71583552e-01 4.46466659e-02 8.80690428e-01 1.66554999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29037174299998 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:73.42, Y:41.50, Z:16.64 [[ 7.52601786e-01 -5.01138339e-01 4.27142737e-01 7.34159229e+01] [ 4.59324976e-01 8.64343188e-01 2.04771626e-01 4.15031204e+01] [-4.71816827e-01 4.20858361e-02 8.80691583e-01 1.66384709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32037174299998 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:73.44, Y:41.51, Z:16.62 [[ 7.51805543e-01 -5.03849621e-01 4.25351603e-01 7.34403167e+01] [ 4.60894779e-01 8.62861851e-01 2.07473925e-01 4.15149109e+01] [-4.71555329e-01 4.00622859e-02 8.80925981e-01 1.66222259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35037174299998 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:73.47, Y:41.53, Z:16.61 [[ 7.52501909e-01 -5.04918576e-01 4.22845254e-01 7.34673411e+01] [ 4.61721541e-01 8.62297606e-01 2.07980905e-01 4.15289885e+01] [-4.69631873e-01 3.87307337e-02 8.82012378e-01 1.66063327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38037174299998 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:73.48, Y:41.54, Z:16.60 [[ 7.51914182e-01 -5.19087308e-01 4.06415343e-01 7.34842975e+01] [ 4.68735267e-01 8.54438191e-01 2.24104054e-01 4.15372545e+01] [-4.63586360e-01 2.19941880e-02 8.85778721e-01 1.65983813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41037174299998 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:73.52, Y:41.56, Z:16.58 [[ 7.54922103e-01 -5.04484836e-01 4.19031823e-01 7.35164287e+01] [ 4.62154162e-01 8.62573154e-01 2.05866667e-01 4.15572094e+01] [-4.65302213e-01 3.82440040e-02 8.84325306e-01 1.65817118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:73.53, Y:41.57, Z:16.57 [[ 7.54280779e-01 -5.10888298e-01 4.12375621e-01 7.35334642e+01] [ 4.66341809e-01 8.59014304e-01 2.11233857e-01 4.15708623e+01] [-4.62153463e-01 3.29783555e-02 8.86186552e-01 1.65739108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470371743 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:73.56, Y:41.58, Z:16.56 [[ 7.55487305e-01 -5.09390287e-01 4.12019985e-01 7.35586686e+01] [ 4.63567082e-01 8.60016416e-01 2.13254130e-01 4.15844723e+01] [-4.62973533e-01 2.98881145e-02 8.85868054e-01 1.65585249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500371743 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:73.59, Y:41.59, Z:16.54 [[ 7.57590272e-01 -5.13830763e-01 4.02535622e-01 7.35911200e+01] [ 4.59745124e-01 8.57820799e-01 2.29734405e-01 4.15878585e+01] [-4.63348033e-01 1.10192391e-02 8.86107881e-01 1.65361409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:73.62, Y:41.61, Z:16.53 [[ 7.59747402e-01 -5.03080755e-01 4.11938878e-01 7.36156604e+01] [ 4.57063450e-01 8.63809744e-01 2.11956905e-01 4.16128718e+01] [-4.62468257e-01 2.72484964e-02 8.86217034e-01 1.65304057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560371743 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:73.63, Y:41.64, Z:16.53 [[ 7.59138761e-01 -4.89891265e-01 4.28619751e-01 7.36318472e+01] [ 4.56513080e-01 8.70076013e-01 1.85912720e-01 4.16405467e+01] [-4.64008781e-01 5.45369706e-02 8.84150196e-01 1.65253323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590371743 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:73.66, Y:41.64, Z:16.50 [[ 7.59008333e-01 -5.02012286e-01 4.14596208e-01 7.36578772e+01] [ 4.54528143e-01 8.64483631e-01 2.14644403e-01 4.16392178e+01] [-4.66165763e-01 2.55287541e-02 8.84328991e-01 1.64973041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620371743 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:73.69, Y:41.65, Z:16.48 [[ 7.62102700e-01 -5.03745884e-01 4.06742620e-01 7.36904841e+01] [ 4.49338928e-01 8.63804119e-01 2.27896846e-01 4.16457933e+01] [-4.66148049e-01 9.08449137e-03 8.84660087e-01 1.64766014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65037174299997 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:73.71, Y:41.68, Z:16.47 [[ 7.63095065e-01 -4.85937021e-01 4.26088175e-01 7.37145941e+01] [ 4.46252660e-01 8.73068810e-01 1.96492790e-01 4.16751682e+01] [-4.67487417e-01 4.02003033e-02 8.83085189e-01 1.64714106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68037174299997 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:73.73, Y:41.69, Z:16.46 [[ 7.62191155e-01 -4.91276739e-01 4.21558785e-01 7.37319332e+01] [ 4.48143315e-01 8.70363105e-01 2.04048119e-01 4.16866760e+01] [-4.67153307e-01 3.33950803e-02 8.83545447e-01 1.64575039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71037174299997 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:73.77, Y:41.70, Z:16.43 [[ 7.64767178e-01 -4.78984333e-01 4.30935230e-01 7.37660104e+01] [ 4.37846212e-01 8.77025228e-01 1.97781304e-01 4.16999130e+01] [-4.72675215e-01 3.74267086e-02 8.80441584e-01 1.64322883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74037174299997 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:73.79, Y:41.71, Z:16.42 [[ 7.65410436e-01 -4.75784604e-01 4.33331138e-01 7.37908113e+01] [ 4.35656666e-01 8.78681669e-01 1.95248029e-01 4.17134144e+01] [-4.73656134e-01 3.93387196e-02 8.79830854e-01 1.64152951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77037174299997 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:73.81, Y:41.72, Z:16.40 [[ 7.68059246e-01 -4.85706744e-01 4.17341532e-01 7.38145160e+01] [ 4.34856129e-01 8.73994604e-01 2.16872264e-01 4.17156201e+01] [-4.70090568e-01 1.49127758e-02 8.82492191e-01 1.63978941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80037174299997 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:73.84, Y:41.74, Z:16.39 [[ 7.69180134e-01 -4.72657526e-01 4.30066024e-01 7.38383806e+01] [ 4.30707940e-01 8.80616051e-01 1.97499473e-01 4.17376062e+01] [-4.72072656e-01 3.33201802e-02 8.80929721e-01 1.63880156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83037174299997 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:73.86, Y:41.75, Z:16.37 [[ 7.69981078e-01 -4.74612577e-01 4.26464583e-01 7.38631802e+01] [ 4.29107583e-01 8.79822038e-01 2.04401230e-01 4.17471468e+01] [-4.72224334e-01 2.56141070e-02 8.81106178e-01 1.63700982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86037174299997 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:73.89, Y:41.77, Z:16.35 [[ 7.71040605e-01 -4.65291730e-01 4.34741293e-01 7.38904541e+01] [ 4.25412481e-01 8.84389085e-01 1.92042099e-01 4.17659651e+01] [-4.73836054e-01 3.68721160e-02 8.79840804e-01 1.63548067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89037174299997 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:73.91, Y:41.76, Z:16.33 [[ 7.72126585e-01 -4.75271402e-01 4.21826542e-01 7.39128293e+01] [ 4.20182470e-01 8.79820804e-01 2.22175708e-01 4.17618884e+01] [-4.76725527e-01 5.69634728e-03 8.79033744e-01 1.63334058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92037174299998 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:73.94, Y:41.79, Z:16.32 [[ 7.73434783e-01 -4.63427375e-01 4.32473936e-01 7.39387972e+01] [ 4.20265907e-01 8.85658856e-01 1.97446092e-01 4.17874335e+01] [-4.74526295e-01 2.90423760e-02 8.79762090e-01 1.63243021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95037174299998 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:73.97, Y:41.79, Z:16.30 [[ 7.73688837e-01 -4.68529293e-01 4.26480814e-01 7.39655046e+01] [ 4.19114726e-01 8.83299007e-01 2.10061205e-01 4.17924223e+01] [-4.75129908e-01 1.62223802e-02 8.79766108e-01 1.63038433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98037174299998 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:73.99, Y:41.81, Z:16.29 [[ 7.73422934e-01 -4.62590735e-01 4.33389867e-01 7.39926100e+01] [ 4.18956247e-01 8.86119830e-01 1.98159810e-01 4.18102760e+01] [-4.75702247e-01 2.83100507e-02 8.79150677e-01 1.62898124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01037174299998 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:74.02, Y:41.81, Z:16.27 [[ 7.72657636e-01 -4.76466937e-01 4.19499029e-01 7.40186212e+01] [ 4.23991362e-01 8.79138451e-01 2.17593450e-01 4.18103545e+01] [-4.72473811e-01 9.73872448e-03 8.81290903e-01 1.62708375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04037174299998 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:74.05, Y:41.83, Z:16.26 [[ 7.71671849e-01 -4.69590094e-01 4.28961188e-01 7.40450062e+01] [ 4.24846167e-01 8.82486224e-01 2.01801384e-01 4.18294589e+01] [-4.73316270e-01 2.65180691e-02 8.80493328e-01 1.62580637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07037174299998 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:74.07, Y:41.83, Z:16.24 [[ 7.70974596e-01 -4.81654366e-01 4.16662026e-01 7.40696113e+01] [ 4.30336287e-01 8.76275681e-01 2.16683204e-01 4.18333852e+01] [-4.69477212e-01 1.22475441e-02 8.82859641e-01 1.62418663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10037174299998 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:74.10, Y:41.85, Z:16.23 [[ 7.70040300e-01 -4.79560391e-01 4.20784704e-01 7.40962814e+01] [ 4.33570158e-01 8.77191601e-01 2.06280910e-01 4.18503250e+01] [-4.68032962e-01 2.35950766e-02 8.83395958e-01 1.62299581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13037174299998 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:74.12, Y:41.86, Z:16.21 [[ 7.67166376e-01 -4.87661693e-01 4.16703522e-01 7.41214639e+01] [ 4.39088208e-01 8.72814571e-01 2.13064007e-01 4.18556626e+01] [-4.67608060e-01 1.95140603e-02 8.83720489e-01 1.62136166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16037174299998 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:74.15, Y:41.87, Z:16.20 [[ 7.64829884e-01 -4.92202600e-01 4.15658333e-01 7.41478847e+01] [ 4.44445810e-01 8.70200156e-01 2.12649031e-01 4.18659631e+01] [-4.66372352e-01 2.20972712e-02 8.84312467e-01 1.61996048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190371743 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:74.17, Y:41.87, Z:16.19 [[ 7.63539546e-01 -5.02744793e-01 4.05283894e-01 7.41679460e+01] [ 4.50692939e-01 8.64347335e-01 2.23113333e-01 4.18739932e+01] [-4.62475120e-01 1.23027364e-02 8.86546900e-01 1.61894342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220371743 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:74.20, Y:41.90, Z:16.18 [[ 7.63391938e-01 -4.88712931e-01 4.22365268e-01 7.41977424e+01] [ 4.47525117e-01 8.71679207e-01 1.99741409e-01 4.18953819e+01] [-4.65783231e-01 3.65380843e-02 8.84144191e-01 1.61753239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250371743 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:74.22, Y:41.90, Z:16.16 [[ 7.61278758e-01 -4.93293619e-01 4.20851587e-01 7.42249250e+01] [ 4.49721707e-01 8.69239378e-01 2.05361364e-01 4.19030124e+01] [-4.67124223e-01 3.29288500e-02 8.83578322e-01 1.61559478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280371743 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:74.25, Y:41.92, Z:16.14 [[ 7.60805962e-01 -4.87917935e-01 4.27913983e-01 7.42489771e+01] [ 4.47559742e-01 8.71948963e-01 1.98482453e-01 4.19170367e+01] [-4.69962302e-01 4.05104377e-02 8.81756394e-01 1.61399838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310371743 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:74.28, Y:41.93, Z:16.12 [[ 7.59255698e-01 -4.82746387e-01 4.36447833e-01 7.42787803e+01] [ 4.48003509e-01 8.74145452e-01 1.87516893e-01 4.19347355e+01] [-4.72041991e-01 5.31568907e-02 8.79971991e-01 1.61210835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340371743 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:74.30, Y:41.92, Z:16.10 [[ 7.58522547e-01 -5.23326256e-01 3.88295218e-01 7.42975189e+01] [ 4.58492649e-01 8.52023502e-01 2.52666664e-01 4.19155113e+01] [-4.63063751e-01 -1.36228588e-02 8.86220278e-01 1.61028575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370371743 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:74.32, Y:41.95, Z:16.10 [[ 7.59554988e-01 -5.06007272e-01 4.08696539e-01 7.43219545e+01] [ 4.59041968e-01 8.62172321e-01 2.14334695e-01 4.19483800e+01] [-4.60821758e-01 2.48098768e-02 8.87145860e-01 1.61018309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40037174299997 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:74.35, Y:41.96, Z:16.09 [[ 7.59245581e-01 -5.06107600e-01 4.09146971e-01 7.43480618e+01] [ 4.59133875e-01 8.62105980e-01 2.14404674e-01 4.19607141e+01] [-4.61239885e-01 2.50674332e-02 8.86921300e-01 1.60862281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43037174299997 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:74.38, Y:41.98, Z:16.07 [[ 7.59067877e-01 -4.95148012e-01 4.22663465e-01 7.43767255e+01] [ 4.54925464e-01 8.67854312e-01 1.99679032e-01 4.19776950e+01] [-4.65680986e-01 4.07104338e-02 8.84015769e-01 1.60686397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46037174299997 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:74.41, Y:41.99, Z:16.05 [[ 7.57631695e-01 -5.02295351e-01 4.16765636e-01 7.44058999e+01] [ 4.57154283e-01 8.64136560e-01 2.10423304e-01 4.19861198e+01] [-4.65837070e-01 3.11028308e-02 8.84323718e-01 1.60477759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49037174299997 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:74.43, Y:41.99, Z:16.03 [[ 7.56742297e-01 -5.08944930e-01 4.10263518e-01 7.44260487e+01] [ 4.58987573e-01 8.60539637e-01 2.20911612e-01 4.19910479e+01] [-4.65479864e-01 2.11326954e-02 8.84806140e-01 1.60328362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52037174299997 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:74.46, Y:42.01, Z:16.02 [[ 7.59974915e-01 -5.03475941e-01 4.11035405e-01 7.44551159e+01] [ 4.58422726e-01 8.63531720e-01 2.10146551e-01 4.20082815e+01] [-4.60745843e-01 2.87218634e-02 8.87067259e-01 1.60228898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55037174299997 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:74.49, Y:42.03, Z:16.00 [[ 7.58020263e-01 -4.81550106e-01 4.39903145e-01 7.44872297e+01] [ 4.50674032e-01 8.74260298e-01 1.80449019e-01 4.20340219e+01] [-4.71485099e-01 6.14689116e-02 8.79729148e-01 1.59986375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58037174299997 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:74.52, Y:42.04, Z:15.97 [[ 7.58239528e-01 -4.97994636e-01 4.20801807e-01 7.45174717e+01] [ 4.53748811e-01 8.66540320e-01 2.07893942e-01 4.20354507e+01] [-4.68171800e-01 3.33049149e-02 8.83009597e-01 1.59732328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61037174299997 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:74.54, Y:42.05, Z:15.96 [[ 7.58498055e-01 -4.95637292e-01 4.23112722e-01 7.45430687e+01] [ 4.54464054e-01 8.67638532e-01 2.01657636e-01 4.20523601e+01] [-4.67057945e-01 3.93325986e-02 8.83351472e-01 1.59606411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64037174299997 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:74.56, Y:42.04, Z:15.94 [[ 7.57827899e-01 -5.12982713e-01 4.03169457e-01 7.45594109e+01] [ 4.56018548e-01 8.58379660e-01 2.35013707e-01 4.20448273e+01] [-4.66630431e-01 5.75280636e-03 8.84433687e-01 1.59424355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67037174299998 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:74.59, Y:42.08, Z:15.94 [[ 7.60248245e-01 -4.90565897e-01 4.25872876e-01 7.45890394e+01] [ 4.53051358e-01 8.70202934e-01 1.93626754e-01 4.20791617e+01] [-4.65582508e-01 4.57378845e-02 8.83821800e-01 1.59368821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70037174299998 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:74.62, Y:42.09, Z:15.92 [[ 7.60416131e-01 -4.97731161e-01 4.17170228e-01 7.46190135e+01] [ 4.53723372e-01 8.66747813e-01 2.07082907e-01 4.20875847e+01] [-4.64652998e-01 3.18106995e-02 8.84921279e-01 1.59150662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73037174299998 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:74.64, Y:42.10, Z:15.90 [[ 7.61077156e-01 -4.96496530e-01 4.17435932e-01 7.46391607e+01] [ 4.52105528e-01 8.67492161e-01 2.07504078e-01 4.20992876e+01] [-4.65147453e-01 3.07984792e-02 8.84697293e-01 1.59026858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76037174299998 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:74.66, Y:42.11, Z:15.89 [[ 7.61736618e-01 -5.04764092e-01 4.06165653e-01 7.46632294e+01] [ 4.53114627e-01 8.63139528e-01 2.22884027e-01 4.21071325e+01] [-4.63081483e-01 1.42606737e-02 8.86200978e-01 1.58888303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79037174299998 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:74.69, Y:42.13, Z:15.88 [[ 7.62008575e-01 -4.98932456e-01 4.12806657e-01 7.46883766e+01] [ 4.53050597e-01 8.66235860e-01 2.10667014e-01 4.21277212e+01] [-4.62696541e-01 2.64922309e-02 8.86120800e-01 1.58786300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82037174299998 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:74.72, Y:42.15, Z:15.86 [[ 7.61739694e-01 -4.96736480e-01 4.15939309e-01 7.47158910e+01] [ 4.53968614e-01 8.67267666e-01 2.04350906e-01 4.21456123e+01] [-4.62239264e-01 3.31611955e-02 8.86134978e-01 1.58638289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85037174299998 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:74.74, Y:42.16, Z:15.85 [[ 7.62148976e-01 -5.00922926e-01 4.10128223e-01 7.47407501e+01] [ 4.54483488e-01 8.65137831e-01 2.12087937e-01 4.21555159e+01] [-4.61057151e-01 2.47539018e-02 8.87025111e-01 1.58475139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88037174299998 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:74.77, Y:42.17, Z:15.83 [[ 7.62372522e-01 -4.97498191e-01 4.13864335e-01 7.47661453e+01] [ 4.54297574e-01 8.66890541e-01 2.05218187e-01 4.21728695e+01] [-4.60870754e-01 3.15648570e-02 8.86905749e-01 1.58341835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91037174299998 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:74.79, Y:42.19, Z:15.82 [[ 7.63424965e-01 -4.96036050e-01 4.13679296e-01 7.47907648e+01] [ 4.52685939e-01 8.67759625e-01 2.05106493e-01 4.21865277e+01] [-4.60714405e-01 3.06833834e-02 8.87017907e-01 1.58188857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940371743 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:74.82, Y:42.20, Z:15.80 [[ 7.63716806e-01 -4.98262720e-01 4.10452070e-01 7.48162044e+01] [ 4.52401032e-01 8.66663402e-01 2.10304194e-01 4.21982219e+01] [-4.60510527e-01 2.50760931e-02 8.87299974e-01 1.58031145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970371743 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:74.84, Y:42.21, Z:15.79 [[ 7.65109335e-01 -4.93879699e-01 4.13147126e-01 7.48380618e+01] [ 4.50685861e-01 8.69013780e-01 2.04199180e-01 4.22144216e+01] [-4.59880375e-01 2.99648691e-02 8.87475153e-01 1.57920646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000371743 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:74.86, Y:42.23, Z:15.77 [[ 7.66093536e-01 -4.93800231e-01 4.11414665e-01 7.48632867e+01] [ 4.48498827e-01 8.69213759e-01 2.08125547e-01 4.22274383e+01] [-4.60379730e-01 2.50753582e-02 8.87367867e-01 1.57744421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030371743 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:74.89, Y:42.24, Z:15.75 [[ 7.64927661e-01 -4.94527371e-01 4.12708557e-01 7.48918363e+01] [ 4.48072156e-01 8.68835524e-01 2.10609059e-01 4.22411396e+01] [-4.62727800e-01 2.38225179e-02 8.86180270e-01 1.57549779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060371743 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:74.91, Y:42.27, Z:15.74 [[ 7.65369640e-01 -4.70585278e-01 4.39043063e-01 7.49147666e+01] [ 4.41272377e-01 8.80288028e-01 1.74274718e-01 4.22715646e+01] [-4.68495468e-01 6.03529975e-02 8.81402015e-01 1.57437583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090371743 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:74.94, Y:42.27, Z:15.72 [[ 7.64432168e-01 -4.89905969e-01 4.19089014e-01 7.49447451e+01] [ 4.43968909e-01 8.71374046e-01 2.08803446e-01 4.22698008e+01] [-4.67477345e-01 2.64464212e-02 8.83609370e-01 1.57156168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120371743 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:74.97, Y:42.28, Z:15.70 [[ 7.64884438e-01 -4.98733136e-01 4.07697259e-01 7.49689704e+01] [ 4.49396117e-01 8.66583707e-01 2.16969605e-01 4.22807625e+01] [-4.61513734e-01 1.72608906e-02 8.86965126e-01 1.57049807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15037174299997 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:74.99, Y:42.31, Z:15.70 [[ 7.64604379e-01 -4.89283952e-01 4.19501320e-01 7.49931600e+01] [ 4.49861306e-01 8.71267412e-01 1.96259784e-01 4.23059758e+01] [-4.61524593e-01 3.86563215e-02 8.86284796e-01 1.56959832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18037174299997 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:75.02, Y:42.31, Z:15.68 [[ 7.64242549e-01 -4.96125845e-01 4.12058822e-01 7.50182358e+01] [ 4.52108335e-01 8.67778347e-01 2.06297826e-01 4.23149625e+01] [-4.59925407e-01 2.86336516e-02 8.87495765e-01 1.56802363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21037174299997 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:75.04, Y:42.33, Z:15.67 [[ 7.63003106e-01 -4.97715029e-01 4.12439100e-01 7.50431213e+01] [ 4.54702782e-01 8.66776641e-01 2.04801451e-01 4.23305113e+01] [-4.59425338e-01 3.12730632e-02 8.87665677e-01 1.56669648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24037174299997 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:75.07, Y:42.35, Z:15.65 [[ 7.62071785e-01 -4.93824748e-01 4.18788386e-01 7.50675355e+01] [ 4.54171746e-01 8.68667257e-01 1.97851513e-01 4.23468921e+01] [-4.61491732e-01 3.94247967e-02 8.86268056e-01 1.56531295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27037174299997 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:75.09, Y:42.36, Z:15.64 [[ 7.59779624e-01 -5.02824333e-01 4.12192446e-01 7.50922602e+01] [ 4.59802415e-01 8.63762247e-01 2.06146839e-01 4.23558624e+01] [-4.59691920e-01 3.29009141e-02 8.87468799e-01 1.56375620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30037174299997 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:75.11, Y:42.37, Z:15.63 [[ 7.60745610e-01 -5.01999869e-01 4.11414934e-01 7.51127582e+01] [ 4.60599079e-01 8.64147966e-01 2.02723410e-01 4.23682793e+01] [-4.57290504e-01 3.52763952e-02 8.88617449e-01 1.56277413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33037174299997 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:75.14, Y:42.37, Z:15.61 [[ 7.59336310e-01 -5.08606154e-01 4.05867155e-01 7.51371758e+01] [ 4.62144299e-01 8.60631122e-01 2.13861449e-01 4.23745746e+01] [-4.58073154e-01 2.51764287e-02 8.88557895e-01 1.56099556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36037174299997 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:75.17, Y:42.39, Z:15.59 [[ 7.55993381e-01 -5.16730539e-01 4.01825283e-01 7.51666956e+01] [ 4.69644307e-01 8.55791076e-01 2.16923623e-01 4.23876662e+01] [-4.55969552e-01 2.47221333e-02 8.89651945e-01 1.55937003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39037174299997 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:75.19, Y:42.41, Z:15.58 [[ 7.55441294e-01 -5.12851503e-01 4.07788901e-01 7.51922934e+01] [ 4.72314215e-01 8.57599363e-01 2.03574595e-01 4.24081778e+01] [-4.54123039e-01 3.88158392e-02 8.90093027e-01 1.55831679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42037174299998 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:75.22, Y:42.42, Z:15.57 [[ 7.54569825e-01 -5.17240166e-01 4.03840303e-01 7.52167367e+01] [ 4.76045638e-01 8.55037138e-01 2.05650295e-01 4.24202528e+01] [-4.51669049e-01 3.70689076e-02 8.91415148e-01 1.55688849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45037174299998 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:75.24, Y:42.43, Z:15.56 [[ 7.54232714e-01 -5.24309072e-01 3.95263217e-01 7.52365832e+01] [ 4.80184866e-01 8.51018138e-01 2.12580863e-01 4.24313523e+01] [-4.47834242e-01 2.94639738e-02 8.93631001e-01 1.55581593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48037174299998 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:75.26, Y:42.45, Z:15.54 [[ 7.54703376e-01 -5.13586929e-01 4.08229446e-01 7.52644274e+01] [ 4.77526955e-01 8.56706295e-01 1.94993160e-01 4.24514213e+01] [-4.49878674e-01 4.77785683e-02 8.91810735e-01 1.55431598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51037174299998 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:75.29, Y:42.46, Z:15.52 [[ 7.54845471e-01 -5.17930439e-01 4.02438040e-01 7.52913698e+01] [ 4.78324564e-01 8.54505505e-01 2.02548645e-01 4.24613802e+01] [-4.48791629e-01 3.96030727e-02 8.92758461e-01 1.55248227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54037174299998 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:75.32, Y:42.48, Z:15.51 [[ 7.55700303e-01 -5.14135260e-01 4.05687055e-01 7.53161806e+01] [ 4.77071220e-01 8.56538715e-01 1.96836178e-01 4.24794916e+01] [-4.48687089e-01 4.47924590e-02 8.92565702e-01 1.55100894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57037174299998 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:75.34, Y:42.49, Z:15.49 [[ 7.56963924e-01 -5.21635236e-01 3.93576293e-01 7.53432086e+01] [ 4.77002146e-01 8.52752079e-01 2.12797663e-01 4.24863222e+01] [-4.46625761e-01 2.66565822e-02 8.94323686e-01 1.54922519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60037174299998 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:75.37, Y:42.52, Z:15.49 [[ 7.57328024e-01 -5.06004605e-01 4.12811827e-01 7.53658309e+01] [ 4.74701017e-01 8.60676138e-01 1.84107385e-01 4.25153953e+01] [-4.48456474e-01 5.65325120e-02 8.92015059e-01 1.54850760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63037174299998 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:75.39, Y:42.52, Z:15.46 [[ 7.58232210e-01 -5.15102704e-01 3.99691282e-01 7.53903480e+01] [ 4.72146221e-01 8.56573922e-01 2.08228387e-01 4.25185258e+01] [-4.49624134e-01 3.08272588e-02 8.92685733e-01 1.54637323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66037174299998 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:75.42, Y:42.53, Z:15.45 [[ 7.59848634e-01 -5.14688828e-01 3.97146653e-01 7.54159550e+01] [ 4.71667714e-01 8.56878713e-01 2.08058741e-01 4.25336158e+01] [-4.47392022e-01 2.92281033e-02 8.93860222e-01 1.54522269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690371743 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:75.43, Y:42.55, Z:15.45 [[ 7.61876462e-01 -5.11891191e-01 3.96877393e-01 7.54339410e+01] [ 4.69866054e-01 8.58524831e-01 2.05331452e-01 4.25468226e+01] [-4.45836458e-01 3.00420142e-02 8.94610155e-01 1.54452125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720371743 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:75.46, Y:42.56, Z:15.43 [[ 7.61675241e-01 -5.15069341e-01 3.93134076e-01 7.54622022e+01] [ 4.68851257e-01 8.56888721e-01 2.14290034e-01 4.25594131e+01] [-4.47246382e-01 2.11019927e-02 8.94161831e-01 1.54251969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750371743 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:75.49, Y:42.58, Z:15.41 [[ 7.62792315e-01 -5.06239485e-01 4.02330049e-01 7.54920260e+01] [ 4.65022300e-01 8.61781290e-01 2.02699949e-01 4.25784602e+01] [-4.49335226e-01 3.24744819e-02 8.92772794e-01 1.54098457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780371743 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:75.52, Y:42.60, Z:15.40 [[ 7.62729592e-01 -4.99644254e-01 4.10608315e-01 7.55163006e+01] [ 4.62991701e-01 8.65157129e-01 1.92722150e-01 4.25983897e+01] [-4.51533226e-01 4.31133560e-02 8.91212087e-01 1.53960368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810371743 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:75.54, Y:42.61, Z:15.38 [[ 7.63124198e-01 -5.05100436e-01 4.03131502e-01 7.55420076e+01] [ 4.62848394e-01 8.62520992e-01 2.04521153e-01 4.26070464e+01] [-4.51013107e-01 3.05137270e-02 8.91995566e-01 1.53773092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840371743 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:75.57, Y:42.63, Z:15.36 [[ 7.64062299e-01 -4.96012621e-01 4.12529129e-01 7.55696566e+01] [ 4.59703260e-01 8.67225877e-01 1.91290857e-01 4.26276545e+01] [-4.52638615e-01 4.34828533e-02 8.90633216e-01 1.53631937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870371743 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:75.59, Y:42.64, Z:15.35 [[ 7.64613459e-01 -4.99356000e-01 4.07443056e-01 7.55929347e+01] [ 4.58777198e-01 8.65731793e-01 2.00079849e-01 4.26379074e+01] [-4.52647481e-01 3.39418381e-02 8.91043327e-01 1.53460873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90037174299997 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:75.62, Y:42.65, Z:15.33 [[ 7.65061411e-01 -4.98809821e-01 4.07271163e-01 7.56168674e+01] [ 4.58721808e-01 8.66020128e-01 1.98955877e-01 4.26524968e+01] [-4.51946171e-01 3.46107001e-02 8.91373524e-01 1.53328884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93037174299997 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:75.64, Y:42.67, Z:15.32 [[ 7.65795558e-01 -4.98494052e-01 4.06276805e-01 7.56437784e+01] [ 4.58096287e-01 8.66248923e-01 1.99400590e-01 4.26665356e+01] [-4.51336853e-01 3.34138098e-02 8.91727852e-01 1.53168634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96037174299997 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:75.66, Y:42.67, Z:15.31 [[ 7.66186507e-01 -5.13650568e-01 3.86162312e-01 7.56620079e+01] [ 4.64406207e-01 8.57929254e-01 2.19736821e-01 4.26721740e+01] [-4.44167887e-01 1.09767876e-02 8.95876330e-01 1.53074000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99037174299997 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:75.69, Y:42.70, Z:15.29 [[ 7.66877841e-01 -4.92870264e-01 4.11068461e-01 7.56911364e+01] [ 4.59295600e-01 8.68831239e-01 1.84877877e-01 4.27006571e+01] [-4.48269928e-01 4.70231885e-02 8.92660569e-01 1.52949790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.020371743 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:75.72, Y:42.70, Z:15.27 [[ 7.66635516e-01 -5.02138633e-01 4.00158442e-01 7.57162560e+01] [ 4.60074209e-01 8.64322494e-01 2.03170738e-01 4.27040379e+01] [-4.47885819e-01 2.83446752e-02 8.93641355e-01 1.52742308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050371743 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:75.74, Y:42.72, Z:15.26 [[ 7.67017309e-01 -5.00013750e-01 4.02082948e-01 7.57426611e+01] [ 4.60743708e-01 8.65349544e-01 1.97193818e-01 4.27209636e+01] [-4.46541916e-01 3.40061164e-02 8.94116268e-01 1.52614683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.080371743 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:75.77, Y:42.73, Z:15.25 [[ 7.67136051e-01 -5.02988686e-01 3.98126440e-01 7.57670665e+01] [ 4.60843701e-01 8.63857451e-01 2.03404494e-01 4.27310257e+01] [-4.46234650e-01 2.74351416e-02 8.94495361e-01 1.52460078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11037174300003 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:75.79, Y:42.75, Z:15.23 [[ 7.67371476e-01 -4.99914553e-01 4.01530146e-01 7.57926167e+01] [ 4.61127082e-01 8.65381939e-01 1.96152783e-01 4.27482936e+01] [-4.45536567e-01 3.46343738e-02 8.94593555e-01 1.52335289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.140371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:75.82, Y:42.76, Z:15.22 [[ 7.66983990e-01 -5.03829957e-01 3.97354922e-01 7.58173572e+01] [ 4.62249540e-01 8.63335296e-01 2.02429072e-01 4.27581775e+01] [-4.45040360e-01 2.84172724e-02 8.95059516e-01 1.52177377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17037174300003 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:75.84, Y:42.77, Z:15.20 [[ 7.66696489e-01 -5.04734729e-01 3.96761070e-01 7.58435480e+01] [ 4.63069178e-01 8.62812066e-01 2.02786281e-01 4.27713911e+01] [-4.44683517e-01 2.82522922e-02 8.95242078e-01 1.52039510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.200371743 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:75.86, Y:42.78, Z:15.19 [[ 7.65789958e-01 -5.14259125e-01 3.86138956e-01 7.58647815e+01] [ 4.68599151e-01 8.57443319e-01 2.12616535e-01 4.27814964e+01] [-4.40432261e-01 1.81247799e-02 8.97602872e-01 1.51942729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23037174300003 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:75.90, Y:42.80, Z:15.18 [[ 7.66548470e-01 -5.05494373e-01 3.96079389e-01 7.58962895e+01] [ 4.65945172e-01 8.62225972e-01 1.98649112e-01 4.27998332e+01] [-4.41925944e-01 3.22771061e-02 8.96470662e-01 1.51789333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.260371743 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:75.92, Y:42.82, Z:15.16 [[ 7.65674895e-01 -5.03235871e-01 4.00619037e-01 7.59210952e+01] [ 4.66531054e-01 8.63253286e-01 1.92724001e-01 4.28152721e+01] [-4.42821331e-01 3.93372930e-02 8.95746530e-01 1.51648070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.290371743 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:75.95, Y:42.82, Z:15.15 [[ 7.65464040e-01 -5.10596513e-01 3.91606951e-01 7.59488207e+01] [ 4.68369909e-01 8.59412891e-01 2.05034415e-01 4.28218319e+01] [-4.41241919e-01 2.64704403e-02 8.96997706e-01 1.51463558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.320371743 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:75.97, Y:42.84, Z:15.14 [[ 7.64981737e-01 -5.03074351e-01 4.02143182e-01 7.59734085e+01] [ 4.68307733e-01 8.63132193e-01 1.88919787e-01 4.28429335e+01] [-4.42143426e-01 4.38065754e-02 8.95873973e-01 1.51353438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.350371743 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:76.00, Y:42.85, Z:15.12 [[ 7.64815670e-01 -5.09032527e-01 3.94896034e-01 7.59992894e+01] [ 4.68608608e-01 8.60183328e-01 2.01222801e-01 4.28498423e+01] [-4.42111935e-01 3.11533293e-02 8.96418712e-01 1.51170939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380371743 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:76.02, Y:42.87, Z:15.11 [[ 7.64425192e-01 -5.04260964e-01 4.01715082e-01 7.60243885e+01] [ 4.67458090e-01 8.62623326e-01 1.93297522e-01 4.28665534e+01] [-4.44001194e-01 4.00234693e-02 8.95131868e-01 1.51052167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.410371743 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:76.05, Y:42.88, Z:15.09 [[ 7.63996544e-01 -5.07367049e-01 3.98607523e-01 7.60508056e+01] [ 4.67328329e-01 8.61088981e-01 2.00324735e-01 4.28763754e+01] [-4.44874716e-01 3.32331830e-02 8.94976001e-01 1.50887116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440371743 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:76.08, Y:42.89, Z:15.08 [[ 7.63615481e-01 -5.07304411e-01 3.99416615e-01 7.60767725e+01] [ 4.67581059e-01 8.61086749e-01 1.99743747e-01 4.28906111e+01] [-4.45263238e-01 3.42322266e-02 8.94745105e-01 1.50751589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.470371743 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:76.10, Y:42.90, Z:15.06 [[ 7.63369393e-01 -5.09216379e-01 3.97449179e-01 7.61030841e+01] [ 4.68532807e-01 8.60042736e-01 2.01998766e-01 4.29029806e+01] [-4.44684360e-01 3.20183041e-02 8.95114880e-01 1.50618862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500371743 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:76.13, Y:42.92, Z:15.05 [[ 7.62758596e-01 -5.05508788e-01 4.03311530e-01 7.61286763e+01] [ 4.66833783e-01 8.62001429e-01 1.97534189e-01 4.29174369e+01] [-4.47510383e-01 3.76085468e-02 8.93487579e-01 1.50478417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.530371743 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:76.16, Y:42.93, Z:15.03 [[ 7.62800016e-01 -5.07000908e-01 4.01355472e-01 7.61554912e+01] [ 4.66933942e-01 8.61256884e-01 2.00522502e-01 4.29299511e+01] [-4.47335254e-01 3.44479249e-02 8.93702697e-01 1.50316705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560371743 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:76.18, Y:42.94, Z:15.02 [[ 7.62771900e-01 -5.05321996e-01 4.03520395e-01 7.61828962e+01] [ 4.67300176e-01 8.62053243e-01 1.96200796e-01 4.29449983e+01] [-4.47000643e-01 3.89086977e-02 8.93687047e-01 1.50167820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.590371743 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:76.21, Y:42.96, Z:15.00 [[ 7.63181357e-01 -5.08051225e-01 3.99297093e-01 7.62087807e+01] [ 4.67936144e-01 8.60668664e-01 2.00711774e-01 4.29551990e+01] [-4.45634359e-01 3.36660582e-02 8.94581810e-01 1.50007129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620371743 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:76.23, Y:42.97, Z:14.99 [[ 7.62999741e-01 -5.08839417e-01 3.98639992e-01 7.62321387e+01] [ 4.67510157e-01 8.60293902e-01 2.03294503e-01 4.29657215e+01] [-4.46391810e-01 3.12545922e-02 8.94291620e-01 1.49864686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.650371743 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:76.26, Y:42.98, Z:14.97 [[ 7.63507042e-01 -5.07046198e-01 3.99951433e-01 7.62582091e+01] [ 4.68680037e-01 8.61122538e-01 1.96994919e-01 4.29817219e+01] [-4.44292718e-01 3.70422447e-02 8.95115553e-01 1.49737029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680371743 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:76.29, Y:42.99, Z:14.96 [[ 7.63984402e-01 -5.10654546e-01 3.94410660e-01 7.62854335e+01] [ 4.69537324e-01 8.59258873e-01 2.02999732e-01 4.29903443e+01] [-4.42563595e-01 3.01018974e-02 8.96231745e-01 1.49574316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.710371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:76.31, Y:43.00, Z:14.94 [[ 7.64336270e-01 -5.08182588e-01 3.96913748e-01 7.63103741e+01] [ 4.68820964e-01 8.60579495e-01 1.99022203e-01 4.30039346e+01] [-4.42715451e-01 3.39615981e-02 8.96018772e-01 1.49441526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740371743 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:76.34, Y:43.02, Z:14.93 [[ 7.64735925e-01 -5.09881587e-01 3.93953973e-01 7.63374188e+01] [ 4.70524260e-01 8.59610040e-01 1.99192118e-01 4.30166078e+01] [-4.40211184e-01 3.30355327e-02 8.97286335e-01 1.49297648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.770371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:76.36, Y:43.02, Z:14.92 [[ 7.65455189e-01 -5.11872488e-01 3.89955010e-01 7.63626956e+01] [ 4.70499267e-01 8.58614578e-01 2.03498025e-01 4.30248926e+01] [-4.38986096e-01 2.77049273e-02 8.98066615e-01 1.49154659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800371743 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:76.38, Y:43.04, Z:14.91 [[ 7.65261652e-01 -5.18434256e-01 3.81576370e-01 7.63834784e+01] [ 4.74846147e-01 8.54856175e-01 2.09146019e-01 4.30379996e+01] [-4.34621377e-01 2.11386417e-02 9.00365157e-01 1.49075497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.830371743 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:76.42, Y:43.06, Z:14.89 [[ 7.66661296e-01 -5.04564808e-01 3.97045100e-01 7.64153470e+01] [ 4.69074293e-01 8.62427986e-01 1.90229538e-01 4.30559110e+01] [-4.38405936e-01 4.04020256e-02 8.97868538e-01 1.48907307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86037174300003 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:76.43, Y:43.06, Z:14.88 [[ 7.66681439e-01 -5.16508050e-01 3.81338440e-01 7.64343343e+01] [ 4.71554032e-01 8.56099932e-01 2.11493974e-01 4.30583196e+01] [-4.35702153e-01 1.76731748e-02 8.99917381e-01 1.48773734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.890371743 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:76.46, Y:43.08, Z:14.87 [[ 7.67622810e-01 -5.12255562e-01 3.85161603e-01 7.64618766e+01] [ 4.70726311e-01 8.58468380e-01 2.03589736e-01 4.30759999e+01] [-4.34939032e-01 2.50255749e-02 9.00112082e-01 1.48653518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92037174300003 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:76.50, Y:43.09, Z:14.85 [[ 7.69419256e-01 -4.99109095e-01 3.98602709e-01 7.64953189e+01] [ 4.63356739e-01 8.65667013e-01 1.89528771e-01 4.30939645e+01] [-4.39652749e-01 3.88681654e-02 8.97326432e-01 1.48461040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.950371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:76.51, Y:43.10, Z:14.84 [[ 7.69145571e-01 -5.11842896e-01 3.82664266e-01 7.65125006e+01] [ 4.67701145e-01 8.58881761e-01 2.08752868e-01 4.31000792e+01] [-4.35512031e-01 1.84111713e-02 8.99994611e-01 1.48359768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98037174300003 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:76.54, Y:43.12, Z:14.82 [[ 7.70388893e-01 -5.07791930e-01 3.85549360e-01 7.65382406e+01] [ 4.65975917e-01 8.61167890e-01 2.03116494e-01 4.31167745e+01] [-4.35163645e-01 2.31780259e-02 9.00052988e-01 1.48237293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.010371743 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:76.57, Y:43.13, Z:14.80 [[ 7.71980663e-01 -4.93938204e-01 4.00088624e-01 7.65699144e+01] [ 4.58704454e-01 8.68625003e-01 1.87298766e-01 4.31346011e+01] [-4.40040999e-01 3.89314084e-02 8.97133360e-01 1.48047633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.040371743 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:76.59, Y:43.14, Z:14.79 [[ 7.72709348e-01 -5.07491505e-01 3.81277637e-01 7.65890243e+01] [ 4.61445870e-01 8.61566930e-01 2.11589541e-01 4.31379657e+01] [-4.35876098e-01 1.24417746e-02 8.99920680e-01 1.47918248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.070371743 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:76.61, Y:43.16, Z:14.78 [[ 7.73826022e-01 -5.02253358e-01 3.85920785e-01 7.66149430e+01] [ 4.59810327e-01 8.64482307e-01 2.03088170e-01 4.31558505e+01] [-4.35623406e-01 2.02954518e-02 8.99900185e-01 1.47806262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.100371743 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:76.65, Y:43.17, Z:14.76 [[ 7.75009061e-01 -4.87068976e-01 4.02647201e-01 7.66465597e+01] [ 4.52504385e-01 8.72480692e-01 1.84437589e-01 4.31748949e+01] [-4.41135736e-01 3.92588209e-02 8.96581289e-01 1.47624253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130371743 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:76.67, Y:43.18, Z:14.74 [[ 7.75493081e-01 -4.89398939e-01 3.98872359e-01 7.66726289e+01] [ 4.50346857e-01 8.71566391e-01 1.93803340e-01 4.31822244e+01] [-4.42490892e-01 2.93377636e-02 8.96292980e-01 1.47441342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.160371743 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:76.70, Y:43.19, Z:14.73 [[ 7.75392520e-01 -4.90000111e-01 3.98329425e-01 7.66960151e+01] [ 4.49147674e-01 8.71342694e-01 1.97555755e-01 4.31926337e+01] [-4.43883776e-01 2.57254802e-02 8.95715018e-01 1.47290430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190371743 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:76.72, Y:43.20, Z:14.72 [[ 7.75059468e-01 -5.05915779e-01 3.78592188e-01 7.67161128e+01] [ 4.56767894e-01 8.62572128e-01 2.17560140e-01 4.31999555e+01] [-4.36630178e-01 4.30670970e-03 8.99630780e-01 1.47212457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.220371743 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:76.75, Y:43.23, Z:14.71 [[ 7.75782783e-01 -4.83204570e-01 4.05800957e-01 7.67472800e+01] [ 4.49886906e-01 8.74501433e-01 1.81242975e-01 4.32264495e+01] [-4.42450952e-01 4.19593577e-02 8.95810565e-01 1.47077059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250371743 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:76.77, Y:43.22, Z:14.69 [[ 7.74890917e-01 -5.06196424e-01 3.78562078e-01 7.67678707e+01] [ 4.56946141e-01 8.62408071e-01 2.17836050e-01 4.32233984e+01] [-4.36742821e-01 4.18330399e-03 8.99576683e-01 1.46923870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.280371743 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:76.79, Y:43.24, Z:14.68 [[ 7.75058877e-01 -4.99821085e-01 3.86603957e-01 7.67939240e+01] [ 4.57111446e-01 8.65913207e-01 2.03084819e-01 4.32433502e+01] [-4.36271547e-01 1.93184025e-02 8.99607657e-01 1.46830933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310371743 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:76.82, Y:43.26, Z:14.67 [[ 7.75053551e-01 -4.99779787e-01 3.86668021e-01 7.68197505e+01] [ 4.57122928e-01 8.65934259e-01 2.02969181e-01 4.32559430e+01] [-4.36268980e-01 1.94428330e-02 8.99606221e-01 1.46692943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.340371743 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:76.85, Y:43.27, Z:14.65 [[ 7.75054845e-01 -4.99732434e-01 3.86726624e-01 7.68462387e+01] [ 4.57123896e-01 8.65959094e-01 2.02861015e-01 4.32689110e+01] [-4.36265665e-01 1.95535683e-02 8.99605429e-01 1.46547592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370371743 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:76.88, Y:43.27, Z:14.63 [[ 7.76583783e-01 -5.01699321e-01 3.81071409e-01 7.68800040e+01] [ 4.54782276e-01 8.64998752e-01 2.12014716e-01 4.32738230e+01] [-4.35993933e-01 8.65733257e-03 8.99907963e-01 1.46345421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.400371743 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:76.90, Y:43.30, Z:14.63 [[ 7.74966671e-01 -4.93156555e-01 3.95250897e-01 7.68975929e+01] [ 4.57996068e-01 8.69174287e-01 1.86482332e-01 4.33014881e+01] [-4.35506901e-01 3.65057649e-02 8.99444867e-01 1.46323709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430371743 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:76.93, Y:43.30, Z:14.61 [[ 7.75530806e-01 -4.94631399e-01 3.92290388e-01 7.69309887e+01] [ 4.54012947e-01 8.68752571e-01 1.97841384e-01 4.33043004e+01] [-4.38661844e-01 2.46728275e-02 8.98313441e-01 1.46063408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.460371743 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:76.95, Y:43.32, Z:14.60 [[ 7.73365030e-01 -5.01701279e-01 3.87559488e-01 7.69508659e+01] [ 4.60453466e-01 8.64726180e-01 2.00577263e-01 4.33171921e+01] [-4.35762705e-01 2.33336688e-02 8.99759082e-01 1.45979664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490371743 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:76.98, Y:43.33, Z:14.58 [[ 7.72777145e-01 -5.03460261e-01 3.86449544e-01 7.69768321e+01] [ 4.61456211e-01 8.63742311e-01 2.02502805e-01 4.33285868e+01] [-4.35744937e-01 2.18400028e-02 8.99805181e-01 1.45829659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.520371743 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:77.00, Y:43.34, Z:14.57 [[ 7.71987739e-01 -5.05291791e-01 3.85636017e-01 7.70027159e+01] [ 4.63756526e-01 8.62643263e-01 2.01931883e-01 4.33401528e+01] [-4.34700835e-01 2.29522818e-02 9.00282387e-01 1.45686360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550371743 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:77.03, Y:43.35, Z:14.55 [[ 7.71846411e-01 -5.05960698e-01 3.85041413e-01 7.70292430e+01] [ 4.64705460e-01 8.62238515e-01 2.01478481e-01 4.33529530e+01] [-4.33937729e-01 2.34204047e-02 9.00638403e-01 1.45538832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.580371743 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:77.05, Y:43.37, Z:14.54 [[ 7.71655211e-01 -5.06612262e-01 3.84567616e-01 7.70548175e+01] [ 4.65611632e-01 8.61842806e-01 2.01079051e-01 4.33653969e+01] [-4.33305946e-01 2.38954577e-02 9.00930055e-01 1.45399399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61037174300003 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:77.09, Y:43.38, Z:14.52 [[ 7.72393776e-01 -4.99345028e-01 3.92507831e-01 7.70882234e+01] [ 4.61760221e-01 8.65799669e-01 1.92791158e-01 4.33791629e+01] [-4.36102456e-01 3.23338121e-02 8.99315947e-01 1.45202373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.640371743 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:77.12, Y:43.40, Z:14.51 [[ 7.70722988e-01 -4.97814366e-01 3.97702066e-01 7.71151269e+01] [ 4.64103117e-01 8.66263527e-01 1.84921059e-01 4.33957535e+01] [-4.36571154e-01 4.20518573e-02 8.98686413e-01 1.45060714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67037174300003 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:77.14, Y:43.40, Z:14.49 [[ 7.70230172e-01 -5.07300026e-01 3.86512827e-01 7.71398324e+01] [ 4.66292844e-01 8.61403407e-01 2.01383105e-01 4.34003715e+01] [-4.35105120e-01 2.51168222e-02 9.00029266e-01 1.44903139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.700371743 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:77.16, Y:43.42, Z:14.48 [[ 7.69880723e-01 -5.01591125e-01 3.94575742e-01 7.71640386e+01] [ 4.66798533e-01 8.64197213e-01 1.87782604e-01 4.34209273e+01] [-4.35181344e-01 3.96171706e-02 8.99470776e-01 1.44804175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73037174300003 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:77.19, Y:43.43, Z:14.46 [[ 7.69353653e-01 -5.01979756e-01 3.95109201e-01 7.71898864e+01] [ 4.66499350e-01 8.64015873e-01 1.89353976e-01 4.34335321e+01] [-4.36432484e-01 3.86380128e-02 8.98906998e-01 1.44642861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.760371743 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:77.21, Y:43.43, Z:14.45 [[ 7.69226035e-01 -5.16347732e-01 3.76399160e-01 7.72139251e+01] [ 4.69474855e-01 8.56306629e-01 2.15249431e-01 4.34337089e+01] [-4.33456651e-01 1.11344749e-02 9.01105629e-01 1.44502983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.790371743 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:77.23, Y:43.46, Z:14.45 [[ 7.68805026e-01 -5.08776319e-01 3.87408685e-01 7.72326410e+01] [ 4.70518034e-01 8.60321816e-01 1.96110052e-01 4.34597514e+01] [-4.33072293e-01 3.15123791e-02 9.00808170e-01 1.44460647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.820371743 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:77.26, Y:43.47, Z:14.43 [[ 7.70137929e-01 -5.10721462e-01 3.82166401e-01 7.72622635e+01] [ 4.67960019e-01 8.59501783e-01 2.05596951e-01 4.34670379e+01] [-4.33475479e-01 2.05005862e-02 9.00932148e-01 1.44276618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.850371743 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:77.28, Y:43.49, Z:14.42 [[ 7.70537868e-01 -5.05794051e-01 3.87870819e-01 7.72822227e+01] [ 4.67687591e-01 8.62094375e-01 1.95093840e-01 4.34875588e+01] [-4.33058555e-01 3.10751776e-02 9.00829963e-01 1.44181047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880371743 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:77.31, Y:43.50, Z:14.40 [[ 7.74249431e-01 -5.05271528e-01 3.81101695e-01 7.73121364e+01] [ 4.62243179e-01 8.62780914e-01 2.04793402e-01 4.34962161e+01] [-4.32283545e-01 1.76004839e-02 9.01565949e-01 1.43995413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.910371743 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:77.34, Y:43.52, Z:14.39 [[ 7.75078756e-01 -4.95593529e-01 3.91969357e-01 7.73362430e+01] [ 4.59184923e-01 8.67919725e-01 1.89379399e-01 4.35176829e+01] [-4.34053141e-01 3.32024702e-02 9.00275217e-01 1.43885228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940371743 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:77.36, Y:43.53, Z:14.37 [[ 7.75690823e-01 -4.99396028e-01 3.85885156e-01 7.73629328e+01] [ 4.57863762e-01 8.66115661e-01 2.00510441e-01 4.35266044e+01] [-4.34355295e-01 2.11487204e-02 9.00493315e-01 1.43704682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.970371743 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:77.39, Y:43.55, Z:14.36 [[ 7.76508436e-01 -4.92699842e-01 3.92786856e-01 7.73897195e+01] [ 4.55198504e-01 8.69664982e-01 1.90989897e-01 4.35460000e+01] [-4.35693666e-01 3.04907233e-02 8.99578426e-01 1.43570714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000371743 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:77.42, Y:43.56, Z:14.34 [[ 7.77597602e-01 -4.94728246e-01 3.88054033e-01 7.74159502e+01] [ 4.53291005e-01 8.68795782e-01 1.99301665e-01 4.35555542e+01] [-4.35739870e-01 2.09249054e-02 8.99829381e-01 1.43399349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.030371743 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:77.43, Y:43.57, Z:14.33 [[ 7.76814083e-01 -4.98698332e-01 3.84525492e-01 7.74328975e+01] [ 4.56897889e-01 8.66552105e-01 2.00827711e-01 4.35695003e+01] [-4.33363818e-01 1.96830914e-02 9.01004094e-01 1.43319334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060371743 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:77.46, Y:43.58, Z:14.32 [[ 7.77332444e-01 -4.98210918e-01 3.84109557e-01 7.74593927e+01] [ 4.55933005e-01 8.66861599e-01 2.01683075e-01 4.35827046e+01] [-4.33450534e-01 1.83534269e-02 9.00990447e-01 1.43160279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.090371743 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:77.49, Y:43.60, Z:14.30 [[ 7.77888909e-01 -4.97319209e-01 3.84138581e-01 7.74856773e+01] [ 4.55004734e-01 8.67380812e-01 2.01547065e-01 4.35962167e+01] [-4.33427661e-01 1.80036465e-02 9.01008508e-01 1.43011122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120371743 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:77.52, Y:43.60, Z:14.28 [[ 7.80359270e-01 -4.96659650e-01 3.79958685e-01 7.75195280e+01] [ 4.51179735e-01 8.67896117e-01 2.07829682e-01 4.36049983e+01] [-4.32985284e-01 9.24783991e-03 9.01353550e-01 1.42823600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.150371743 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:77.54, Y:43.63, Z:14.27 [[ 7.82469902e-01 -4.83742144e-01 3.92089774e-01 7.75444173e+01] [ 4.47258094e-01 8.74718648e-01 1.86621234e-01 4.36284133e+01] [-4.33244792e-01 2.93398261e-02 9.00798604e-01 1.42747349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180371743 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:77.56, Y:43.64, Z:14.26 [[ 7.81109610e-01 -4.88862067e-01 3.88434881e-01 7.75623913e+01] [ 4.50134236e-01 8.72012674e-01 1.92283815e-01 4.36407934e+01] [-4.32720402e-01 2.46531024e-02 9.01191033e-01 1.42631152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.210371743 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:77.60, Y:43.64, Z:14.24 [[ 7.83377399e-01 -4.93435105e-01 3.77943974e-01 7.75970667e+01] [ 4.46471623e-01 8.69772841e-01 2.10138750e-01 4.36430275e+01] [-4.32415240e-01 4.12331192e-03 9.01665159e-01 1.42421897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240371743 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:77.61, Y:43.67, Z:14.24 [[ 7.81933508e-01 -4.82386445e-01 3.94820601e-01 7.76135695e+01] [ 4.46613923e-01 8.75386387e-01 1.85026150e-01 4.36691076e+01] [-4.34874686e-01 3.16542313e-02 8.99934452e-01 1.42389456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.270371743 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:77.65, Y:43.67, Z:14.21 [[ 7.83492749e-01 -4.86051502e-01 3.87160237e-01 7.76502519e+01] [ 4.41588526e-01 8.73853350e-01 2.03420489e-01 4.36707256e+01] [-4.37194105e-01 1.15870402e-02 8.99292530e-01 1.42133804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300371743 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:77.68, Y:43.69, Z:14.20 [[ 7.83424547e-01 -4.77021396e-01 3.98367377e-01 7.76757351e+01] [ 4.39549193e-01 8.78437962e-01 1.87465340e-01 4.36905891e+01] [-4.39366005e-01 2.82371099e-02 8.97864232e-01 1.42026728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.330371743 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:77.69, Y:43.70, Z:14.19 [[ 7.82198211e-01 -4.85710893e-01 3.90193397e-01 7.76920000e+01] [ 4.44039562e-01 8.73921373e-01 1.97712673e-01 4.36993946e+01] [-4.37029548e-01 1.86108061e-02 8.99254587e-01 1.41918829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36037174300003 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:77.73, Y:43.72, Z:14.17 [[ 7.83784296e-01 -4.67451305e-01 4.08866059e-01 7.77288308e+01] [ 4.34037101e-01 8.83194027e-01 1.77707921e-01 4.37161757e+01] [-4.44177861e-01 3.81783606e-02 8.95124819e-01 1.41695553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.390371743 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:77.76, Y:43.75, Z:14.15 [[ 7.82114236e-01 -4.43107827e-01 4.38124155e-01 7.77582387e+01] [ 4.27248937e-01 8.93135744e-01 1.40594765e-01 4.37452393e+01] [-4.53602985e-01 7.72269121e-02 8.87851528e-01 1.41494478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42037174300003 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:77.79, Y:43.72, Z:14.12 [[ 7.83614713e-01 -4.76216970e-01 3.98955360e-01 7.77895239e+01] [ 4.29091818e-01 8.79279958e-01 2.06753396e-01 4.37215268e+01] [-4.49252928e-01 9.17347724e-03 8.93357518e-01 1.41163706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.450371743 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:77.81, Y:43.75, Z:14.11 [[ 7.83827233e-01 -4.67350006e-01 4.08899548e-01 7.78140581e+01] [ 4.30331046e-01 8.83527973e-01 1.84914879e-01 4.37471311e+01] [-4.47694158e-01 3.10208516e-02 8.93648503e-01 1.41101578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48037174300003 meters Centerline goodness : 0.995934 Centerline is valid? [True, True] Translation: X:77.83, Y:43.73, Z:14.10 [[ 7.83875231e-01 -5.05129164e-01 3.61087454e-01 7.78283788e+01] [ 4.44885150e-01 8.62583451e-01 2.40887926e-01 4.37337168e+01] [-4.33147579e-01 -2.81836321e-02 9.00882266e-01 1.41043159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.510371743 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:77.85, Y:43.77, Z:14.10 [[ 7.84233539e-01 -4.88269624e-01 3.82845310e-01 7.78516881e+01] [ 4.44705573e-01 8.72612035e-01 2.01953433e-01 4.37650988e+01] [-4.32683152e-01 1.18747872e-02 9.01467847e-01 1.41044570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.540371743 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:77.89, Y:43.80, Z:14.08 [[ 7.81756321e-01 -4.52042955e-01 4.29551187e-01 7.78903317e+01] [ 4.33864934e-01 8.89067697e-01 1.46013180e-01 4.37966547e+01] [-4.47904314e-01 7.22204704e-02 8.91159879e-01 1.40826793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.570371743 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:77.91, Y:43.76, Z:14.06 [[ 7.80747750e-01 -5.09627268e-01 3.61542528e-01 7.79079989e+01] [ 4.48539596e-01 8.59940122e-01 2.43547157e-01 4.37618529e+01] [-4.35023197e-01 -2.79827551e-02 8.99984324e-01 1.40637862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.600371743 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:77.93, Y:43.79, Z:14.06 [[ 7.79093531e-01 -4.95473130e-01 3.84082866e-01 7.79340587e+01] [ 4.52311348e-01 8.68481819e-01 2.02863930e-01 4.37919702e+01] [-4.34082613e-01 1.56750634e-02 9.00736686e-01 1.40633021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630371743 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:77.97, Y:43.82, Z:14.04 [[ 7.78187457e-01 -4.67297608e-01 4.19591738e-01 7.79727503e+01] [ 4.43257358e-01 8.81969084e-01 1.60166945e-01 4.38198732e+01] [-4.44912572e-01 6.13472173e-02 8.93470382e-01 1.40400417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.660371743 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:77.99, Y:43.80, Z:14.03 [[ 7.76226691e-01 -5.10937689e-01 3.69343746e-01 7.79885339e+01] [ 4.56866735e-01 8.59571020e-01 2.28933283e-01 4.37984881e+01] [-4.34447823e-01 -8.96325368e-03 9.00652402e-01 1.40271160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690371743 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:78.02, Y:43.82, Z:14.02 [[ 7.75215084e-01 -5.02419848e-01 3.82904518e-01 7.80150961e+01] [ 4.60254346e-01 8.64407668e-01 2.02398913e-01 4.38194242e+01] [-4.32674833e-01 1.93307782e-02 9.01342782e-01 1.40209080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.720371743 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:78.04, Y:43.83, Z:14.01 [[ 7.74967220e-01 -5.03000067e-01 3.82644405e-01 7.80424002e+01] [ 4.61035438e-01 8.64059841e-01 2.02106198e-01 4.38303205e+01] [-4.32287094e-01 1.97869527e-02 9.01518910e-01 1.40066673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750371743 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:78.08, Y:43.84, Z:13.99 [[ 7.75970762e-01 -5.02979443e-01 3.80632442e-01 7.80799476e+01] [ 4.58184546e-01 8.64199564e-01 2.07908719e-01 4.38367477e+01] [-4.33516203e-01 1.30688154e-02 9.01051002e-01 1.39877199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.780371743 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:78.10, Y:43.85, Z:13.98 [[ 7.76238775e-01 -4.97988782e-01 3.86601264e-01 7.81044138e+01] [ 4.59624594e-01 8.66750608e-01 1.93619771e-01 4.38533504e+01] [-4.31507355e-01 2.73962752e-02 9.01693322e-01 1.39800953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810371743 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:78.12, Y:43.87, Z:13.97 [[ 7.74859996e-01 -4.97193876e-01 3.90371920e-01 7.81197035e+01] [ 4.62972915e-01 8.66836139e-01 1.85070763e-01 4.38712875e+01] [-4.30404538e-01 3.73276952e-02 9.01863946e-01 1.39706106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.840371743 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:78.15, Y:43.87, Z:13.95 [[ 7.74866668e-01 -5.04157517e-01 3.81322493e-01 7.81481688e+01] [ 4.62760438e-01 8.63365670e-01 2.01128060e-01 4.38733908e+01] [-4.30620973e-01 2.06135341e-02 9.02297434e-01 1.39511377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870371743 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:78.18, Y:43.88, Z:13.93 [[ 7.75988342e-01 -4.98312753e-01 3.86686559e-01 7.81840830e+01] [ 4.58249946e-01 8.66661220e-01 1.97244307e-01 4.38844529e+01] [-4.33415598e-01 2.41398116e-02 9.00870795e-01 1.39318298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.900371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:78.20, Y:43.90, Z:13.92 [[ 7.74625967e-01 -5.02131827e-01 3.84471376e-01 7.81993163e+01] [ 4.63292737e-01 8.64378663e-01 1.95472167e-01 4.38994320e+01] [-4.30481650e-01 2.67049797e-02 9.02204186e-01 1.39245605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930371743 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:78.24, Y:43.91, Z:13.90 [[ 7.74532817e-01 -5.00993973e-01 3.86139811e-01 7.82364149e+01] [ 4.60793599e-01 8.65105079e-01 1.98147573e-01 4.39060105e+01] [-4.33322252e-01 2.44589558e-02 9.00907090e-01 1.39032638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.960371743 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:78.25, Y:43.92, Z:13.90 [[ 7.72666756e-01 -5.04704695e-01 3.85044485e-01 7.82505408e+01] [ 4.66473090e-01 8.62803304e-01 1.94867428e-01 4.39228065e+01] [-4.30568160e-01 2.90453071e-02 9.02090588e-01 1.38970402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:78.29, Y:43.94, Z:13.88 [[ 7.72574274e-01 -4.96584443e-01 3.95642367e-01 7.82856589e+01] [ 4.61841564e-01 8.67128704e-01 1.86521261e-01 4.39365738e+01] [-4.35696410e-01 3.86225613e-02 8.99264664e-01 1.38755352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.020371743 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:78.31, Y:43.94, Z:13.86 [[ 7.69994507e-01 -5.10290414e-01 3.83030224e-01 7.83122300e+01] [ 4.66812290e-01 8.59783393e-01 2.07023675e-01 4.39391310e+01] [-4.34965222e-01 1.93961231e-02 9.00238327e-01 1.38622790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050371743 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:78.34, Y:43.96, Z:13.85 [[ 7.69125354e-01 -4.99783643e-01 3.98324615e-01 7.83365473e+01] [ 4.66680994e-01 8.65022503e-01 1.84241472e-01 4.39632027e+01] [-4.36640630e-01 4.41857399e-02 8.98550266e-01 1.38503555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.080371743 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:78.36, Y:43.97, Z:13.83 [[ 7.67479409e-01 -5.03016383e-01 3.97429082e-01 7.83622607e+01] [ 4.68244321e-01 8.63279951e-01 1.88401119e-01 4.39735881e+01] [-4.37861408e-01 4.14999313e-02 8.98084151e-01 1.38328986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11037174300003 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:78.39, Y:43.98, Z:13.82 [[ 7.66700621e-01 -5.12790291e-01 3.86285226e-01 7.83888115e+01] [ 4.71115864e-01 8.58134925e-01 2.04093833e-01 4.39798846e+01] [-4.36142179e-01 2.55062296e-02 8.99516221e-01 1.38193592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.140371743 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:78.40, Y:44.00, Z:13.81 [[ 7.65634749e-01 -5.14902086e-01 3.85589514e-01 7.84037156e+01] [ 4.76121020e-01 8.56667942e-01 1.98566895e-01 4.39986863e+01] [-4.32564683e-01 3.15575581e-02 9.01050451e-01 1.38138288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17037174300003 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:78.44, Y:44.01, Z:13.79 [[ 7.64972623e-01 -5.12382258e-01 3.90232376e-01 7.84388405e+01] [ 4.74216918e-01 8.58071736e-01 1.97056366e-01 4.40097125e+01] [-4.35815558e-01 3.43120699e-02 8.99381722e-01 1.37915097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.200371743 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:78.47, Y:44.02, Z:13.78 [[ 7.64783797e-01 -5.15581203e-01 3.86369986e-01 7.84653830e+01] [ 4.76820732e-01 8.56234600e-01 1.98756886e-01 4.40225060e+01] [-4.33298665e-01 3.22231734e-02 9.00674155e-01 1.37783789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23037174300003 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:78.49, Y:44.04, Z:13.77 [[ 7.65069850e-01 -5.11726267e-01 3.90901973e-01 7.84882798e+01] [ 4.75668754e-01 8.58281348e-01 1.92593779e-01 4.40375529e+01] [-4.34059168e-01 3.85921607e-02 9.00057378e-01 1.37650271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.260371743 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:78.51, Y:44.05, Z:13.75 [[ 7.65476801e-01 -5.09837419e-01 3.92569833e-01 7.85137400e+01] [ 4.75983728e-01 8.59187150e-01 1.87715028e-01 4.40539095e+01] [-4.32995101e-01 4.31653537e-02 9.00362146e-01 1.37490850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.290371743 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:78.54, Y:44.07, Z:13.73 [[ 7.65777635e-01 -5.11781196e-01 3.89441421e-01 7.85389186e+01] [ 4.75753834e-01 8.58277569e-01 1.92400373e-01 4.40661701e+01] [-4.32715729e-01 3.79423463e-02 9.00731634e-01 1.37338042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.320371743 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:78.56, Y:44.09, Z:13.72 [[ 7.66500673e-01 -5.03206546e-01 3.99073790e-01 7.85631533e+01] [ 4.72250616e-01 8.62724998e-01 1.80789752e-01 4.40871090e+01] [-4.35265521e-01 4.98873764e-02 8.98918893e-01 1.37196112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.350371743 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:78.58, Y:44.09, Z:13.71 [[ 7.65793522e-01 -5.25736245e-01 3.70353456e-01 7.85817284e+01] [ 4.78332361e-01 8.50589919e-01 2.18391716e-01 4.40853997e+01] [-4.29835357e-01 9.90908190e-03 9.02852909e-01 1.37084876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380371743 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:78.61, Y:44.13, Z:13.70 [[ 0.76771529 -0.48437937 0.41951145 78.61025054] [ 0.46733364 0.87115468 0.150628 44.12983507] [-0.43842046 0.08041239 0.89516554 13.69502499] [ 0. 0. 0. 1. ]] SLAMing on 259.410371743 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:78.64, Y:44.12, Z:13.67 [[ 7.68311988e-01 -5.08618309e-01 3.88592467e-01 7.86382567e+01] [ 4.65105559e-01 8.60718328e-01 2.06980141e-01 4.41158448e+01] [-4.39742548e-01 2.17111929e-02 8.97861412e-01 1.36670193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:78.65, Y:44.12, Z:13.67 [[ 7.68260550e-01 -5.25200064e-01 3.65978989e-01 7.86534561e+01] [ 4.73674363e-01 8.50978268e-01 2.26866889e-01 4.41237551e+01] [-4.30590671e-01 -9.38016405e-04 9.02546838e-01 1.36664372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.470371743 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:78.68, Y:44.17, Z:13.65 [[ 7.69689146e-01 -4.86372649e-01 4.13545965e-01 7.86816911e+01] [ 4.64276936e-01 8.71055401e-01 1.60341557e-01 4.41689200e+01] [-4.38207194e-01 6.85866977e-02 8.96253491e-01 1.36532777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500371743 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:78.71, Y:44.17, Z:13.63 [[ 7.69446546e-01 -4.99683191e-01 3.97830016e-01 7.87112985e+01] [ 4.64593308e-01 8.65284800e-01 1.88242592e-01 4.41690264e+01] [-4.38297925e-01 3.99865502e-02 8.97939867e-01 1.36286664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.530371743 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:78.74, Y:44.18, Z:13.61 [[ 7.69004043e-01 -5.02967567e-01 3.94533153e-01 7.87373938e+01] [ 4.66811194e-01 8.63498355e-01 1.90939520e-01 4.41824901e+01] [-4.36715114e-01 3.73392293e-02 8.98824616e-01 1.36132954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560371743 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:78.76, Y:44.19, Z:13.60 [[ 7.68622279e-01 -5.04782439e-01 3.92956082e-01 7.87605207e+01] [ 4.67802649e-01 8.62515364e-01 1.92945406e-01 4.41948978e+01] [-4.36326111e-01 3.55237585e-02 8.99087086e-01 1.36011361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.590371743 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:78.79, Y:44.21, Z:13.59 [[ 7.68212625e-01 -5.02438409e-01 3.96742999e-01 7.87858353e+01] [ 4.69518614e-01 8.63459460e-01 1.84363859e-01 4.42141384e+01] [-4.35202979e-01 4.46475794e-02 8.99224644e-01 1.35886246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620371743 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:78.81, Y:44.23, Z:13.57 [[ 7.67624023e-01 -5.05852967e-01 3.93530350e-01 7.88122913e+01] [ 4.71078786e-01 8.61667492e-01 1.88716484e-01 4.42286407e+01] [-4.34555103e-01 4.05204927e-02 8.99733267e-01 1.35737592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.650371743 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:78.84, Y:44.25, Z:13.56 [[ 7.67512932e-01 -5.02434298e-01 3.98100082e-01 7.88383468e+01] [ 4.71110479e-01 8.63256538e-01 1.81226558e-01 4.42478503e+01] [-4.34716938e-01 4.84553934e-02 8.99262620e-01 1.35601592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680371743 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:78.86, Y:44.26, Z:13.54 [[ 7.67461434e-01 -5.04009699e-01 3.96203446e-01 7.88637309e+01] [ 4.71124255e-01 8.62526874e-01 1.84632956e-01 4.42608981e+01] [-4.34792920e-01 4.49623797e-02 8.99407306e-01 1.35446784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.710371743 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:78.89, Y:44.28, Z:13.53 [[ 7.68393228e-01 -5.00695642e-01 3.98592173e-01 7.88872250e+01] [ 4.67721741e-01 8.64460195e-01 1.84241537e-01 4.42757888e+01] [-4.36816002e-01 4.48602756e-02 8.98431598e-01 1.35302883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740371743 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:78.91, Y:44.29, Z:13.52 [[ 7.69541578e-01 -5.01815590e-01 3.94951736e-01 7.89147233e+01] [ 4.68470785e-01 8.63917623e-01 1.84882298e-01 4.42916442e+01] [-4.33982584e-01 4.27487345e-02 8.99906474e-01 1.35158377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.770371743 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:78.94, Y:44.30, Z:13.50 [[ 7.71208516e-01 -5.03021145e-01 3.90137351e-01 7.89371132e+01] [ 4.65647903e-01 8.63652654e-01 1.93070258e-01 4.43020794e+01] [-4.34061581e-01 3.27692116e-02 9.00287023e-01 1.35032420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800371743 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:78.96, Y:44.32, Z:13.49 [[ 7.72327314e-01 -4.96599689e-01 3.96105123e-01 7.89616452e+01] [ 4.64314200e-01 8.66876412e-01 1.81487219e-01 4.43229466e+01] [-4.33500684e-01 4.37496973e-02 9.00090618e-01 1.34924511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.830371743 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:78.99, Y:44.35, Z:13.47 [[ 7.73065628e-01 -4.82442990e-01 4.11847420e-01 7.89879434e+01] [ 4.59213720e-01 8.73555530e-01 1.61317994e-01 4.43477842e+01] [-4.37598327e-01 6.44165896e-02 8.96860194e-01 1.34749436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86037174300003 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:79.02, Y:44.34, Z:13.46 [[ 7.74302005e-01 -5.04430774e-01 3.82107314e-01 7.90182475e+01] [ 4.64108710e-01 8.63138644e-01 1.98984387e-01 4.43434341e+01] [-4.30185437e-01 2.32653223e-02 9.02440699e-01 1.34557638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.890371743 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:79.04, Y:44.36, Z:13.45 [[ 7.75078052e-01 -5.01714844e-01 3.84104451e-01 7.90432639e+01] [ 4.66835740e-01 8.64349457e-01 1.86987724e-01 4.43646429e+01] [-4.25814990e-01 3.43836050e-02 9.04156713e-01 1.34479544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92037174300003 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:79.07, Y:44.38, Z:13.44 [[ 7.75181684e-01 -4.99402434e-01 3.86898651e-01 7.90669872e+01] [ 4.66266915e-01 8.65512039e-01 1.82986543e-01 4.43797023e+01] [-4.26249365e-01 3.85502240e-02 9.03783912e-01 1.34352220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.950371743 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:79.09, Y:44.39, Z:13.42 [[ 7.74991706e-01 -5.04921159e-01 3.80055889e-01 7.90936892e+01] [ 4.70772429e-01 8.62459808e-01 1.85839715e-01 4.43925878e+01] [-4.21617333e-01 3.48955959e-02 9.06102159e-01 1.34227502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98037174300003 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:79.12, Y:44.40, Z:13.41 [[ 7.74456429e-01 -5.10990663e-01 3.72968875e-01 7.91191401e+01] [ 4.74860152e-01 8.59090000e-01 1.90976983e-01 4.44043335e+01] [-4.18001286e-01 2.92047041e-02 9.07976878e-01 1.34119562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.010371743 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:79.13, Y:44.40, Z:13.41 [[ 7.71975026e-01 -5.39679640e-01 3.35857777e-01 7.91326264e+01] [ 4.89510019e-01 8.41795631e-01 2.27508366e-01 4.44026193e+01] [-4.05505242e-01 -1.12250296e-02 9.14023795e-01 1.34117457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.040371743 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:79.16, Y:44.45, Z:13.40 [[ 0.77196656 -0.49655332 0.39686576 79.16246309] [ 0.48179166 0.86432731 0.14427436 44.45450031] [-0.41466183 0.07983163 0.90646703 13.40259806] [ 0. 0. 0. 1. ]] SLAMing on 260.070371743 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:79.19, Y:44.45, Z:13.38 [[ 7.70032648e-01 -5.16288555e-01 3.74827758e-01 7.91935893e+01] [ 4.84254205e-01 8.55469865e-01 1.83491620e-01 4.44490332e+01] [-4.15388475e-01 4.02173800e-02 9.08754630e-01 1.33750857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.100371743 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:79.22, Y:44.47, Z:13.36 [[ 7.68755589e-01 -5.10333084e-01 3.85454261e-01 7.92199007e+01] [ 4.85185386e-01 8.58047187e-01 1.68375075e-01 4.44710648e+01] [-4.16665315e-01 5.75774944e-02 9.07234726e-01 1.33614918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130371743 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:79.25, Y:44.46, Z:13.35 [[ 7.67834640e-01 -5.32298982e-01 3.56493703e-01 7.92455784e+01] [ 4.89688218e-01 8.46441003e-01 2.09148457e-01 4.44646334e+01] [-4.13080398e-01 1.39793358e-02 9.10587263e-01 1.33463768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.160371743 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:79.27, Y:44.49, Z:13.34 [[ 7.67954831e-01 -5.22930637e-01 3.69849871e-01 7.92680012e+01] [ 4.91756853e-01 8.51359213e-01 1.82654559e-01 4.44941969e+01] [-4.10390760e-01 4.16057571e-02 9.10960145e-01 1.33424970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190371743 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:79.29, Y:44.51, Z:13.33 [[ 7.67148819e-01 -5.18525001e-01 3.77643366e-01 7.92906749e+01] [ 4.89433353e-01 8.53695388e-01 1.77930262e-01 4.45125062e+01] [-4.14653689e-01 4.83322683e-02 9.08694839e-01 1.33285209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.220371743 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:79.31, Y:44.50, Z:13.32 [[ 7.65262080e-01 -5.52037856e-01 3.31101427e-01 7.93073214e+01] [ 5.00251438e-01 8.33712992e-01 2.33818615e-01 4.45029621e+01] [-4.05120288e-01 -1.32985550e-02 9.14166670e-01 1.33229094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250371743 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:79.34, Y:44.55, Z:13.32 [[ 7.67781715e-01 -5.13824424e-01 3.82747565e-01 7.93352208e+01] [ 4.91864572e-01 8.55503122e-01 1.61813631e-01 4.45535175e+01] [-4.10585533e-01 6.40224200e-02 9.09571685e-01 1.33187232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.280371743 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:79.36, Y:44.56, Z:13.30 [[ 7.67281875e-01 -5.23431844e-01 3.70536947e-01 7.93637303e+01] [ 4.91346690e-01 8.51117988e-01 1.84869144e-01 4.45566070e+01] [-4.12137057e-01 4.02153591e-02 9.10233910e-01 1.32969230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310371743 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:79.39, Y:44.57, Z:13.28 [[ 7.67167393e-01 -5.22806184e-01 3.71655601e-01 7.93884072e+01] [ 4.90890921e-01 8.51468555e-01 1.84465183e-01 4.45707618e+01] [-4.12892596e-01 4.09266865e-02 9.09859720e-01 1.32832215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.340371743 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:79.41, Y:44.58, Z:13.27 [[ 7.67131982e-01 -5.24036776e-01 3.69991865e-01 7.94148804e+01] [ 4.91544085e-01 8.50788869e-01 1.85856701e-01 4.45847183e+01] [-4.12180707e-01 3.92906931e-02 9.10254528e-01 1.32695972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370371743 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:79.44, Y:44.59, Z:13.26 [[ 7.66831142e-01 -5.27069370e-01 3.66289339e-01 7.94374434e+01] [ 4.91029484e-01 8.49254720e-01 1.94052742e-01 4.45939613e+01] [-4.13352207e-01 3.10531788e-02 9.10041567e-01 1.32564890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.400371743 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:79.46, Y:44.62, Z:13.25 [[ 7.67069213e-01 -5.22762397e-01 3.71919748e-01 7.94629875e+01] [ 4.92947058e-01 8.51269465e-01 1.79842975e-01 4.46174287e+01] [-4.10619070e-01 4.53847368e-02 9.10676784e-01 1.32459164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430371743 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:79.49, Y:44.63, Z:13.23 [[ 7.67078891e-01 -5.29842868e-01 3.61740944e-01 7.94888292e+01] [ 4.94381352e-01 8.47537933e-01 1.93045414e-01 4.46257153e+01] [-4.08872908e-01 3.07569150e-02 9.12072890e-01 1.32308485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.460371743 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:79.51, Y:44.64, Z:13.22 [[ 7.67407540e-01 -5.26078343e-01 3.66506815e-01 7.95133606e+01] [ 4.94151126e-01 8.49525087e-01 1.84720848e-01 4.46446287e+01] [-4.08534371e-01 3.93535837e-02 9.11894162e-01 1.32194617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490371743 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:79.54, Y:44.66, Z:13.21 [[ 7.67782845e-01 -5.30131933e-01 3.59818895e-01 7.95375067e+01] [ 4.95749815e-01 8.47307571e-01 1.90530843e-01 4.46574604e+01] [-4.05883757e-01 3.20938380e-02 9.13361025e-01 1.32068089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.520371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:79.56, Y:44.68, Z:13.20 [[ 7.67887263e-01 -5.29133743e-01 3.61063199e-01 7.95626706e+01] [ 4.97012861e-01 8.47724674e-01 1.85313498e-01 4.46757501e+01] [-4.04137807e-01 3.71531790e-02 9.13943255e-01 1.31959496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550371743 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:79.59, Y:44.69, Z:13.18 [[ 7.67712886e-01 -5.30829167e-01 3.58939160e-01 7.95883613e+01] [ 4.99366583e-01 8.46627186e-01 1.83998435e-01 4.46932247e+01] [-4.01559387e-01 3.79842523e-02 9.15044947e-01 1.31827732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.580371743 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:79.61, Y:44.71, Z:13.17 [[ 7.67492713e-01 -5.30990248e-01 3.59171674e-01 7.96132216e+01] [ 4.99983963e-01 8.46474759e-01 1.83020542e-01 4.47087638e+01] [-4.01211879e-01 3.91131453e-02 9.15149818e-01 1.31698135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61037174300003 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:79.64, Y:44.72, Z:13.16 [[ 7.67034898e-01 -5.35389672e-01 3.53575118e-01 7.96380295e+01] [ 5.01700051e-01 8.44001154e-01 1.89628877e-01 4.47207793e+01] [-3.99943150e-01 3.19366884e-02 9.15983365e-01 1.31566677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.640371743 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:79.66, Y:44.74, Z:13.14 [[ 7.66043200e-01 -5.35636453e-01 3.55346882e-01 7.96625296e+01] [ 5.04362230e-01 8.43591850e-01 1.84313677e-01 4.47401392e+01] [-3.98492858e-01 3.80313069e-02 9.16382596e-01 1.31449319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67037174300003 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:79.69, Y:44.75, Z:13.13 [[ 7.65680760e-01 -5.37570126e-01 3.53201547e-01 7.96860558e+01] [ 5.05270451e-01 8.42477603e-01 1.86904413e-01 4.47535968e+01] [-3.98038622e-01 3.53531923e-02 9.16687192e-01 1.31328747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.700371743 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:79.71, Y:44.77, Z:13.12 [[ 7.64977171e-01 -5.36151225e-01 3.56863829e-01 7.97089446e+01] [ 5.05649305e-01 8.43145404e-01 1.82823981e-01 4.47720307e+01] [-3.98909398e-01 4.05917756e-02 9.16091480e-01 1.31206377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73037174300003 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:79.73, Y:44.79, Z:13.11 [[ 7.64785679e-01 -5.36512762e-01 3.56730881e-01 7.97346867e+01] [ 5.05991446e-01 8.42915285e-01 1.82938455e-01 4.47878204e+01] [-3.98842728e-01 4.05940635e-02 9.16120407e-01 1.31066263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.760371743 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:79.76, Y:44.80, Z:13.09 [[ 7.64527357e-01 -5.37712893e-01 3.55475406e-01 7.97598901e+01] [ 5.06414866e-01 8.42240159e-01 1.84866162e-01 4.48032067e+01] [-3.98800582e-01 3.86827914e-02 9.16221446e-01 1.30937192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.790371743 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:79.78, Y:44.82, Z:13.08 [[ 7.64826442e-01 -5.36994480e-01 3.55917747e-01 7.97846246e+01] [ 5.05890329e-01 8.42679248e-01 1.84300459e-01 4.48222496e+01] [-3.98892828e-01 3.90974822e-02 9.16163685e-01 1.30820156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.820371743 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:79.81, Y:44.83, Z:13.07 [[ 7.64922169e-01 -5.39290719e-01 3.52220948e-01 7.98080276e+01] [ 5.05169316e-01 8.41529262e-01 1.91396090e-01 4.48338189e+01] [-3.99622369e-01 3.15281030e-02 9.16137512e-01 1.30700475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.850371743 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:79.83, Y:44.86, Z:13.06 [[ 7.65092584e-01 -5.33503909e-01 3.60564719e-01 7.98335324e+01] [ 5.05118298e-01 8.44540027e-01 1.77785397e-01 4.48570618e+01] [-3.99360542e-01 4.61055482e-02 9.15633899e-01 1.30594389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880371743 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:79.86, Y:44.87, Z:13.04 [[ 7.64935435e-01 -5.31666465e-01 3.63599437e-01 7.98607419e+01] [ 5.04389068e-01 8.45513588e-01 1.75209705e-01 4.48744221e+01] [-4.00581389e-01 4.93714691e-02 9.14930057e-01 1.30432914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.910371743 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:79.89, Y:44.88, Z:13.03 [[ 7.64580871e-01 -5.42200922e-01 3.48474177e-01 7.98859653e+01] [ 5.06546109e-01 8.39808094e-01 1.95277765e-01 4.48789759e+01] [-3.98531219e-01 2.72125946e-02 9.16750971e-01 1.30285720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940371743 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:79.91, Y:44.90, Z:13.02 [[ 7.64960900e-01 -5.38898177e-01 3.52737261e-01 7.99094797e+01] [ 5.07190694e-01 8.41567752e-01 1.85799135e-01 4.48993409e+01] [-3.96979119e-01 3.67759829e-02 9.17090566e-01 1.30204982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.970371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:79.93, Y:44.92, Z:13.01 [[ 7.64879134e-01 -5.38497824e-01 3.53525112e-01 7.99333794e+01] [ 5.08443185e-01 8.41649836e-01 1.81964506e-01 4.49176358e+01] [-3.95531843e-01 4.05665801e-02 9.17555946e-01 1.30083106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000371743 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:79.96, Y:44.93, Z:13.00 [[ 7.65130925e-01 -5.38932065e-01 3.52316474e-01 7.99589906e+01] [ 5.09004454e-01 8.41381931e-01 1.81634005e-01 4.49332547e+01] [-3.94321105e-01 4.03568603e-02 9.18086156e-01 1.29954597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.030371743 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:79.98, Y:44.95, Z:12.98 [[ 7.65213195e-01 -5.42082159e-01 3.47268914e-01 7.99827282e+01] [ 5.09699495e-01 8.39658416e-01 1.87563774e-01 4.49460927e+01] [-3.93262242e-01 3.34765154e-02 9.18816702e-01 1.29819634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060371743 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:80.01, Y:44.96, Z:12.97 [[ 7.65373396e-01 -5.41478478e-01 3.47857187e-01 8.00065756e+01] [ 5.09947626e-01 8.39968179e-01 1.85490905e-01 4.49625652e+01] [-3.92628301e-01 3.54191425e-02 9.19014963e-01 1.29713848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.090371743 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:80.03, Y:44.98, Z:12.96 [[ 7.65641609e-01 -5.41683220e-01 3.46946992e-01 8.00300111e+01] [ 5.09898597e-01 8.39875835e-01 1.86043016e-01 4.49775387e+01] [-3.92168774e-01 3.44655100e-02 9.19247399e-01 1.29605570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120371743 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:80.05, Y:44.99, Z:12.95 [[ 7.65532132e-01 -5.41837178e-01 3.46948162e-01 8.00549887e+01] [ 5.10186640e-01 8.39762716e-01 1.85763756e-01 4.49938671e+01] [-3.92007840e-01 3.48001927e-02 9.19303432e-01 1.29491861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.150371743 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:80.08, Y:45.01, Z:12.94 [[ 7.64815133e-01 -5.43842883e-01 3.45387798e-01 8.00803967e+01] [ 5.12649565e-01 8.38432476e-01 1.84990290e-01 4.50121119e+01] [-3.90189999e-01 3.55795309e-02 9.20046663e-01 1.29379286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:80.10, Y:45.03, Z:12.93 [[ 7.64552714e-01 -5.43469069e-01 3.46555217e-01 8.01043212e+01] [ 5.12446434e-01 8.38637958e-01 1.84621310e-01 4.50271147e+01] [-3.90970331e-01 3.64382615e-02 9.19681713e-01 1.29253558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.210371743 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:80.13, Y:45.04, Z:12.91 [[ 7.64143350e-01 -5.47759834e-01 3.40652468e-01 8.01287722e+01] [ 5.14039544e-01 8.36138153e-01 1.91406208e-01 4.50388487e+01] [-3.89677159e-01 2.88470581e-02 9.20499625e-01 1.29131719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:80.15, Y:45.06, Z:12.90 [[ 7.63747302e-01 -5.47573297e-01 3.41838476e-01 8.01540647e+01] [ 5.15964890e-01 8.36068200e-01 1.86467683e-01 4.50576914e+01] [-3.87905003e-01 3.39624617e-02 9.21073428e-01 1.29029417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.270371743 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:80.18, Y:45.07, Z:12.89 [[ 7.63509599e-01 -5.51607065e-01 3.35831415e-01 8.01797247e+01] [ 5.17680689e-01 8.33667648e-01 1.92366724e-01 4.50708020e+01] [-3.86082630e-01 2.69795976e-02 9.22069577e-01 1.28912353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:80.20, Y:45.10, Z:12.88 [[ 7.63966014e-01 -5.42666924e-01 3.49096747e-01 8.02029581e+01] [ 5.15529463e-01 8.38695517e-01 1.75553989e-01 4.50955900e+01] [-3.88053220e-01 4.58523776e-02 9.20495659e-01 1.28814939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.330371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:80.23, Y:45.10, Z:12.87 [[ 7.63878313e-01 -5.46868072e-01 3.42673656e-01 8.02280619e+01] [ 5.15173871e-01 8.36528025e-01 1.86592463e-01 4.51049275e+01] [-3.88697577e-01 3.40025785e-02 9.20737758e-01 1.28651989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36037174300003 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:80.25, Y:45.12, Z:12.85 [[ 7.64342880e-01 -5.49985407e-01 3.36594732e-01 8.02519709e+01] [ 5.15861523e-01 8.34754689e-01 1.92539602e-01 4.51172474e+01] [-3.86868002e-01 2.64699970e-02 9.21755113e-01 1.28545809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.390371743 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:80.28, Y:45.14, Z:12.85 [[ 7.64858782e-01 -5.42675578e-01 3.47122832e-01 8.02756916e+01] [ 5.14221373e-01 8.38890623e-01 1.78434589e-01 4.51396159e+01] [-3.88030182e-01 4.20207166e-02 9.20688241e-01 1.28450025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42037174300003 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:80.30, Y:45.15, Z:12.83 [[ 7.65564797e-01 -5.46225802e-01 3.39923395e-01 8.03019016e+01] [ 5.13571258e-01 8.37090412e-01 1.88478659e-01 4.51520888e+01] [-3.87498522e-01 3.02822595e-02 9.21372824e-01 1.28292459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.450371743 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:80.33, Y:45.17, Z:12.82 [[ 7.66544257e-01 -5.46401161e-01 3.37425064e-01 8.03255737e+01] [ 5.12778753e-01 8.37091311e-01 1.90620270e-01 4.51676448e+01] [-3.86610726e-01 2.69055303e-02 9.21850443e-01 1.28177619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48037174300003 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:80.35, Y:45.19, Z:12.81 [[ 7.67106450e-01 -5.43620056e-01 3.40624323e-01 8.03504161e+01] [ 5.12068768e-01 8.38711521e-01 1.85333651e-01 4.51858877e+01] [-3.86436633e-01 3.22524385e-02 9.21751869e-01 1.28064835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.510371743 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:80.38, Y:45.20, Z:12.79 [[ 7.67196661e-01 -5.43471963e-01 3.40657464e-01 8.03761290e+01] [ 5.11676743e-01 8.38828702e-01 1.85885234e-01 4.52013046e+01] [-3.86776671e-01 3.16959706e-02 9.21628543e-01 1.27927683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.540371743 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:80.40, Y:45.22, Z:12.78 [[ 7.67441880e-01 -5.37146541e-01 3.50009364e-01 8.03998970e+01] [ 5.10304763e-01 8.42270918e-01 1.73691534e-01 4.52226322e+01] [-3.88100515e-01 4.53132882e-02 9.20502415e-01 1.27799808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.570371743 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:80.43, Y:45.23, Z:12.76 [[ 7.66566769e-01 -5.44189437e-01 3.40929972e-01 8.04271453e+01] [ 5.11863288e-01 8.38392880e-01 1.87332203e-01 4.52307517e+01] [-3.87777467e-01 3.09068949e-02 9.21234715e-01 1.27620190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.600371743 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:80.45, Y:45.25, Z:12.75 [[ 7.65531908e-01 -5.41903572e-01 3.46844947e-01 8.04528351e+01] [ 5.12804766e-01 8.39475981e-01 1.79753582e-01 4.52498671e+01] [-3.88577110e-01 4.02566393e-02 9.20536383e-01 1.27491602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630371743 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:80.48, Y:45.28, Z:12.74 [[ 7.65524545e-01 -5.25951038e-01 3.70604474e-01 8.04789677e+01] [ 5.07738117e-01 8.47613818e-01 1.54119501e-01 4.52769810e+01] [-3.95188784e-01 7.01877566e-02 9.15914572e-01 1.27351620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.660371743 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:80.51, Y:45.26, Z:12.71 [[ 7.63976847e-01 -5.55484436e-01 3.28293190e-01 8.05071708e+01] [ 5.14499525e-01 8.31480573e-01 2.09595554e-01 4.52639410e+01] [-3.89396477e-01 8.78053990e-03 9.21028385e-01 1.27110768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690371743 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:80.53, Y:45.29, Z:12.71 [[ 7.64389099e-01 -5.45268964e-01 3.44080023e-01 8.05291707e+01] [ 5.15877709e-01 8.37343094e-01 1.80905314e-01 4.52948431e+01] [-3.86755085e-01 3.92211640e-02 9.21348037e-01 1.27105288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.720371743 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:80.55, Y:45.31, Z:12.70 [[ 7.64282893e-01 -5.44702954e-01 3.45210590e-01 8.05541949e+01] [ 5.15509039e-01 8.37671857e-01 1.80433618e-01 4.53105068e+01] [-3.87455921e-01 4.00568517e-02 9.21017567e-01 1.26966510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750371743 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:80.58, Y:45.33, Z:12.68 [[ 7.64454543e-01 -5.44876489e-01 3.44556039e-01 8.05808796e+01] [ 5.16144000e-01 8.37524372e-01 1.79299465e-01 4.53265801e+01] [-3.86270143e-01 4.07742417e-02 9.21484041e-01 1.26827137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.780371743 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:80.61, Y:45.34, Z:12.67 [[ 7.64522010e-01 -5.45382338e-01 3.43604718e-01 8.06056646e+01] [ 5.16011560e-01 8.37276983e-01 1.80829541e-01 4.53409067e+01] [-3.86313559e-01 3.90558423e-02 9.21540273e-01 1.26694616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810371743 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:80.63, Y:45.35, Z:12.66 [[ 7.64825448e-01 -5.46335803e-01 3.41407709e-01 8.06300864e+01] [ 5.15415743e-01 8.36840923e-01 1.84509840e-01 4.53545748e+01] [-3.86508274e-01 3.48490870e-02 9.21627308e-01 1.26575088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.840371743 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:80.66, Y:45.38, Z:12.65 [[ 7.65535557e-01 -5.36650047e-01 3.54911311e-01 8.06554494e+01] [ 5.12543123e-01 8.42109487e-01 1.67783074e-01 4.53805710e+01] [-3.88914976e-01 5.34634427e-02 9.19721046e-01 1.26474199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:80.68, Y:45.39, Z:12.63 [[ 7.65584251e-01 -5.42451321e-01 3.45871826e-01 8.06814940e+01] [ 5.10959113e-01 8.39367519e-01 1.85426406e-01 4.53866113e+01] [-3.90898375e-01 3.47668253e-02 9.19776999e-01 1.26292946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.900371743 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:80.71, Y:45.41, Z:12.62 [[ 7.66092775e-01 -5.36517585e-01 3.53907814e-01 8.07064901e+01] [ 5.09442402e-01 8.42605063e-01 1.74599960e-01 4.54076479e+01] [-3.91880465e-01 4.65358791e-02 9.18838459e-01 1.26196806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930371743 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:80.73, Y:45.42, Z:12.60 [[ 7.66288979e-01 -5.35471706e-01 3.55065140e-01 8.07343062e+01] [ 5.08586614e-01 8.43233195e-01 1.74061582e-01 4.54236625e+01] [-3.92607765e-01 4.71999052e-02 9.18494046e-01 1.26046726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.960371743 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:80.76, Y:45.43, Z:12.59 [[ 7.66226180e-01 -5.41950514e-01 3.45234821e-01 8.07587965e+01] [ 5.08655742e-01 8.39859789e-01 1.89485806e-01 4.54297127e+01] [-3.92640774e-01 3.04166887e-02 9.19188799e-01 1.25893822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990371743 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:80.78, Y:45.45, Z:12.58 [[ 7.66528286e-01 -5.39518303e-01 3.48359567e-01 8.07832658e+01] [ 5.09316415e-01 8.41118889e-01 1.81977483e-01 4.54483936e+01] [-3.91191995e-01 3.79343578e-02 9.19526948e-01 1.25808249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.020371743 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:80.81, Y:45.46, Z:12.57 [[ 7.66395781e-01 -5.44996836e-01 3.40023462e-01 8.08091376e+01] [ 5.12235223e-01 8.37910831e-01 1.88468872e-01 4.54588545e+01] [-3.87624281e-01 2.97302455e-02 9.21337902e-01 1.25680481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:80.83, Y:45.48, Z:12.56 [[ 7.66417740e-01 -5.43955543e-01 3.41637550e-01 8.08349052e+01] [ 5.14281337e-01 8.38299641e-01 1.81020490e-01 4.54777401e+01] [-3.84861734e-01 3.69605015e-02 9.22233900e-01 1.25582380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.080371743 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:80.86, Y:45.49, Z:12.55 [[ 7.65780491e-01 -5.50541181e-01 3.32392311e-01 8.08578825e+01] [ 5.18117761e-01 8.34336215e-01 1.88247353e-01 4.54870309e+01] [-3.80964862e-01 2.80622095e-02 9.24163560e-01 1.25463793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11037174300003 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:80.88, Y:45.51, Z:12.54 [[ 7.65390843e-01 -5.49721723e-01 3.34638439e-01 8.08838289e+01] [ 5.20504358e-01 8.34569529e-01 1.80468599e-01 4.55057296e+01] [-3.78486553e-01 3.60517530e-02 9.24904428e-01 1.25362019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.140371743 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:80.91, Y:45.52, Z:12.52 [[ 7.64552809e-01 -5.49359157e-01 3.37140206e-01 8.09093528e+01] [ 5.22052301e-01 8.34557795e-01 1.75996256e-01 4.55220423e+01] [-3.78048142e-01 4.14463880e-02 9.24857718e-01 1.25236021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17037174300003 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:80.93, Y:45.53, Z:12.51 [[ 7.63618894e-01 -5.57583846e-01 3.25555584e-01 8.09337061e+01] [ 5.25330408e-01 8.29686386e-01 1.88808006e-01 4.55284085e+01] [-3.75385331e-01 2.68468871e-02 9.26479950e-01 1.25099714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.200371743 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:80.95, Y:45.54, Z:12.50 [[ 7.64704816e-01 -5.54274495e-01 3.28643164e-01 8.09540837e+01] [ 5.22603346e-01 8.31834941e-01 1.86912746e-01 4.55426428e+01] [-3.76977835e-01 2.88169400e-02 9.25773890e-01 1.25000634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23037174300003 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:80.98, Y:45.57, Z:12.49 [[ 7.64075129e-01 -5.50545794e-01 3.36286376e-01 8.09826577e+01] [ 5.25000754e-01 8.33576946e-01 1.71824572e-01 4.55673702e+01] [-3.74917865e-01 4.52637188e-02 9.25952369e-01 1.24903520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.260371743 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:81.01, Y:45.58, Z:12.47 [[ 7.63787417e-01 -5.54339802e-01 3.30660196e-01 8.10104786e+01] [ 5.25282111e-01 8.31524902e-01 1.80679391e-01 4.55783557e+01] [-3.75109965e-01 3.56892403e-02 9.26293038e-01 1.24738536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.290371743 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:81.04, Y:45.60, Z:12.46 [[ 7.64257856e-01 -5.52132663e-01 3.33255836e-01 8.10359399e+01] [ 5.23921717e-01 8.32877576e-01 1.78384351e-01 4.55957424e+01] [-3.76053140e-01 3.82683278e-02 9.25807524e-01 1.24622607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.320371743 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:81.06, Y:45.61, Z:12.45 [[ 7.64702190e-01 -5.50495107e-01 3.34941336e-01 8.10599335e+01] [ 5.21855095e-01 8.33986256e-01 1.79260105e-01 4.56104138e+01] [-3.78018281e-01 3.77102477e-02 9.25029792e-01 1.24494980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.350371743 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:81.09, Y:45.62, Z:12.44 [[ 7.65660561e-01 -5.51405048e-01 3.31234627e-01 8.10855976e+01] [ 5.20181724e-01 8.33685875e-01 1.85415305e-01 4.56241671e+01] [-3.78384565e-01 3.03370130e-02 9.25151223e-01 1.24370604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380371743 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:81.11, Y:45.64, Z:12.43 [[ 7.66124657e-01 -5.49453754e-01 3.33397034e-01 8.11108868e+01] [ 5.19913840e-01 8.34806836e-01 1.81072211e-01 4.56426598e+01] [-3.77812929e-01 3.46138467e-02 9.25234712e-01 1.24272339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.410371743 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:81.14, Y:45.66, Z:12.41 [[ 7.66615909e-01 -5.50162911e-01 3.31090349e-01 8.11367458e+01] [ 5.19193240e-01 8.34501996e-01 1.84512324e-01 4.56567603e+01] [-3.77807394e-01 3.04497880e-02 9.25383371e-01 1.24146478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440371743 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:81.16, Y:45.67, Z:12.40 [[ 7.67311574e-01 -5.48039225e-01 3.32995429e-01 8.11607286e+01] [ 5.17735056e-01 8.35828875e-01 1.82593821e-01 4.56726453e+01] [-3.78395771e-01 3.22970553e-02 9.25080289e-01 1.24037052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.470371743 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:81.19, Y:45.69, Z:12.39 [[ 7.68199621e-01 -5.43903298e-01 3.37695935e-01 8.11857792e+01] [ 5.15485205e-01 8.38301509e-01 1.77554451e-01 4.56905763e+01] [-3.79663463e-01 3.76799963e-02 9.24357005e-01 1.23920110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500371743 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:81.21, Y:45.70, Z:12.38 [[ 7.68118565e-01 -5.46530141e-01 3.33614560e-01 8.12126581e+01] [ 5.16924351e-01 8.36760264e-01 1.80614163e-01 4.57044243e+01] [-3.77866491e-01 3.37203985e-02 9.25245832e-01 1.23783125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.530371743 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:81.24, Y:45.72, Z:12.36 [[ 7.68389921e-01 -5.44317697e-01 3.36593486e-01 8.12376188e+01] [ 5.15182845e-01 8.38121138e-01 1.79275191e-01 4.57188861e+01] [-3.79688774e-01 3.56539397e-02 9.24426975e-01 1.23645818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560371743 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:81.26, Y:45.73, Z:12.35 [[ 7.69037195e-01 -5.43565732e-01 3.36330325e-01 8.12639998e+01] [ 5.14949941e-01 8.38574970e-01 1.77816137e-01 4.57334015e+01] [-3.78692950e-01 3.64460577e-02 9.24804484e-01 1.23507988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.590371743 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:81.29, Y:45.75, Z:12.34 [[ 7.69385836e-01 -5.46305124e-01 3.31053088e-01 8.12900952e+01] [ 5.15652442e-01 8.37049165e-01 1.82896839e-01 4.57451820e+01] [-3.77025191e-01 2.99900956e-02 9.25717343e-01 1.23371480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620371743 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:81.32, Y:45.76, Z:12.33 [[ 7.70401796e-01 -5.47103095e-01 3.27351916e-01 8.13160644e+01] [ 5.16492427e-01 8.36584686e-01 1.82651679e-01 4.57599404e+01] [-3.73786898e-01 2.83596042e-02 9.27080950e-01 1.23253658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.650371743 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:81.34, Y:45.78, Z:12.31 [[ 7.71431617e-01 -5.44532013e-01 3.29208365e-01 8.13404042e+01] [ 5.15606008e-01 8.38115415e-01 1.78081431e-01 4.57767247e+01] [-3.72885645e-01 3.23641645e-02 9.27312707e-01 1.23148249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680371743 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:81.37, Y:45.79, Z:12.30 [[ 7.72412642e-01 -5.45092724e-01 3.25964159e-01 8.13670865e+01] [ 5.16149764e-01 8.37809813e-01 1.77944200e-01 4.57927062e+01] [-3.70092060e-01 3.07999745e-02 9.28484372e-01 1.23029308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.710371743 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:81.39, Y:45.81, Z:12.29 [[ 7.74868540e-01 -5.40988051e-01 3.26971977e-01 8.13912065e+01] [ 5.11834292e-01 8.40506813e-01 1.77690615e-01 4.58072104e+01] [-3.70950674e-01 2.96686034e-02 9.28178524e-01 1.22900169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740371743 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:81.42, Y:45.82, Z:12.28 [[ 7.76020886e-01 -5.38206696e-01 3.28823870e-01 8.14162353e+01] [ 5.10026336e-01 8.42203794e-01 1.74831079e-01 4.58244593e+01] [-3.71031968e-01 3.20362643e-02 9.28067323e-01 1.22788597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.770371743 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:81.44, Y:45.84, Z:12.27 [[ 7.78144589e-01 -5.34239927e-01 3.30270645e-01 8.14419820e+01] [ 5.06398505e-01 8.44711107e-01 1.73273480e-01 4.58429459e+01] [-3.71552894e-01 3.24167397e-02 9.27845678e-01 1.22677539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800371743 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:81.47, Y:45.86, Z:12.25 [[ 7.79009943e-01 -5.34526389e-01 3.27757607e-01 8.14679387e+01] [ 5.04489095e-01 8.44744915e-01 1.78596702e-01 4.58568394e+01] [-3.72336222e-01 2.62215317e-02 9.27727422e-01 1.22539738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.830371743 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:81.49, Y:45.87, Z:12.24 [[ 7.79913175e-01 -5.29323913e-01 3.33993464e-01 8.14924258e+01] [ 5.00750260e-01 8.47844320e-01 1.74382298e-01 4.58747040e+01] [-3.75479182e-01 3.12442622e-02 9.26304043e-01 1.22425189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86037174300003 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:81.52, Y:45.89, Z:12.23 [[ 7.81500380e-01 -5.32028081e-01 3.25888441e-01 8.15183865e+01] [ 4.99600680e-01 8.46511278e-01 1.83896213e-01 4.58873779e+01] [-3.73706190e-01 1.90991267e-02 9.27350477e-01 1.22304150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.890371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:81.54, Y:45.91, Z:12.22 [[ 7.81955349e-01 -5.28359121e-01 3.30730210e-01 8.15421015e+01] [ 4.97719687e-01 8.48663606e-01 1.79011723e-01 4.59058821e+01] [-3.75261169e-01 2.46317620e-02 9.26591782e-01 1.22212214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92037174300003 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:81.57, Y:45.92, Z:12.21 [[ 7.82255861e-01 -5.30957109e-01 3.25822522e-01 8.15680335e+01] [ 4.98119400e-01 8.47211220e-01 1.84689502e-01 4.59192236e+01] [-3.74102701e-01 1.78240738e-02 9.27215979e-01 1.22092639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.950371743 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:81.59, Y:45.93, Z:12.20 [[ 7.82315915e-01 -5.35727378e-01 3.17770333e-01 8.15917939e+01] [ 5.00298336e-01 8.44343726e-01 1.91794808e-01 4.59321226e+01] [-3.71057117e-01 8.93583836e-03 9.28567050e-01 1.22003418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98037174300003 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:81.62, Y:45.96, Z:12.19 [[ 7.81830241e-01 -5.28913230e-01 3.30139774e-01 8.16162851e+01] [ 5.00040580e-01 8.48197358e-01 1.74701632e-01 4.59567919e+01] [-3.72425688e-01 2.84962653e-02 9.27624423e-01 1.21926215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.010371743 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:81.64, Y:45.97, Z:12.18 [[ 7.81191446e-01 -5.32372784e-01 3.26066164e-01 8.16421215e+01] [ 5.00596950e-01 8.46255171e-01 1.82359204e-01 4.59673964e+01] [-3.73018255e-01 2.07702772e-02 9.27591493e-01 1.21774799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.040371743 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:81.67, Y:45.99, Z:12.17 [[ 7.80485348e-01 -5.30559077e-01 3.30680643e-01 8.16710004e+01] [ 5.03018831e-01 8.47033431e-01 1.71774336e-01 4.59882582e+01] [-3.71233993e-01 3.22712379e-02 9.27978389e-01 1.21659227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.070371743 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:81.70, Y:45.99, Z:12.15 [[ 7.79723938e-01 -5.44781311e-01 3.08616111e-01 8.16959744e+01] [ 5.07872237e-01 8.38572690e-01 1.97133548e-01 4.59891744e+01] [-3.66191714e-01 3.02780838e-03 9.30534503e-01 1.21517027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.100371743 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:81.72, Y:46.01, Z:12.15 [[ 7.78828865e-01 -5.41661435e-01 3.16272808e-01 8.17197485e+01] [ 5.11051517e-01 8.40337328e-01 1.80719456e-01 4.60128285e+01] [-3.63664606e-01 2.08821698e-02 9.31295866e-01 1.21470903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130371743 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:81.75, Y:46.03, Z:12.14 [[ 7.77956461e-01 -5.44036658e-01 3.14337175e-01 8.17462449e+01] [ 5.13822150e-01 8.38787648e-01 1.80061324e-01 4.60285999e+01] [-3.61622101e-01 2.14335332e-02 9.32078355e-01 1.21366413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.160371743 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:81.77, Y:46.04, Z:12.13 [[ 7.77148889e-01 -5.46552900e-01 3.11960786e-01 8.17724213e+01] [ 5.16199939e-01 8.37172529e-01 1.80775495e-01 4.60438147e+01] [-3.59968371e-01 2.05446637e-02 9.32738274e-01 1.21259675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190371743 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:81.80, Y:46.06, Z:12.12 [[ 7.76853888e-01 -5.45579963e-01 3.14389154e-01 8.17971276e+01] [ 5.16611712e-01 8.37691977e-01 1.77156685e-01 4.60599993e+01] [-3.60014409e-01 2.47922595e-02 9.32617268e-01 1.21156322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.220371743 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:81.83, Y:46.07, Z:12.10 [[ 7.75513271e-01 -5.47494383e-01 3.14370908e-01 8.18252733e+01] [ 5.18821735e-01 8.36405078e-01 1.76778258e-01 4.60748919e+01] [-3.59726527e-01 2.60085744e-02 9.32695223e-01 1.21035108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250371743 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:81.85, Y:46.10, Z:12.09 [[ 7.75193107e-01 -5.41390316e-01 3.25533673e-01 8.18525513e+01] [ 5.17397404e-01 8.39777077e-01 1.64542966e-01 4.60965419e+01] [-3.62457685e-01 4.08777039e-02 9.31103346e-01 1.20911304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.280371743 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:81.88, Y:46.10, Z:12.08 [[ 7.73538210e-01 -5.48976363e-01 3.16644264e-01 8.18781065e+01] [ 5.20108872e-01 8.35395802e-01 1.77765619e-01 4.61040241e+01] [-3.62112412e-01 2.71809923e-02 9.31738050e-01 1.20761987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310371743 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:81.90, Y:46.12, Z:12.07 [[ 7.72784421e-01 -5.47845048e-01 3.20421663e-01 8.19036291e+01] [ 5.21060472e-01 8.35903153e-01 1.72516385e-01 4.61217197e+01] [-3.62353726e-01 3.36410880e-02 9.31433333e-01 1.20658047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.340371743 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:81.93, Y:46.14, Z:12.05 [[ 7.71873817e-01 -5.51475129e-01 3.16363704e-01 8.19308225e+01] [ 5.23494137e-01 8.33659361e-01 1.75971469e-01 4.61352086e+01] [-3.60783452e-01 2.97867749e-02 9.32173830e-01 1.20533265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370371743 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:81.96, Y:46.15, Z:12.04 [[ 7.70764035e-01 -5.50232007e-01 3.21197043e-01 8.19560660e+01] [ 5.23743895e-01 8.34261382e-01 1.72337690e-01 4.61506429e+01] [-3.62788002e-01 3.53932969e-02 9.31199323e-01 1.20422307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.400371743 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:81.98, Y:46.16, Z:12.03 [[ 7.69771386e-01 -5.53089729e-01 3.18659324e-01 8.19814210e+01] [ 5.25241277e-01 8.32516214e-01 1.76177055e-01 4.61628807e+01] [-3.62730773e-01 3.17569748e-02 9.31352715e-01 1.20295937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430371743 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:82.01, Y:46.18, Z:12.02 [[ 7.68613848e-01 -5.53622269e-01 3.20523221e-01 8.20079641e+01] [ 5.27453943e-01 8.31957250e-01 1.72161181e-01 4.61797735e+01] [-3.61973882e-01 3.67357686e-02 9.31464112e-01 1.20184793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.460371743 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:82.03, Y:46.19, Z:12.01 [[ 7.66588180e-01 -5.61159693e-01 3.12157589e-01 8.20348826e+01] [ 5.31857979e-01 8.27258801e-01 1.81024768e-01 4.61886038e+01] [-3.59818916e-01 2.72520563e-02 9.32624079e-01 1.20059269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490371743 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:82.06, Y:46.21, Z:12.00 [[ 7.65996898e-01 -5.59331786e-01 3.16854393e-01 8.20600585e+01] [ 5.33527629e-01 8.28104947e-01 1.72018795e-01 4.62077071e+01] [-3.58604270e-01 3.72847095e-02 9.32744782e-01 1.19969672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.520371743 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:82.09, Y:46.22, Z:11.98 [[ 7.64984612e-01 -5.63733696e-01 3.11452828e-01 8.20859218e+01] [ 5.35715410e-01 8.25390881e-01 1.78154127e-01 4.62170396e+01] [-3.57501809e-01 3.05649143e-02 9.33412151e-01 1.19838421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550371743 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:82.11, Y:46.24, Z:11.97 [[ 7.64907833e-01 -5.60501870e-01 3.17417172e-01 8.21118757e+01] [ 5.36309102e-01 8.27106193e-01 1.68130585e-01 4.62370227e+01] [-3.56775216e-01 4.16293175e-02 9.33262260e-01 1.19738198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.580371743 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:82.14, Y:46.25, Z:11.96 [[ 7.64885211e-01 -5.64229447e-01 3.10798560e-01 8.21379002e+01] [ 5.36405159e-01 8.25043227e-01 1.77688435e-01 4.62464012e+01] [-3.56679294e-01 3.08026952e-02 9.33718949e-01 1.19590065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61037174300003 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:82.16, Y:46.26, Z:11.95 [[ 7.65299643e-01 -5.64328857e-01 3.09595538e-01 8.21621439e+01] [ 5.35659733e-01 8.25067360e-01 1.79812405e-01 4.62592808e+01] [-3.56910502e-01 2.82274938e-02 9.33712002e-01 1.19478964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.640371743 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:82.19, Y:46.28, Z:11.94 [[ 7.67116988e-01 -5.59190562e-01 3.14384228e-01 8.21882727e+01] [ 5.34481919e-01 8.28144074e-01 1.68838593e-01 4.62808236e+01] [-3.54768384e-01 3.85137326e-02 9.34160632e-01 1.19390719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67037174300003 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:82.21, Y:46.28, Z:11.93 [[ 7.65859816e-01 -5.79249618e-01 2.79156985e-01 8.22077485e+01] [ 5.41307285e-01 8.15121055e-01 2.06310663e-01 4.62777747e+01] [-3.47052109e-01 -6.89533714e-03 9.37820499e-01 1.19271062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.700371743 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:82.23, Y:46.31, Z:11.93 [[ 7.68626008e-01 -5.67589587e-01 2.95052742e-01 8.22308416e+01] [ 5.38837563e-01 8.23045018e-01 1.79585577e-01 4.63075732e+01] [-3.44772593e-01 2.09513554e-02 9.38452396e-01 1.19262300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73037174300003 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:82.26, Y:46.33, Z:11.91 [[ 7.71304061e-01 -5.53449667e-01 3.14298444e-01 8.22630632e+01] [ 5.31525505e-01 8.31747713e-01 1.60238508e-01 4.63311557e+01] [-3.50100961e-01 4.34650267e-02 9.35703002e-01 1.19114565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.760371743 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:82.28, Y:46.33, Z:11.90 [[ 7.70264057e-01 -5.69932735e-01 2.86129272e-01 8.22824540e+01] [ 5.35933739e-01 8.21681816e-01 1.93943344e-01 4.63303169e+01] [-3.45641880e-01 3.95874340e-03 9.38358151e-01 1.18984494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.790371743 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:82.31, Y:46.35, Z:11.89 [[ 7.71392734e-01 -5.63963077e-01 2.94786190e-01 8.23063587e+01] [ 5.35044361e-01 8.25572271e-01 1.79326400e-01 4.63538070e+01] [-3.44500773e-01 1.93926067e-02 9.38585715e-01 1.18932267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.820371743 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:82.34, Y:46.38, Z:11.88 [[ 7.74032365e-01 -5.46470148e-01 3.19756587e-01 8.23390244e+01] [ 5.26483279e-01 8.36052377e-01 1.54375454e-01 4.63801144e+01] [-3.51694832e-01 4.88548988e-02 9.34838994e-01 1.18779274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.850371743 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:82.37, Y:46.39, Z:11.86 [[ 7.73887261e-01 -5.48543553e-01 3.16541432e-01 8.23663911e+01] [ 5.24103135e-01 8.35288980e-01 1.66157225e-01 4.63888289e+01] [-3.55548045e-01 3.73133976e-02 9.33912897e-01 1.18584311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880371743 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:82.39, Y:46.39, Z:11.84 [[ 7.72798189e-01 -5.62463698e-01 2.93968617e-01 8.23914203e+01] [ 5.27899069e-01 8.26806206e-01 1.94201111e-01 4.63889741e+01] [-3.52286152e-01 5.10749246e-03 9.35878400e-01 1.18449107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.910371743 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:82.42, Y:46.42, Z:11.84 [[ 7.71574114e-01 -5.57026768e-01 3.07236988e-01 8.24158135e+01] [ 5.30296442e-01 8.29972588e-01 1.73006321e-01 4.64157174e+01] [-3.51367430e-01 2.94394832e-02 9.35774677e-01 1.18415090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940371743 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:82.44, Y:46.43, Z:11.83 [[ 7.70621490e-01 -5.59049746e-01 3.05950815e-01 8.24434581e+01] [ 5.31566287e-01 8.28676667e-01 1.75306204e-01 4.64299395e+01] [-3.51539190e-01 2.75384103e-02 9.35768045e-01 1.18286423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.970371743 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:82.47, Y:46.45, Z:11.82 [[ 7.69532683e-01 -5.60547777e-01 3.05950388e-01 8.24704122e+01] [ 5.33634432e-01 8.27603609e-01 1.74087791e-01 4.64462412e+01] [-3.50790170e-01 2.92994166e-02 9.35995620e-01 1.18172074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000371743 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:82.50, Y:46.46, Z:11.81 [[ 7.67306677e-01 -5.63405719e-01 3.06291461e-01 8.24970073e+01] [ 5.36825088e-01 8.25596308e-01 1.73808981e-01 4.64604145e+01] [-3.50798073e-01 3.10601488e-02 9.35935884e-01 1.18059596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.030371743 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:82.52, Y:46.47, Z:11.79 [[ 7.66196590e-01 -5.67224686e-01 3.01991624e-01 8.25219654e+01] [ 5.38768703e-01 8.23171547e-01 1.79211856e-01 4.64718949e+01] [-3.50244301e-01 2.53921225e-02 9.36314141e-01 1.17942816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060371743 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:82.55, Y:46.49, Z:11.78 [[ 7.65532535e-01 -5.64578708e-01 3.08562506e-01 8.25470883e+01] [ 5.40008679e-01 8.24535238e-01 1.68914972e-01 4.64916243e+01] [-3.49786456e-01 3.73165246e-02 9.36085953e-01 1.17846458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.090371743 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:82.58, Y:46.51, Z:11.77 [[ 7.63911005e-01 -5.67700107e-01 3.06849419e-01 8.25754461e+01] [ 5.42803284e-01 8.22425360e-01 1.70238427e-01 4.65053121e+01] [-3.49005117e-01 3.65118651e-02 9.36409265e-01 1.17701361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120371743 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:82.60, Y:46.52, Z:11.76 [[ 7.63244442e-01 -5.69803245e-01 3.04601680e-01 8.26025792e+01] [ 5.44673822e-01 8.21020086e-01 1.71045157e-01 4.65202981e+01] [-3.47546183e-01 3.53592961e-02 9.36995929e-01 1.17579932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.150371743 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:82.63, Y:46.54, Z:11.75 [[ 7.63117043e-01 -5.70834615e-01 3.02985514e-01 8.26289871e+01] [ 5.45170405e-01 8.20380491e-01 1.72525591e-01 4.65356138e+01] [-3.47046984e-01 3.35215162e-02 9.37248472e-01 1.17459815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180371743 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:82.65, Y:46.54, Z:11.74 [[ 7.60119637e-01 -5.88059549e-01 2.76412923e-01 8.26470303e+01] [ 5.53633931e-01 8.08814289e-01 1.98264764e-01 4.65381152e+01] [-3.40158210e-01 2.32663298e-03 9.40365344e-01 1.17395863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.210371743 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:82.68, Y:46.58, Z:11.73 [[ 7.63300109e-01 -5.63445933e-01 3.16072183e-01 8.26768770e+01] [ 5.45953906e-01 8.24148010e-01 1.50712942e-01 4.65768958e+01] [-3.45408854e-01 5.75216380e-02 9.36687773e-01 1.17340350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240371743 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:82.71, Y:46.58, Z:11.71 [[ 7.62888531e-01 -5.70261392e-01 3.04635902e-01 8.27062222e+01] [ 5.45445165e-01 8.20663334e-01 1.70297573e-01 4.65831028e+01] [-3.47117647e-01 3.62441145e-02 9.37120965e-01 1.17134078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.270371743 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:82.73, Y:46.59, Z:11.70 [[ 7.62986783e-01 -5.73523881e-01 2.98197128e-01 8.27311075e+01] [ 5.45237639e-01 8.18792654e-01 1.79706724e-01 4.65937474e+01] [-3.47227716e-01 2.54744432e-02 9.37434780e-01 1.17010686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300371743 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:82.75, Y:46.60, Z:11.70 [[ 7.61836345e-01 -5.85274734e-01 2.77594795e-01 8.27470657e+01] [ 5.51537000e-01 8.10825790e-01 1.95878728e-01 4.66031169e+01] [-3.39723889e-01 3.87626608e-03 9.40517227e-01 1.16988022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.330371743 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:82.78, Y:46.64, Z:11.69 [[ 7.64650384e-01 -5.64113430e-01 3.11585989e-01 8.27764248e+01] [ 5.45034168e-01 8.24073413e-01 1.54404550e-01 4.66384330e+01] [-3.43871409e-01 5.17595119e-02 9.37589146e-01 1.16914441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36037174300003 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:82.80, Y:46.64, Z:11.67 [[ 7.64288484e-01 -5.71276288e-01 2.99176396e-01 8.28048401e+01] [ 5.45127851e-01 8.20192864e-01 1.73549106e-01 4.66444606e+01] [-3.44526834e-01 3.04478024e-02 9.38282576e-01 1.16725404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.390371743 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:82.83, Y:46.66, Z:11.66 [[ 7.64375415e-01 -5.73901345e-01 2.93883431e-01 8.28310317e+01] [ 5.46548888e-01 8.18530257e-01 1.76896950e-01 4.66591395e+01] [-3.42073877e-01 2.54059831e-02 9.39329547e-01 1.16622915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42037174300003 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:82.86, Y:46.68, Z:11.65 [[ 7.64308292e-01 -5.70945131e-01 2.99757387e-01 8.28559298e+01] [ 5.46508877e-01 8.20252150e-01 1.68862243e-01 4.66796299e+01] [-3.42287717e-01 3.47572605e-02 9.38952103e-01 1.16526719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.450371743 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:82.88, Y:46.69, Z:11.64 [[ 7.64447907e-01 -5.71362385e-01 2.98604125e-01 8.28802586e+01] [ 5.45339469e-01 8.20132384e-01 1.73169675e-01 4.66932203e+01] [-3.43837551e-01 3.04614195e-02 9.38534944e-01 1.16394935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48037174300003 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:82.91, Y:46.71, Z:11.63 [[ 7.64500543e-01 -5.70817224e-01 2.99510628e-01 8.29059490e+01] [ 5.46287786e-01 8.20357552e-01 1.69065492e-01 4.67118736e+01] [-3.42211300e-01 3.43683376e-02 9.38994272e-01 1.16290923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.510371743 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:82.93, Y:46.73, Z:11.62 [[ 7.64470751e-01 -5.72550644e-01 2.96260411e-01 8.29318127e+01] [ 5.46743112e-01 8.19318985e-01 1.72593074e-01 4.67260432e+01] [-3.41550056e-01 3.00359821e-02 9.39383521e-01 1.16165267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.540371743 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:82.96, Y:46.75, Z:11.61 [[ 7.63865585e-01 -5.73008399e-01 2.96935588e-01 8.29572557e+01] [ 5.48366206e-01 8.18871712e-01 1.69539448e-01 4.67451778e+01] [-3.40299681e-01 3.33240917e-02 9.39726360e-01 1.16061491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.570371743 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:82.98, Y:46.76, Z:11.59 [[ 7.63769098e-01 -5.73618248e-01 2.96004850e-01 8.29819594e+01] [ 5.48014076e-01 8.18548058e-01 1.72219767e-01 4.67601820e+01] [-3.41082597e-01 3.06786883e-02 9.39532586e-01 1.15943621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.600371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:83.01, Y:46.78, Z:11.58 [[ 7.63620364e-01 -5.73931437e-01 2.95781416e-01 8.30069403e+01] [ 5.48602573e-01 8.18304775e-01 1.71500765e-01 4.67774986e+01] [-3.40469026e-01 3.13049689e-02 9.39734453e-01 1.15843148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630371743 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:83.03, Y:46.79, Z:11.57 [[ 7.62693119e-01 -5.76960696e-01 2.92259408e-01 8.30299347e+01] [ 5.50402371e-01 8.16316864e-01 1.75168511e-01 4.67928532e+01] [-3.39641629e-01 2.72604524e-02 9.40159790e-01 1.15741640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.660371743 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:83.06, Y:46.82, Z:11.56 [[ 7.62336340e-01 -5.73388474e-01 3.00114916e-01 8.30552159e+01] [ 5.50662306e-01 8.18320537e-01 1.64689174e-01 4.68153411e+01] [-3.40021073e-01 3.97134297e-02 9.39578902e-01 1.15646928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690371743 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:83.08, Y:46.82, Z:11.55 [[ 7.60463964e-01 -5.81210921e-01 2.89634985e-01 8.30794814e+01] [ 5.53392248e-01 8.13400286e-01 1.79267940e-01 4.68245424e+01] [-3.39781664e-01 2.39549467e-02 9.40199224e-01 1.15514598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.720371743 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:83.10, Y:46.84, Z:11.54 [[ 7.59638817e-01 -5.82186970e-01 2.89839956e-01 8.31045754e+01] [ 5.56213264e-01 8.12545652e-01 1.74345545e-01 4.68444091e+01] [-3.37009900e-01 2.87731841e-02 9.41061332e-01 1.15441851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750371743 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:83.13, Y:46.86, Z:11.53 [[ 7.58468534e-01 -5.85640831e-01 2.85920095e-01 8.31290461e+01] [ 5.58927594e-01 8.10161435e-01 1.76743868e-01 4.68597588e+01] [-3.35149860e-01 2.57539679e-02 9.41812776e-01 1.15348628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.780371743 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:83.15, Y:46.88, Z:11.53 [[ 7.58070636e-01 -5.84229609e-01 2.89835601e-01 8.31540404e+01] [ 5.59214530e-01 8.10971196e-01 1.72060540e-01 4.68785020e+01] [-3.35571186e-01 3.16462369e-02 9.41483136e-01 1.15252383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810371743 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:83.18, Y:46.89, Z:11.51 [[ 7.55999028e-01 -5.91205025e-01 2.80966348e-01 8.31795084e+01] [ 5.63764617e-01 8.06201211e-01 1.79468840e-01 4.68917944e+01] [-3.32618290e-01 2.27206173e-02 9.42787806e-01 1.15142780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.840371743 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:83.20, Y:46.91, Z:11.51 [[ 7.55468976e-01 -5.90856099e-01 2.83117813e-01 8.32034234e+01] [ 5.65433651e-01 8.06264558e-01 1.73845475e-01 4.69110407e+01] [-3.30985518e-01 2.87494757e-02 9.43197781e-01 1.15069135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870371743 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:83.23, Y:46.93, Z:11.50 [[ 7.55100446e-01 -5.89746848e-01 2.86394784e-01 8.32285298e+01] [ 5.66187056e-01 8.06837986e-01 1.68655516e-01 4.69299254e+01] [-3.30538250e-01 3.48011640e-02 9.43150754e-01 1.14972440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.900371743 meters Centerline goodness : 0.996393 Centerline is valid? [True, True] Translation: X:83.26, Y:46.95, Z:11.48 [[ 7.54606684e-01 -5.89392328e-01 2.88418855e-01 8.32552810e+01] [ 5.66534676e-01 8.06975398e-01 1.66820768e-01 4.69477481e+01] [-3.31069801e-01 3.75152161e-02 9.42860221e-01 1.14843565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930371743 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:83.28, Y:46.96, Z:11.47 [[ 7.54871814e-01 -5.90680594e-01 2.85070133e-01 8.32811356e+01] [ 5.66010640e-01 8.06285634e-01 1.71858756e-01 4.69605818e+01] [-3.31361585e-01 3.16213974e-02 9.42973800e-01 1.14713171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.960371743 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:83.31, Y:46.98, Z:11.46 [[ 7.55262634e-01 -5.88369227e-01 2.88790592e-01 8.33076485e+01] [ 5.64860394e-01 8.07797059e-01 1.68513044e-01 4.69801946e+01] [-3.32432080e-01 3.58547622e-02 9.42445409e-01 1.14606462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990371743 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:83.33, Y:47.00, Z:11.45 [[ 7.55548445e-01 -5.88368936e-01 2.88042606e-01 8.33343411e+01] [ 5.64128555e-01 8.07891241e-01 1.70501363e-01 4.69963355e+01] [-3.33024804e-01 3.36710195e-02 9.42316689e-01 1.14486438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.020371743 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:83.36, Y:47.01, Z:11.44 [[ 7.56016183e-01 -5.87608658e-01 2.88367120e-01 8.33607645e+01] [ 5.63427014e-01 8.08439683e-01 1.70221267e-01 4.70139056e+01] [-3.33150913e-01 3.37837928e-02 9.42268075e-01 1.14382963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050371743 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:83.39, Y:47.03, Z:11.43 [[ 7.57064275e-01 -5.84586179e-01 2.91740782e-01 8.33868609e+01] [ 5.61524219e-01 8.10464295e-01 1.66847773e-01 4.70328804e+01] [-3.33982389e-01 3.75050267e-02 9.41832860e-01 1.14272146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.080371743 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:83.41, Y:47.05, Z:11.41 [[ 7.57421190e-01 -5.84224790e-01 2.91538223e-01 8.34133950e+01] [ 5.60617570e-01 8.10794107e-01 1.68288019e-01 4.70487368e+01] [-3.34695505e-01 3.59765388e-02 9.41639319e-01 1.14139786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11037174300003 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:83.44, Y:47.06, Z:11.40 [[ 7.58599999e-01 -5.84478688e-01 2.87942188e-01 8.34389023e+01] [ 5.58970779e-01 8.10873387e-01 1.73309029e-01 4.70612084e+01] [-3.34780091e-01 2.94790403e-02 9.41835058e-01 1.14017570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.140371743 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:83.46, Y:47.08, Z:11.39 [[ 7.58861147e-01 -5.83441079e-01 2.89354917e-01 8.34641964e+01] [ 5.59213020e-01 8.11481642e-01 1.69641808e-01 4.70800038e+01] [-3.33782203e-01 3.30764601e-02 9.42069737e-01 1.13923833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17037174300003 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:83.49, Y:47.10, Z:11.38 [[ 7.59519615e-01 -5.82631767e-01 2.89257978e-01 8.34890346e+01] [ 5.57962449e-01 8.12116575e-01 1.70717818e-01 4.70955401e+01] [-3.34376822e-01 3.17315581e-02 9.41905117e-01 1.13812818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.200371743 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:83.51, Y:47.11, Z:11.37 [[ 7.60334333e-01 -5.82169464e-01 2.88045861e-01 8.35144316e+01] [ 5.56992532e-01 8.12524555e-01 1.71939425e-01 4.71118013e+01] [-3.34142218e-01 2.97079455e-02 9.42054359e-01 1.13713820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23037174300003 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:83.54, Y:47.13, Z:11.36 [[ 7.60644081e-01 -5.80416270e-01 2.90753393e-01 8.35405091e+01] [ 5.56560200e-01 8.13613182e-01 1.68149737e-01 4.71304046e+01] [-3.34157637e-01 3.39196640e-02 9.41906646e-01 1.13610360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.260371743 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:83.57, Y:47.15, Z:11.35 [[ 7.60752977e-01 -5.80390582e-01 2.90519674e-01 8.35667228e+01] [ 5.56335428e-01 8.13657017e-01 1.68680614e-01 4.71463562e+01] [-3.34284011e-01 3.33021078e-02 9.41883841e-01 1.13488515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.290371743 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:83.59, Y:47.16, Z:11.34 [[ 7.61009100e-01 -5.81379805e-01 2.87858771e-01 8.35927316e+01] [ 5.56520378e-01 8.13072979e-01 1.70872466e-01 4.71610718e+01] [-3.33391989e-01 3.01637700e-02 9.42305645e-01 1.13367686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.320371743 meters Centerline goodness : 0.995899 Centerline is valid? [True, True] Translation: X:83.62, Y:47.18, Z:11.33 [[ 7.61387345e-01 -5.79520347e-01 2.90595041e-01 8.36177703e+01] [ 5.55910910e-01 8.14240069e-01 1.67260788e-01 4.71786452e+01] [-3.33545156e-01 3.41947062e-02 9.42113768e-01 1.13263999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.350371743 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:83.64, Y:47.19, Z:11.31 [[ 7.61326969e-01 -5.80375601e-01 2.89042226e-01 8.36441776e+01] [ 5.56214033e-01 8.13710485e-01 1.68822972e-01 4.71945645e+01] [-3.33177424e-01 3.22398605e-02 9.42312791e-01 1.13141845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380371743 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:83.67, Y:47.21, Z:11.30 [[ 7.61735779e-01 -5.80601541e-01 2.87507311e-01 8.36705084e+01] [ 5.56453287e-01 8.13578231e-01 1.68671873e-01 4.72122356e+01] [-3.31840839e-01 3.15009873e-02 9.42809284e-01 1.13032568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.410371743 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:83.69, Y:47.23, Z:11.29 [[ 7.62258719e-01 -5.80594361e-01 2.86132546e-01 8.36946422e+01] [ 5.55570425e-01 8.13690433e-01 1.71024505e-01 4.72264584e+01] [-3.32119178e-01 2.86018601e-02 9.42803683e-01 1.12922930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440371743 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:83.72, Y:47.25, Z:11.28 [[ 7.63544406e-01 -5.71466789e-01 3.00708577e-01 8.37211271e+01] [ 5.52388026e-01 8.19198901e-01 1.54209696e-01 4.72513903e+01] [-3.34465855e-01 4.83618665e-02 9.41166150e-01 1.12819519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.470371743 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:83.75, Y:47.26, Z:11.27 [[ 7.63236431e-01 -5.79513405e-01 2.85717281e-01 8.37491918e+01] [ 5.53520475e-01 8.14557129e-01 1.73527424e-01 4.72582006e+01] [-3.33294517e-01 2.57079134e-02 9.42472211e-01 1.12650659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500371743 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:83.77, Y:47.28, Z:11.26 [[ 7.63969314e-01 -5.73975474e-01 2.94793219e-01 8.37721689e+01] [ 5.51028465e-01 8.18056193e-01 1.64777715e-01 4.72784667e+01] [-3.35735786e-01 3.65543370e-02 9.41246654e-01 1.12565769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.530371743 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:83.80, Y:47.29, Z:11.24 [[ 7.64543942e-01 -5.75142382e-01 2.91004813e-01 8.37987478e+01] [ 5.50445134e-01 8.17481450e-01 1.69511752e-01 4.72933364e+01] [-3.35384429e-01 3.05829997e-02 9.41584816e-01 1.12442692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560371743 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:83.81, Y:47.30, Z:11.24 [[ 7.62885615e-01 -5.89791392e-01 2.64861573e-01 8.38148958e+01] [ 5.57203539e-01 8.07555637e-01 1.93334192e-01 4.72980055e+01] [-3.27917298e-01 8.99321478e-05 9.44706429e-01 1.12387347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.590371743 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:83.85, Y:47.34, Z:11.23 [[ 7.65915110e-01 -5.64933037e-01 3.06960434e-01 8.38463205e+01] [ 5.48561805e-01 8.23211392e-01 1.46297472e-01 4.73367647e+01] [-3.35341602e-01 5.63353254e-02 9.40410730e-01 1.12332779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620371743 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:83.88, Y:47.34, Z:11.21 [[ 7.65509038e-01 -5.75459485e-01 2.87823375e-01 8.38763131e+01] [ 5.49034407e-01 8.17456699e-01 1.74142945e-01 4.73383031e+01] [-3.35495355e-01 2.47169375e-02 9.41717548e-01 1.12118517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.650371743 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:83.89, Y:47.35, Z:11.21 [[ 7.63254032e-01 -5.88568952e-01 2.66514298e-01 8.38920769e+01] [ 5.56697895e-01 8.08443052e-01 1.91068798e-01 4.73463383e+01] [-3.27918794e-01 2.53391791e-03 9.44702516e-01 1.12079566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680371743 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:83.92, Y:47.38, Z:11.20 [[ 7.66312858e-01 -5.65693908e-01 3.04557066e-01 8.39235229e+01] [ 5.48691633e-01 8.22855574e-01 1.47804590e-01 4.73824017e+01] [-3.34218635e-01 5.38433563e-02 9.40956320e-01 1.12018250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.710371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:83.95, Y:47.39, Z:11.18 [[ 7.66238703e-01 -5.73450272e-01 2.89884521e-01 8.39514647e+01] [ 5.48145019e-01 8.18760538e-01 1.70787061e-01 4.73855175e+01] [-3.35283893e-01 2.80351003e-02 9.41699923e-01 1.11814187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740371743 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:83.98, Y:47.40, Z:11.17 [[ 7.66702303e-01 -5.72542484e-01 2.90452548e-01 8.39770465e+01] [ 5.47764391e-01 8.19348220e-01 1.69182349e-01 4.74021665e+01] [-3.34845860e-01 2.93870665e-02 9.41814552e-01 1.11716882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.770371743 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:84.00, Y:47.42, Z:11.16 [[ 7.67112879e-01 -5.70994674e-01 2.92408813e-01 8.40025024e+01] [ 5.47096471e-01 8.20323026e-01 1.66600073e-01 4.74194278e+01] [-3.34997436e-01 3.21747683e-02 9.41669529e-01 1.11611918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800371743 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:84.03, Y:47.44, Z:11.15 [[ 7.68778215e-01 -5.67161603e-01 2.95478885e-01 8.40293155e+01] [ 5.44663800e-01 8.22810417e-01 1.62247842e-01 4.74374716e+01] [-3.35143851e-01 3.62040464e-02 9.41471118e-01 1.11501628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.830371743 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:84.06, Y:47.45, Z:11.14 [[ 7.69604968e-01 -5.67630370e-01 2.92410594e-01 8.40570151e+01] [ 5.43314912e-01 8.22727382e-01 1.67118405e-01 4.74513133e+01] [-3.35435685e-01 3.02558813e-02 9.41577125e-01 1.11361730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86037174300003 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:84.08, Y:47.47, Z:11.12 [[ 7.70675409e-01 -5.67022455e-01 2.90766143e-01 8.40843305e+01] [ 5.41992411e-01 8.23244516e-01 1.68857020e-01 4.74672067e+01] [-3.35117354e-01 2.74590900e-02 9.41776172e-01 1.11245259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.890371743 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:84.10, Y:47.47, Z:11.12 [[ 7.71453241e-01 -5.83754820e-01 2.53160437e-01 8.41006557e+01] [ 5.47819536e-01 8.11742219e-01 2.02406337e-01 4.74673121e+01] [-3.23656690e-01 -1.74607913e-02 9.46013461e-01 1.11188250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92037174300003 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:84.13, Y:47.52, Z:11.12 [[ 7.75911360e-01 -5.48085805e-01 3.12351584e-01 8.41286307e+01] [ 5.35810010e-01 8.33913627e-01 1.32271294e-01 4.75178408e+01] [-3.32970261e-01 6.47303059e-02 9.40712917e-01 1.11194773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.950371743 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:84.16, Y:47.51, Z:11.09 [[ 7.78571876e-01 -5.56780455e-01 2.89519186e-01 8.41591767e+01] [ 5.30453146e-01 8.30397833e-01 1.70466708e-01 4.75138155e+01] [-3.35328636e-01 2.08557784e-02 9.41870343e-01 1.10904187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98037174300003 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:84.19, Y:47.53, Z:11.08 [[ 7.79755351e-01 -5.57272955e-01 2.85356701e-01 8.41856329e+01] [ 5.30855672e-01 8.30123346e-01 1.70550538e-01 4.75306191e+01] [-3.31924462e-01 1.84955290e-02 9.43124630e-01 1.10818786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.010371743 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:84.21, Y:47.55, Z:11.07 [[ 7.80358325e-01 -5.53160344e-01 2.91641078e-01 8.42088960e+01] [ 5.28592554e-01 8.32687267e-01 1.64990387e-01 4.75482035e+01] [-3.34111951e-01 2.54076798e-02 9.42190880e-01 1.10730667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.040371743 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:84.24, Y:47.56, Z:11.06 [[ 7.80267397e-01 -5.54511766e-01 2.89308644e-01 8.42354835e+01] [ 5.29225699e-01 8.31865347e-01 1.67093398e-01 4.75637468e+01] [-3.33321090e-01 2.27320385e-02 9.42539286e-01 1.10615089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.070371743 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:84.25, Y:47.56, Z:11.06 [[ 7.78184127e-01 -5.76322188e-01 2.49564020e-01 8.42519545e+01] [ 5.39097104e-01 8.16832645e-01 2.05325943e-01 4.75622525e+01] [-3.22185935e-01 -2.52421492e-02 9.46339821e-01 1.10570292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.100371743 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:84.28, Y:47.61, Z:11.06 [[ 7.81064070e-01 -5.40510797e-01 3.12709126e-01 8.42818858e+01] [ 5.27393339e-01 8.39127017e-01 1.33124431e-01 4.76121733e+01] [-3.34357868e-01 6.09420004e-02 9.40473758e-01 1.10575429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130371743 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:84.31, Y:47.61, Z:11.03 [[ 7.80262978e-01 -5.52393849e-01 2.93344032e-01 8.43138893e+01] [ 5.27680814e-01 8.33185667e-01 1.65392269e-01 4.76110764e+01] [-3.35771715e-01 2.57425535e-02 9.41591566e-01 1.10313779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.160371743 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:84.34, Y:47.62, Z:11.02 [[ 7.78809754e-01 -5.56010583e-01 2.90357709e-01 8.43395455e+01] [ 5.29179541e-01 8.30937889e-01 1.71788351e-01 4.76211650e+01] [-3.36785363e-01 1.98609157e-02 9.41371958e-01 1.10191610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:84.37, Y:47.64, Z:11.01 [[ 7.77955633e-01 -5.55853990e-01 2.92935787e-01 8.43666470e+01] [ 5.31964008e-01 8.30792030e-01 1.63703687e-01 4.76411352e+01] [-3.34364064e-01 2.84770899e-02 9.42013656e-01 1.10113173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.220371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:84.39, Y:47.65, Z:11.00 [[ 7.76664861e-01 -5.63788101e-01 2.80953149e-01 8.43905622e+01] [ 5.35263578e-01 8.25824502e-01 1.77501535e-01 4.76479230e+01] [-3.32091248e-01 1.25247834e-02 9.43164107e-01 1.10005858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250371743 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:84.42, Y:47.67, Z:11.00 [[ 7.74366449e-01 -5.64657438e-01 2.85514588e-01 8.44170628e+01] [ 5.40266721e-01 8.24928406e-01 1.66147510e-01 4.76683520e+01] [-3.29345521e-01 2.55949730e-02 9.43862503e-01 1.09956377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.280371743 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:84.44, Y:47.68, Z:10.99 [[ 7.73068387e-01 -5.67851683e-01 2.82683099e-01 8.44412924e+01] [ 5.42504602e-01 8.22823229e-01 1.69265150e-01 4.76806529e+01] [-3.28715721e-01 2.25033456e-02 9.44160778e-01 1.09860158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310371743 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:84.47, Y:47.70, Z:10.98 [[ 7.71529095e-01 -5.70835418e-01 2.80873249e-01 8.44669507e+01] [ 5.45435884e-01 8.20765266e-01 1.69835433e-01 4.76958950e+01] [-3.27479087e-01 2.21653713e-02 9.44598404e-01 1.09772984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.340371743 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:84.48, Y:47.70, Z:10.97 [[ 7.66879481e-01 -5.88060266e-01 2.57062219e-01 8.44845353e+01] [ 5.56251023e-01 8.08810209e-01 1.90816259e-01 4.77009816e+01] [-3.20126007e-01 -3.34195080e-03 9.47369079e-01 1.09738127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370371743 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:84.52, Y:47.73, Z:10.97 [[ 7.68949889e-01 -5.69926602e-01 2.89654512e-01 8.45156310e+01] [ 5.50463995e-01 8.20647099e-01 1.53387512e-01 4.77327991e+01] [-3.25123758e-01 4.14970693e-02 9.44760570e-01 1.09668183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.400371743 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:84.54, Y:47.74, Z:10.95 [[ 7.68133654e-01 -5.73254211e-01 2.85219738e-01 8.45427318e+01] [ 5.50466285e-01 8.18764261e-01 1.63131704e-01 4.77427686e+01] [-3.27043665e-01 3.16968982e-02 9.44477500e-01 1.09502557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430371743 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:84.57, Y:47.76, Z:10.94 [[ 7.67765295e-01 -5.75124615e-01 2.82432522e-01 8.45714471e+01] [ 5.51447188e-01 8.17570504e-01 1.65784409e-01 4.77560176e+01] [-3.26255194e-01 2.84631040e-02 9.44853110e-01 1.09371479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.460371743 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:84.60, Y:47.77, Z:10.93 [[ 7.67457029e-01 -5.76369792e-01 2.80726863e-01 8.45970744e+01] [ 5.52510219e-01 8.16729281e-01 1.66390326e-01 4.77711792e+01] [-3.25180206e-01 2.74070353e-02 9.45254827e-01 1.09273228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490371743 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:84.62, Y:47.79, Z:10.92 [[ 7.67667137e-01 -5.75703433e-01 2.81518604e-01 8.46225631e+01] [ 5.52009346e-01 8.17176347e-01 1.65856866e-01 4.77867930e+01] [-3.25534711e-01 2.80780351e-02 9.45113102e-01 1.09167935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.520371743 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:84.65, Y:47.80, Z:10.91 [[ 7.67937545e-01 -5.77017150e-01 2.78070379e-01 8.46472888e+01] [ 5.51823865e-01 8.16414656e-01 1.70169127e-01 4.78001042e+01] [-3.25211238e-01 2.27666103e-02 9.45367300e-01 1.09066278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550371743 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:84.67, Y:47.82, Z:10.90 [[ 7.68476699e-01 -5.72213570e-01 2.86382948e-01 8.46742167e+01] [ 5.51146302e-01 8.19298194e-01 1.58076639e-01 4.78231116e+01] [-3.25086630e-01 3.63606886e-02 9.44984965e-01 1.08982617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.580371743 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:84.70, Y:47.84, Z:10.89 [[ 7.68541236e-01 -5.70862643e-01 2.88894811e-01 8.47004700e+01] [ 5.49558922e-01 8.20224037e-01 1.58800253e-01 4.78384784e+01] [-3.27611601e-01 3.67201781e-02 9.44098654e-01 1.08851613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61037174300003 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:84.73, Y:47.85, Z:10.87 [[ 7.68606966e-01 -5.76750514e-01 2.76770982e-01 8.47275292e+01] [ 5.50629888e-01 8.16684188e-01 1.72724240e-01 4.78473045e+01] [-3.25653279e-01 1.96413207e-02 9.45285227e-01 1.08724598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.640371743 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:84.75, Y:47.86, Z:10.87 [[ 7.69183048e-01 -5.76171579e-01 2.76376101e-01 8.47508856e+01] [ 5.50554849e-01 8.17070838e-01 1.71127453e-01 4.78633216e+01] [-3.24417627e-01 2.05318667e-02 9.45691094e-01 1.08651725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67037174300003 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:84.78, Y:47.88, Z:10.86 [[ 7.69355549e-01 -5.73589014e-01 2.81225323e-01 8.47760964e+01] [ 5.51213201e-01 8.18567873e-01 1.61587885e-01 4.78848647e+01] [-3.22887051e-01 3.06965743e-02 9.45939572e-01 1.08573488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.700371743 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:84.80, Y:47.90, Z:10.85 [[ 7.69362841e-01 -5.76119078e-01 2.75984830e-01 8.48028575e+01] [ 5.52210849e-01 8.16994732e-01 1.66080663e-01 4.78998377e+01] [-3.21160391e-01 2.46255268e-02 9.46704593e-01 1.08461229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73037174300003 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:84.83, Y:47.92, Z:10.84 [[ 7.69213656e-01 -5.74691851e-01 2.79355736e-01 8.48257788e+01] [ 5.51540912e-01 8.17890271e-01 1.63884490e-01 4.79163123e+01] [-3.22665420e-01 2.80139294e-02 9.46098434e-01 1.08363547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.760371743 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:84.85, Y:47.93, Z:10.83 [[ 7.68754122e-01 -5.78850028e-01 2.71937025e-01 8.48521381e+01] [ 5.53244652e-01 8.15218001e-01 1.71289130e-01 4.79287986e+01] [-3.20838676e-01 1.87684803e-02 9.46947881e-01 1.08257517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.790371743 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:84.88, Y:47.95, Z:10.82 [[ 7.68163150e-01 -5.77297004e-01 2.76863766e-01 8.48766177e+01] [ 5.53968836e-01 8.16091443e-01 1.64661126e-01 4.79486816e+01] [-3.21004525e-01 2.68872888e-02 9.46695922e-01 1.08185137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.820371743 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:84.90, Y:47.96, Z:10.81 [[ 7.67467831e-01 -5.80486197e-01 2.72082531e-01 8.49025977e+01] [ 5.55508261e-01 8.14002425e-01 1.69736924e-01 4.79631303e+01] [-3.20005781e-01 2.08764644e-02 9.47185554e-01 1.08082257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.850371743 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:84.93, Y:47.98, Z:10.80 [[ 7.66780605e-01 -5.78590443e-01 2.77993890e-01 8.49265630e+01] [ 5.56026664e-01 8.15074473e-01 1.62751198e-01 4.79826875e+01] [-3.20752011e-01 2.97775529e-02 9.46695011e-01 1.07998216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880371743 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:84.95, Y:48.00, Z:10.79 [[ 7.64961234e-01 -5.81257403e-01 2.77442141e-01 8.49532713e+01] [ 5.59148687e-01 8.13116569e-01 1.61846197e-01 4.79995345e+01] [-3.19667102e-01 3.13253425e-02 9.47011968e-01 1.07893064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.910371743 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:84.98, Y:48.01, Z:10.78 [[ 7.64338357e-01 -5.83519730e-01 2.74393149e-01 8.49790940e+01] [ 5.59891375e-01 8.11670109e-01 1.66473066e-01 4.80130204e+01] [-3.19857036e-01 2.63886078e-02 9.47098262e-01 1.07770769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940371743 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:85.01, Y:48.03, Z:10.77 [[ 7.63318798e-01 -5.85403279e-01 2.73216789e-01 8.50052135e+01] [ 5.61816288e-01 8.10314437e-01 1.66592231e-01 4.80297416e+01] [-3.18915147e-01 2.63346604e-02 9.47417339e-01 1.07667519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.970371743 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:85.03, Y:48.05, Z:10.76 [[ 7.63482481e-01 -5.83288446e-01 2.77252756e-01 8.50300499e+01] [ 5.61687866e-01 8.11592863e-01 1.60697751e-01 4.80494149e+01] [-3.18749499e-01 3.30395916e-02 9.47262974e-01 1.07570493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000371743 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:85.05, Y:48.05, Z:10.75 [[ 7.60789748e-01 -6.01911369e-01 2.42696648e-01 8.50497072e+01] [ 5.69693314e-01 7.98503582e-01 1.94529064e-01 4.80495479e+01] [-3.10883398e-01 -9.73305914e-03 9.50398222e-01 1.07484408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.030371743 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:85.08, Y:48.09, Z:10.75 [[ 7.64554426e-01 -5.79829760e-01 2.81520832e-01 8.50756232e+01] [ 5.62688964e-01 8.13447906e-01 1.47253638e-01 4.80893709e+01] [-3.14384573e-01 4.58252446e-02 9.48189004e-01 1.07462427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060371743 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:85.10, Y:48.10, Z:10.73 [[ 7.64959424e-01 -5.85959960e-01 2.67372410e-01 8.51040888e+01] [ 5.61753070e-01 8.10051422e-01 1.68077904e-01 4.80956695e+01] [-3.15072323e-01 2.16244955e-02 9.48821275e-01 1.07284037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.090371743 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:85.13, Y:48.12, Z:10.72 [[ 7.65575533e-01 -5.84864787e-01 2.68006126e-01 8.51293688e+01] [ 5.61627519e-01 8.10769854e-01 1.65005372e-01 4.81150396e+01] [-3.13797120e-01 2.41955398e-02 9.49181723e-01 1.07198803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:85.15, Y:48.13, Z:10.71 [[ 7.66988729e-01 -5.81055212e-01 2.72218901e-01 8.51547851e+01] [ 5.59153669e-01 8.13347816e-01 1.60662706e-01 4.81349656e+01] [-3.14762551e-01 2.89857131e-02 9.48727761e-01 1.07096597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.150371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:85.18, Y:48.15, Z:10.70 [[ 7.67215242e-01 -5.83117599e-01 2.67122890e-01 8.51793583e+01] [ 5.58543483e-01 8.12146463e-01 1.68663277e-01 4.81471982e+01] [-3.15293435e-01 1.97987119e-02 9.48787680e-01 1.06977845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180371743 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:85.20, Y:48.17, Z:10.69 [[ 7.68137591e-01 -5.80301277e-01 2.70582833e-01 8.52044618e+01] [ 5.57750980e-01 8.13979510e-01 1.62330531e-01 4.81682237e+01] [-3.14449496e-01 2.62256574e-02 9.48911866e-01 1.06885797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.210371743 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:85.22, Y:48.17, Z:10.68 [[ 7.66301187e-01 -5.93738837e-01 2.45472369e-01 8.52236415e+01] [ 5.63839631e-01 8.04646895e-01 1.86086659e-01 4.81742513e+01] [-3.08005456e-01 -4.19137792e-03 9.51375358e-01 1.06812662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240371743 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:85.25, Y:48.21, Z:10.68 [[ 7.68929626e-01 -5.75906992e-01 2.77629911e-01 8.52519855e+01] [ 5.57860825e-01 8.16508615e-01 1.48677443e-01 4.82088707e+01] [-3.12311593e-01 4.05563602e-02 9.49113613e-01 1.06759482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.270371743 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:85.28, Y:48.22, Z:10.66 [[ 7.68442936e-01 -5.82069870e-01 2.65876137e-01 8.52807844e+01] [ 5.58538834e-01 8.12853765e-01 1.65236582e-01 4.82175863e+01] [-3.12297655e-01 2.15272631e-02 9.49740360e-01 1.06589883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300371743 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:85.31, Y:48.23, Z:10.65 [[ 7.67495364e-01 -5.83719042e-01 2.64996127e-01 8.53075624e+01] [ 5.60208965e-01 8.11670723e-01 1.65398166e-01 4.82342066e+01] [-3.11635657e-01 2.15108803e-02 9.49958157e-01 1.06491689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.330371743 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:85.33, Y:48.25, Z:10.64 [[ 7.66776580e-01 -5.82897610e-01 2.68856938e-01 8.53334284e+01] [ 5.60893153e-01 8.12084901e-01 1.60987531e-01 4.82528992e+01] [-3.12173906e-01 2.73585470e-02 9.49630961e-01 1.06396832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36037174300003 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:85.35, Y:48.26, Z:10.63 [[ 7.62270721e-01 -5.98560165e-01 2.46310936e-01 8.53526471e+01] [ 5.70207357e-01 8.01076093e-01 1.82045774e-01 4.82592718e+01] [-3.06279151e-01 1.68014371e-03 9.51940260e-01 1.06319400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.390371743 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:85.38, Y:48.28, Z:10.63 [[ 7.61952620e-01 -5.94869723e-01 2.56043391e-01 8.53767299e+01] [ 5.71361629e-01 8.03590901e-01 1.66695990e-01 4.82838371e+01] [-3.04916537e-01 1.92789226e-02 9.52183926e-01 1.06274072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42037174300003 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:85.40, Y:48.30, Z:10.62 [[ 7.61335733e-01 -5.95749164e-01 2.55833608e-01 8.54022676e+01] [ 5.72363933e-01 8.02928742e-01 1.66448079e-01 4.82998051e+01] [-3.04577460e-01 1.97070597e-02 9.52283678e-01 1.06168047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.450371743 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:85.43, Y:48.32, Z:10.61 [[ 7.60296651e-01 -5.97758026e-01 2.54232856e-01 8.54276499e+01] [ 5.74811185e-01 8.01415550e-01 1.65303411e-01 4.83152124e+01] [-3.02557605e-01 2.04562596e-02 9.52911558e-01 1.06056780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48037174300003 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:85.45, Y:48.33, Z:10.59 [[ 7.60115839e-01 -5.98367190e-01 2.53338937e-01 8.54543648e+01] [ 5.75637431e-01 8.00955279e-01 1.64657795e-01 4.83325206e+01] [-3.01438981e-01 2.06723762e-02 9.53261346e-01 1.05949112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.510371743 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:85.49, Y:48.35, Z:10.58 [[ 7.62338309e-01 -5.92931849e-01 2.59368703e-01 8.54888959e+01] [ 5.71618368e-01 8.04817370e-01 1.59754322e-01 4.83504192e+01] [-3.03467863e-01 2.64730745e-02 9.52473849e-01 1.05798451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.540371743 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:85.51, Y:48.37, Z:10.57 [[ 7.61877061e-01 -5.89180806e-01 2.69089804e-01 8.55133770e+01] [ 5.71540757e-01 8.06985786e-01 1.48711480e-01 4.83733342e+01] [-3.04769597e-01 4.04959252e-02 9.51564802e-01 1.05696810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.570371743 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:85.54, Y:48.39, Z:10.56 [[ 7.61306027e-01 -5.93101680e-01 2.61999106e-01 8.55409570e+01] [ 5.72208068e-01 8.04602207e-01 1.58723707e-01 4.83855502e+01] [-3.04944356e-01 2.90806873e-02 9.51926076e-01 1.05552642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.600371743 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:85.57, Y:48.40, Z:10.55 [[ 7.60885885e-01 -5.93639817e-01 2.62000835e-01 8.55658069e+01] [ 5.72364168e-01 8.04236252e-01 1.60010347e-01 4.84027629e+01] [-3.05699082e-01 2.82102757e-02 9.51710172e-01 1.05456697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630371743 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:85.59, Y:48.42, Z:10.54 [[ 7.60547240e-01 -5.92977362e-01 2.64472579e-01 8.55911903e+01] [ 5.72606219e-01 8.04591813e-01 1.57334462e-01 4.84215835e+01] [-3.06088246e-01 3.17783529e-02 9.51472607e-01 1.05359984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.660371743 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:85.62, Y:48.44, Z:10.53 [[ 7.60537308e-01 -5.93398433e-01 2.63555125e-01 8.56161237e+01] [ 5.71993942e-01 8.04398097e-01 1.60519882e-01 4.84368273e+01] [-3.07255488e-01 2.86705757e-02 9.51195071e-01 1.05252543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690371743 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:85.64, Y:48.46, Z:10.52 [[ 7.59985507e-01 -5.91248586e-01 2.69902092e-01 8.56406994e+01] [ 5.71478471e-01 8.05692544e-01 1.55794355e-01 4.84574395e+01] [-3.09571295e-01 3.58417836e-02 9.50200494e-01 1.05157512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.720371743 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:85.67, Y:48.47, Z:10.50 [[ 7.59653002e-01 -5.94898489e-01 2.62722485e-01 8.56665633e+01] [ 5.72222643e-01 8.03403469e-01 1.64633266e-01 4.84703626e+01] [-3.09012237e-01 2.52715998e-02 9.50722243e-01 1.05045052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750371743 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:85.69, Y:48.49, Z:10.50 [[ 7.59491043e-01 -5.95323371e-01 2.62227840e-01 8.56911772e+01] [ 5.73137156e-01 8.03053107e-01 1.63154859e-01 4.84891113e+01] [-3.07712782e-01 2.63778648e-02 9.51113585e-01 1.04963076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.780371743 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:85.72, Y:48.51, Z:10.49 [[ 7.59003539e-01 -5.98044918e-01 2.57402222e-01 8.57157174e+01] [ 5.75405245e-01 8.01127988e-01 1.64629134e-01 4.85059142e+01] [-3.04667741e-01 2.31564939e-02 9.52177160e-01 1.04877219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810371743 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:85.74, Y:48.52, Z:10.48 [[ 7.58630498e-01 -5.99728441e-01 2.54569372e-01 8.57390364e+01] [ 5.77211403e-01 7.99893110e-01 1.64310708e-01 4.85221965e+01] [-3.02170091e-01 2.22892304e-02 9.52993403e-01 1.04800001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.840371743 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:85.76, Y:48.54, Z:10.47 [[ 7.57838671e-01 -6.01821006e-01 2.51976241e-01 8.57633847e+01] [ 5.79613581e-01 7.98323682e-01 1.63485156e-01 4.85390541e+01] [-2.99547402e-01 2.21534780e-02 9.53824186e-01 1.04719382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870371743 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:85.78, Y:48.56, Z:10.47 [[ 7.54055961e-01 -6.07097644e-01 2.50663236e-01 8.57766564e+01] [ 5.86908881e-01 7.94128990e-01 1.57788191e-01 4.85594198e+01] [-2.94851781e-01 2.81353536e-02 9.55128698e-01 1.04684148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.900371743 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:85.81, Y:48.57, Z:10.45 [[ 7.55110164e-01 -6.07083667e-01 2.47503662e-01 8.58136813e+01] [ 5.84948900e-01 7.94357986e-01 1.63799190e-01 4.85722292e+01] [-2.96046323e-01 2.10905617e-02 9.54940712e-01 1.04518401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930371743 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:85.84, Y:48.59, Z:10.44 [[ 7.53456985e-01 -6.08023723e-01 2.50219352e-01 8.58379363e+01] [ 5.88028908e-01 7.93402200e-01 1.57273495e-01 4.85943485e+01] [-2.94150601e-01 2.86373989e-02 9.55329955e-01 1.04447484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.960371743 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:85.86, Y:48.61, Z:10.43 [[ 7.53345732e-01 -6.07828969e-01 2.51026199e-01 8.58641980e+01] [ 5.88210127e-01 7.93498938e-01 1.56103435e-01 4.86125419e+01] [-2.94073212e-01 3.00562958e-02 9.55310193e-01 1.04349375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990371743 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:85.89, Y:48.63, Z:10.43 [[ 7.52487713e-01 -6.08951244e-01 2.50879702e-01 8.58875236e+01] [ 5.89412263e-01 7.92622338e-01 1.56022479e-01 4.86291239e+01] [-2.93862939e-01 3.04665742e-02 9.55361901e-01 1.04264346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.020371743 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:85.91, Y:48.65, Z:10.42 [[ 7.51675971e-01 -6.10197431e-01 2.50284498e-01 8.59135759e+01] [ 5.90154879e-01 7.91715343e-01 1.57810122e-01 4.86460163e+01] [-2.94449408e-01 2.90845412e-02 9.55224390e-01 1.04155995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:85.94, Y:48.66, Z:10.41 [[ 7.51208992e-01 -6.10604853e-01 2.50692568e-01 8.59383008e+01] [ 5.90715766e-01 7.91373480e-01 1.57425856e-01 4.86636036e+01] [-2.94516441e-01 2.98283334e-02 9.55180787e-01 1.04064454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.080371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:85.96, Y:48.68, Z:10.40 [[ 7.50910205e-01 -6.10969062e-01 2.50700358e-01 8.59627944e+01] [ 5.90705311e-01 7.91126123e-01 1.58703161e-01 4.86821236e+01] [-2.95298323e-01 2.89182099e-02 9.54967349e-01 1.03968830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11037174300003 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:85.99, Y:48.70, Z:10.39 [[ 7.50903028e-01 -6.13637832e-01 2.44117293e-01 8.59886225e+01] [ 5.91160769e-01 7.89338128e-01 1.65753625e-01 4.86967794e+01] [-2.94403782e-01 1.98476673e-02 9.55475004e-01 1.03872405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.140371743 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:86.01, Y:48.72, Z:10.38 [[ 7.51620718e-01 -6.07772222e-01 2.56279579e-01 8.60127537e+01] [ 5.89447039e-01 7.93275893e-01 1.52530474e-01 4.87223406e+01] [-2.96004197e-01 3.64181747e-02 9.54492133e-01 1.03807367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17037174300003 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:86.04, Y:48.74, Z:10.37 [[ 7.52007274e-01 -6.08344523e-01 2.53775492e-01 8.60385236e+01] [ 5.87835911e-01 7.93130410e-01 1.59352110e-01 4.87378990e+01] [-2.98218043e-01 2.93444020e-02 9.54046595e-01 1.03681242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.200371743 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:86.06, Y:48.75, Z:10.36 [[ 7.52077109e-01 -6.10430006e-01 2.48505995e-01 8.60627149e+01] [ 5.87935195e-01 7.91776598e-01 1.65595972e-01 4.87520745e+01] [-2.97845982e-01 2.15644805e-02 9.54370339e-01 1.03585345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23037174300003 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:86.09, Y:48.78, Z:10.35 [[ 7.53328575e-01 -6.05464861e-01 2.56726235e-01 8.60864877e+01] [ 5.85940131e-01 7.95192198e-01 1.56024137e-01 4.87760579e+01] [-2.98613831e-01 3.28887629e-02 9.53807166e-01 1.03513478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.260371743 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:86.11, Y:48.79, Z:10.34 [[ 7.52782909e-01 -6.07464729e-01 2.53583310e-01 8.61128127e+01] [ 5.86174072e-01 7.93889778e-01 1.61675531e-01 4.87910535e+01] [-2.99529380e-01 2.69373845e-02 9.53706730e-01 1.03389846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.290371743 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:86.14, Y:48.81, Z:10.33 [[ 7.52592026e-01 -6.07181516e-01 2.54825135e-01 8.61382391e+01] [ 5.86275420e-01 7.94048665e-01 1.60523671e-01 4.88088906e+01] [-2.99810564e-01 2.85888781e-02 9.53570292e-01 1.03292833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.320371743 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:86.16, Y:48.83, Z:10.32 [[ 7.51911104e-01 -6.08316502e-01 2.54127382e-01 8.61640029e+01] [ 5.87263114e-01 7.93197293e-01 1.61121348e-01 4.88254077e+01] [-2.99585926e-01 2.80907070e-02 9.53655695e-01 1.03190975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.350371743 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:86.19, Y:48.84, Z:10.31 [[ 7.51119882e-01 -6.09147324e-01 2.54476837e-01 8.61886782e+01] [ 5.88825704e-01 7.92472770e-01 1.58969176e-01 4.88417888e+01] [-2.98501612e-01 3.04375939e-02 9.53923655e-01 1.03094222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380371743 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:86.21, Y:48.86, Z:10.30 [[ 7.50402771e-01 -6.10774164e-01 2.52686767e-01 8.62141197e+01] [ 5.90140516e-01 7.91273324e-01 1.60064672e-01 4.88577689e+01] [-2.97707664e-01 2.90077258e-02 9.54216275e-01 1.02988480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.410371743 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:86.24, Y:48.87, Z:10.29 [[ 7.49314881e-01 -6.12577177e-01 2.51548030e-01 8.62402157e+01] [ 5.91575040e-01 7.89920473e-01 1.61445401e-01 4.88730407e+01] [-2.97600707e-01 2.78360939e-02 9.54284534e-01 1.02880159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:86.27, Y:48.89, Z:10.28 [[ 7.48146541e-01 -6.11433857e-01 2.57731241e-01 8.62652546e+01] [ 5.92746474e-01 7.90423017e-01 1.54541490e-01 4.88918245e+01] [-2.98208605e-01 3.71496028e-02 9.53777508e-01 1.02786567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.470371743 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:86.29, Y:48.91, Z:10.27 [[ 7.47638641e-01 -6.12355222e-01 2.57016624e-01 8.62916402e+01] [ 5.92846072e-01 7.89815902e-01 1.57239870e-01 4.89066115e+01] [-2.99282472e-01 3.48126934e-02 9.53529275e-01 1.02659699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500371743 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:86.32, Y:48.92, Z:10.25 [[ 7.47159973e-01 -6.14227198e-01 2.53923067e-01 8.63181260e+01] [ 5.93252581e-01 7.88570717e-01 1.61887612e-01 4.89209254e+01] [-2.99672069e-01 2.96845706e-02 9.53580347e-01 1.02548169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.530371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:86.34, Y:48.94, Z:10.25 [[ 7.47799850e-01 -6.11870055e-01 2.57702191e-01 8.63428896e+01] [ 5.91565635e-01 7.90270415e-01 1.59758476e-01 4.89390448e+01] [-3.01405845e-01 3.29803962e-02 9.52925396e-01 1.02463721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560371743 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:86.37, Y:48.96, Z:10.24 [[ 7.48053043e-01 -6.11296318e-01 2.58328196e-01 8.63681252e+01] [ 5.90779577e-01 7.90728870e-01 1.60397461e-01 4.89555098e+01] [-3.02317940e-01 3.26292137e-02 9.52648517e-01 1.02356459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.590371743 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:86.39, Y:48.97, Z:10.23 [[ 7.49534518e-01 -6.08593043e-01 2.60408360e-01 8.63940507e+01] [ 5.88354821e-01 7.92761011e-01 1.59275183e-01 4.89732000e+01] [-3.03375363e-01 3.38302669e-02 9.52270393e-01 1.02257753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620371743 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:86.42, Y:48.99, Z:10.21 [[ 7.49863949e-01 -6.10720635e-01 2.54409833e-01 8.64201412e+01] [ 5.88111395e-01 7.91458398e-01 1.66489013e-01 4.89863876e+01] [-3.03033075e-01 2.47772135e-02 9.52657885e-01 1.02143450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.650371743 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:86.45, Y:49.01, Z:10.21 [[ 7.50677912e-01 -6.08123428e-01 2.58202575e-01 8.64456379e+01] [ 5.87151599e-01 7.93254097e-01 1.61248062e-01 4.90059406e+01] [-3.02878975e-01 3.05586967e-02 9.52538972e-01 1.02059212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680371743 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:86.47, Y:49.02, Z:10.19 [[ 7.51775284e-01 -6.11080680e-01 2.47819137e-01 8.64720550e+01] [ 5.86700590e-01 7.91399615e-01 1.71665565e-01 4.90166125e+01] [-3.01025480e-01 1.63417048e-02 9.53476066e-01 1.01947210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.710371743 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:86.50, Y:49.04, Z:10.19 [[ 7.52435710e-01 -6.07690135e-01 2.54073221e-01 8.64963013e+01] [ 5.86453296e-01 7.93700875e-01 1.61590386e-01 4.90387996e+01] [-2.99855021e-01 2.74157016e-02 9.53590764e-01 1.01896943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740371743 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:86.52, Y:49.06, Z:10.18 [[ 7.53070440e-01 -6.05605875e-01 2.57150609e-01 8.65222830e+01] [ 5.85296557e-01 7.95157699e-01 1.58594367e-01 4.90571469e+01] [-3.00520967e-01 3.10766362e-02 9.53268793e-01 1.01789956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.770371743 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:86.55, Y:49.07, Z:10.17 [[ 7.53429849e-01 -6.07417133e-01 2.51769516e-01 8.65481137e+01] [ 5.85235470e-01 7.94034663e-01 1.64342322e-01 4.90705201e+01] [-2.99738065e-01 2.35240401e-02 9.53731467e-01 1.01676649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800371743 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:86.57, Y:49.09, Z:10.16 [[ 7.55094769e-01 -6.03221077e-01 2.56819436e-01 8.65739220e+01] [ 5.83241315e-01 7.96964686e-01 1.57088697e-01 4.90898842e+01] [-2.99435234e-01 3.11708521e-02 9.53607319e-01 1.01586125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.830371743 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:86.60, Y:49.10, Z:10.15 [[ 7.56343699e-01 -6.04575242e-01 2.49865936e-01 8.66010108e+01] [ 5.81919357e-01 7.96285838e-01 1.65223260e-01 4.91022825e+01] [-2.98854599e-01 2.04362537e-02 9.54079812e-01 1.01457034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86037174300003 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:86.63, Y:49.12, Z:10.14 [[ 7.56854099e-01 -6.02702965e-01 2.52826044e-01 8.66271560e+01] [ 5.81458629e-01 7.97560281e-01 1.60634556e-01 4.91223031e+01] [-2.98458934e-01 2.54309632e-02 9.54083608e-01 1.01375060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.890371743 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:86.64, Y:49.14, Z:10.13 [[ 7.56364866e-01 -6.02128465e-01 2.55643308e-01 8.66393045e+01] [ 5.82465390e-01 7.97793442e-01 1.55755237e-01 4.91421201e+01] [-2.97735217e-01 3.10955901e-02 9.54141921e-01 1.01342174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92037174300003 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:86.68, Y:49.15, Z:10.12 [[ 7.59798390e-01 -6.01490949e-01 2.46809734e-01 8.66776817e+01] [ 5.77036287e-01 7.98773024e-01 1.70266791e-01 4.91512619e+01] [-2.99558892e-01 1.30497387e-02 9.53988561e-01 1.01151297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.950371743 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:86.70, Y:49.17, Z:10.11 [[ 7.63381563e-01 -5.94730466e-01 2.52079873e-01 8.67009272e+01] [ 5.72739677e-01 8.03650517e-01 1.61601700e-01 4.91735941e+01] [-2.98693575e-01 2.10123869e-02 9.54117722e-01 1.01101030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98037174300003 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:86.73, Y:49.19, Z:10.10 [[ 7.64687221e-01 -5.92619905e-01 2.53091095e-01 8.67266818e+01] [ 5.70922475e-01 8.05185805e-01 1.60384997e-01 4.91916732e+01] [-2.98832699e-01 2.18510370e-02 9.54055318e-01 1.01002092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.010371743 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:86.75, Y:49.21, Z:10.09 [[ 7.65349194e-01 -5.91053638e-01 2.54747340e-01 8.67524786e+01] [ 5.69360262e-01 8.06320980e-01 1.60235356e-01 4.92090742e+01] [-3.00115815e-01 2.24070122e-02 9.53639567e-01 1.00895606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.040371743 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:86.78, Y:49.22, Z:10.08 [[ 7.66474146e-01 -5.90304075e-01 2.53097771e-01 8.67774227e+01] [ 5.67971212e-01 8.06943735e-01 1.62020095e-01 4.92249799e+01] [-2.99876783e-01 1.95680339e-02 9.53777232e-01 1.00794227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.070371743 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:86.80, Y:49.25, Z:10.07 [[ 7.67646335e-01 -5.84453691e-01 2.62931525e-01 8.68025921e+01] [ 5.65001902e-01 8.10823707e-01 1.52767033e-01 4.92470959e+01] [-3.02476370e-01 3.12857584e-02 9.52643295e-01 1.00686549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.100371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:86.83, Y:49.26, Z:10.06 [[ 7.68170197e-01 -5.85793941e-01 2.58379581e-01 8.68274569e+01] [ 5.63963836e-01 8.10140185e-01 1.60055218e-01 4.92595778e+01] [-3.03083058e-01 2.27670916e-02 9.52692143e-01 1.00553261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:86.85, Y:49.28, Z:10.04 [[ 7.67768522e-01 -5.85465649e-01 2.60310335e-01 8.68543168e+01] [ 5.63956659e-01 8.10323488e-01 1.59150025e-01 4.92763936e+01] [-3.04112451e-01 2.46133668e-02 9.52318119e-01 1.00435154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.160371743 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:86.88, Y:49.29, Z:10.03 [[ 7.67279146e-01 -5.87374886e-01 2.57436314e-01 8.68809270e+01] [ 5.65318868e-01 8.09015097e-01 1.60963197e-01 4.92927075e+01] [-3.02815604e-01 2.20299008e-02 9.52794518e-01 1.00328096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190371743 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:86.91, Y:49.31, Z:10.02 [[ 7.66760603e-01 -5.87860833e-01 2.57871711e-01 8.69064959e+01] [ 5.65886050e-01 8.08645995e-01 1.60824850e-01 4.93097449e+01] [-3.03069557e-01 2.26118447e-02 9.52700136e-01 1.00229245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.220371743 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:86.93, Y:49.33, Z:10.01 [[ 7.66854988e-01 -5.87342136e-01 2.58771408e-01 8.69320409e+01] [ 5.65784362e-01 8.08979938e-01 1.59497700e-01 4.93270054e+01] [-3.03020598e-01 2.40972087e-02 9.52679296e-01 1.00129474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250371743 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:86.96, Y:49.34, Z:10.00 [[ 7.65331699e-01 -5.88119752e-01 2.61500570e-01 8.69569962e+01] [ 5.63638890e-01 8.08570567e-01 1.68892986e-01 4.93387419e+01] [-3.10770965e-01 1.81327349e-02 9.50311850e-01 9.99964281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.280371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:86.98, Y:49.36, Z:9.99 [[ 7.65852407e-01 -5.85596324e-01 2.65606921e-01 8.69821039e+01] [ 5.66647278e-01 8.09875663e-01 1.51697965e-01 4.93640212e+01] [-3.03942352e-01 3.43271876e-02 9.52071789e-01 9.99429488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310371743 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:87.01, Y:49.38, Z:9.98 [[ 7.65391570e-01 -5.86832322e-01 2.64203652e-01 8.70080805e+01] [ 5.66331656e-01 8.09161401e-01 1.56608694e-01 4.93776002e+01] [-3.05686440e-01 2.97599176e-02 9.51667036e-01 9.98019209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.340371743 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:87.03, Y:49.40, Z:9.97 [[ 7.65053473e-01 -5.85400712e-01 2.68326649e-01 8.70342613e+01] [ 5.65993620e-01 8.10009645e-01 1.53413156e-01 4.93957395e+01] [-3.07155344e-01 3.45019042e-02 9.51033760e-01 9.96836428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370371743 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:87.06, Y:49.41, Z:9.96 [[ 7.63855091e-01 -5.90068541e-01 2.61427843e-01 8.70624717e+01] [ 5.68778287e-01 8.06902937e-01 1.59370355e-01 4.94092522e+01] [-3.04986327e-01 2.69586236e-02 9.51975091e-01 9.95573725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.400371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:87.09, Y:49.42, Z:9.94 [[ 7.63552391e-01 -5.90540139e-01 2.61247184e-01 8.70871022e+01] [ 5.68552837e-01 8.06616698e-01 1.61608089e-01 4.94239022e+01] [-3.06162404e-01 2.51365852e-02 9.51647379e-01 9.94475060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430371743 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:87.10, Y:49.43, Z:9.94 [[ 7.59678406e-01 -6.07937639e-01 2.30869114e-01 8.71010491e+01] [ 5.78487090e-01 7.93938223e-01 1.87122380e-01 4.94273558e+01] [-2.97054552e-01 -8.59802894e-03 9.54821799e-01 9.94105861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.460371743 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:87.13, Y:49.47, Z:9.94 [[ 7.63220623e-01 -5.81723746e-01 2.81232579e-01 8.71321769e+01] [ 5.69343586e-01 8.11271539e-01 1.32990114e-01 4.94705482e+01] [-3.05519494e-01 5.86171674e-02 9.50379854e-01 9.93726080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:87.16, Y:49.47, Z:9.91 [[ 7.62148874e-01 -5.91328399e-01 2.63552308e-01 8.71621421e+01] [ 5.69272938e-01 8.05997266e-01 1.62162663e-01 4.94711664e+01] [-3.08313827e-01 2.64411060e-02 9.50917163e-01 9.91421464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.520371743 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:87.19, Y:49.49, Z:9.91 [[ 7.60597374e-01 -5.95006255e-01 2.59729073e-01 8.71891384e+01] [ 5.72832975e-01 8.03334418e-01 1.62837940e-01 4.94873577e+01] [-3.05538897e-01 2.49272679e-02 9.51853252e-01 9.90554501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550371743 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:87.21, Y:49.50, Z:9.90 [[ 7.59479513e-01 -5.97709208e-01 2.56777281e-01 8.72141270e+01] [ 5.74805137e-01 8.01410574e-01 1.65348559e-01 4.95024220e+01] [-3.04614384e-01 2.20180570e-02 9.52221236e-01 9.89675887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.580371743 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:87.24, Y:49.52, Z:9.89 [[ 7.58549404e-01 -5.98865107e-01 2.56833380e-01 8.72384554e+01] [ 5.76569637e-01 8.00491774e-01 1.63647099e-01 4.95192118e+01] [-3.03595546e-01 2.39479191e-02 9.52499996e-01 9.88903806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61037174300003 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:87.26, Y:49.54, Z:9.88 [[ 7.56933161e-01 -5.96161830e-01 2.67662589e-01 8.72641315e+01] [ 5.78929265e-01 8.01736735e-01 1.48523113e-01 4.95432432e+01] [-3.03138741e-01 4.25356364e-02 9.51996651e-01 9.88131737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.640371743 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:87.29, Y:49.55, Z:9.87 [[ 7.55481534e-01 -6.05295579e-01 2.50728766e-01 8.72927773e+01] [ 5.82147825e-01 7.95754062e-01 1.66971203e-01 4.95501906e+01] [-3.00585365e-01 1.98175455e-02 9.53549004e-01 9.86724977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67037174300003 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:87.32, Y:49.57, Z:9.86 [[ 7.54884516e-01 -6.03535424e-01 2.56698968e-01 8.73173461e+01] [ 5.83043667e-01 7.96778290e-01 1.58759059e-01 4.95720948e+01] [-3.00348881e-01 2.98219524e-02 9.53363100e-01 9.86079621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.700371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:87.34, Y:49.59, Z:9.85 [[ 7.54214362e-01 -6.01704546e-01 2.62892251e-01 8.73418558e+01] [ 5.82435735e-01 7.97907007e-01 1.55283684e-01 4.95909179e+01] [-3.03198468e-01 3.60006570e-02 9.52247154e-01 9.85253525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73037174300003 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:87.37, Y:49.61, Z:9.84 [[ 7.53796743e-01 -6.03338597e-01 2.60332497e-01 8.73687709e+01] [ 5.83108473e-01 7.96823409e-01 1.58293916e-01 4.96073810e+01] [-3.02943856e-01 3.24806464e-02 9.52454738e-01 9.84163085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.760371743 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:87.39, Y:49.62, Z:9.83 [[ 7.54207032e-01 -6.02577861e-01 2.60905488e-01 8.73937262e+01] [ 5.81495338e-01 7.97481996e-01 1.60890146e-01 4.96225684e+01] [-3.05016269e-01 3.03708456e-02 9.51862746e-01 9.83064871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.790371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:87.42, Y:49.64, Z:9.82 [[ 7.54196366e-01 -6.03175381e-01 2.59552119e-01 8.74194527e+01] [ 5.82526635e-01 7.97009586e-01 1.59494322e-01 4.96411802e+01] [-3.03068576e-01 3.09059843e-02 9.52467458e-01 9.82105247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.820371743 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:87.44, Y:49.66, Z:9.81 [[ 7.54722016e-01 -6.02789583e-01 2.58919673e-01 8.74429344e+01] [ 5.81706800e-01 7.97361517e-01 1.60722773e-01 4.96569483e+01] [-3.03334597e-01 2.93143187e-02 9.52433091e-01 9.81100628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.850371743 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:87.47, Y:49.68, Z:9.80 [[ 7.54566943e-01 -6.03293489e-01 2.58197008e-01 8.74687819e+01] [ 5.82413075e-01 7.96970873e-01 1.60101333e-01 4.96750652e+01] [-3.02363587e-01 2.95701406e-02 9.52733892e-01 9.80174940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880371743 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:87.49, Y:49.69, Z:9.79 [[ 7.54747041e-01 -6.04212856e-01 2.55506807e-01 8.74949235e+01] [ 5.83743447e-01 7.96280946e-01 1.58682840e-01 4.96935075e+01] [-2.99333414e-01 2.93850204e-02 9.53695983e-01 9.79320125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.910371743 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:87.52, Y:49.71, Z:9.78 [[ 7.55080240e-01 -6.03035426e-01 2.57297698e-01 8.75199165e+01] [ 5.83566663e-01 7.97041852e-01 1.55480661e-01 4.97126843e+01] [-2.98837380e-01 3.27499846e-02 9.53741925e-01 9.78308532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940371743 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:87.55, Y:49.73, Z:9.77 [[ 7.54940983e-01 -6.04746767e-01 2.53664069e-01 8.75457534e+01] [ 5.84342796e-01 7.95901948e-01 1.58377987e-01 4.97286794e+01] [-2.97670302e-01 2.86607382e-02 9.54238416e-01 9.77234435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.970371743 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:87.57, Y:49.75, Z:9.76 [[ 7.54652389e-01 -6.05916509e-01 2.51723967e-01 8.75713922e+01] [ 5.85640196e-01 7.95028122e-01 1.57974194e-01 4.97471783e+01] [-2.95846805e-01 2.82040703e-02 9.54818935e-01 9.76350325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000371743 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:87.59, Y:49.77, Z:9.75 [[ 7.54385049e-01 -6.05364603e-01 2.53844235e-01 8.75948342e+01] [ 5.85922389e-01 7.95325051e-01 1.55412408e-01 4.97650938e+01] [-2.95969850e-01 3.14922241e-02 9.54678002e-01 9.75387570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.030371743 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:87.62, Y:49.78, Z:9.74 [[ 7.54025882e-01 -6.08558905e-01 2.47186221e-01 8.76205759e+01] [ 5.87443630e-01 7.93145040e-01 1.60720026e-01 4.97793212e+01] [-2.93862128e-01 2.40209114e-02 9.55545941e-01 9.74381044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060371743 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:87.64, Y:49.80, Z:9.74 [[ 7.53405337e-01 -6.06471289e-01 2.54112126e-01 8.76445882e+01] [ 5.88631521e-01 7.94279363e-01 1.50443429e-01 4.98028873e+01] [-2.93075638e-01 3.62335254e-02 9.55402429e-01 9.73636008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.090371743 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:87.67, Y:49.82, Z:9.73 [[ 7.52641057e-01 -6.11470940e-01 2.44202230e-01 8.76714153e+01] [ 5.90824472e-01 7.90893749e-01 1.59416187e-01 4.98163176e+01] [-2.90616383e-01 2.42974863e-02 9.56531102e-01 9.72514196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120371743 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:87.69, Y:49.83, Z:9.72 [[ 7.52418746e-01 -6.13006054e-01 2.41017859e-01 8.76939815e+01] [ 5.91646264e-01 7.89802154e-01 1.61762960e-01 4.98317267e+01] [-2.89518098e-01 2.08838326e-02 9.56944688e-01 9.71813712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.150371743 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:87.72, Y:49.85, Z:9.71 [[ 7.52265514e-01 -6.13248021e-01 2.40880596e-01 8.77163661e+01] [ 5.92251017e-01 7.89588019e-01 1.60591078e-01 4.98499846e+01] [-2.88678593e-01 2.18546484e-02 9.57176600e-01 9.71133309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180371743 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:87.74, Y:49.88, Z:9.71 [[ 7.52269623e-01 -6.10423968e-01 2.47937481e-01 8.77407654e+01] [ 5.93161004e-01 7.91283034e-01 1.48429049e-01 4.98754091e+01] [-2.86793372e-01 3.54081809e-02 9.57337883e-01 9.70592307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.210371743 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:87.77, Y:49.89, Z:9.69 [[ 7.52303283e-01 -6.11951762e-01 2.44038547e-01 8.77673742e+01] [ 5.93083414e-01 7.90356209e-01 1.53587520e-01 4.98915335e+01] [-2.86865535e-01 2.91908197e-02 9.57526011e-01 9.69468109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240371743 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:87.79, Y:49.92, Z:9.69 [[ 7.52051007e-01 -6.09606754e-01 2.50597063e-01 8.77910200e+01] [ 5.92873970e-01 7.91787264e-01 1.46878806e-01 4.99152532e+01] [-2.87957875e-01 3.81121218e-02 9.56884386e-01 9.68747460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.270371743 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:87.82, Y:49.92, Z:9.67 [[ 7.51519462e-01 -6.14949472e-01 2.38863234e-01 8.78156930e+01] [ 5.92893716e-01 7.88356474e-01 1.64228838e-01 4.99237841e+01] [-2.89301814e-01 1.81993428e-02 9.57064911e-01 9.67393954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300371743 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:87.84, Y:49.94, Z:9.67 [[ 7.50981499e-01 -6.17604316e-01 2.33648659e-01 8.78389944e+01] [ 5.95058710e-01 7.86357296e-01 1.65973896e-01 4.99405610e+01] [-2.86237523e-01 1.43913446e-02 9.58050609e-01 9.66823034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.330371743 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:87.86, Y:49.97, Z:9.66 [[ 7.50636258e-01 -6.13207963e-01 2.46010575e-01 8.78612224e+01] [ 5.96300776e-01 7.89100554e-01 1.47464231e-01 4.99683106e+01] [-2.84553322e-01 3.60042983e-02 9.57983871e-01 9.66333732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36037174300003 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:87.89, Y:49.98, Z:9.65 [[ 7.49425777e-01 -6.21177638e-01 2.29127360e-01 8.78886969e+01] [ 5.99766290e-01 7.83512845e-01 1.62443895e-01 4.99777924e+01] [-2.80430744e-01 1.56832244e-02 9.59746130e-01 9.65097214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.390371743 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:87.91, Y:50.00, Z:9.65 [[ 7.48975661e-01 -6.21384744e-01 2.30035777e-01 8.79123115e+01] [ 6.01703734e-01 7.83220441e-01 1.56583389e-01 4.99988048e+01] [-2.77467252e-01 2.11362381e-02 9.60502568e-01 9.64567338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42037174300003 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:87.93, Y:50.02, Z:9.64 [[ 7.47868137e-01 -6.22744207e-01 2.29962830e-01 8.79346714e+01] [ 6.03354212e-01 7.82109269e-01 1.55784421e-01 5.00175798e+01] [-2.76869906e-01 2.22428375e-02 9.60649942e-01 9.63755028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.450371743 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:87.96, Y:50.04, Z:9.63 [[ 7.47427597e-01 -6.21758241e-01 2.34027087e-01 8.79589134e+01] [ 6.05004280e-01 7.82562368e-01 1.46853539e-01 5.00411716e+01] [-2.74448190e-01 3.18250018e-02 9.61075107e-01 9.63134280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48037174300003 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:87.98, Y:50.06, Z:9.62 [[ 7.46902931e-01 -6.24671272e-01 2.27863587e-01 8.79848312e+01] [ 6.05865295e-01 7.80545262e-01 1.53871174e-01 5.00558175e+01] [-2.73976745e-01 2.31278087e-02 9.61458188e-01 9.62010644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.510371743 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:88.01, Y:50.08, Z:9.61 [[ 7.46045483e-01 -6.25920108e-01 2.27244703e-01 8.80090536e+01] [ 6.07370337e-01 7.79524158e-01 1.53112250e-01 5.00762084e+01] [-2.72978772e-01 2.37929896e-02 9.61725784e-01 9.61252994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.540371743 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:88.03, Y:50.10, Z:9.60 [[ 7.45817945e-01 -6.25794162e-01 2.28335849e-01 8.80340142e+01] [ 6.07583643e-01 7.79575586e-01 1.52000074e-01 5.00957641e+01] [-2.73125813e-01 2.53687442e-02 9.61643758e-01 9.60377441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.570371743 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:88.06, Y:50.11, Z:9.60 [[ 7.45183732e-01 -6.28787261e-01 2.22098596e-01 8.80576291e+01] [ 6.08864870e-01 7.77380620e-01 1.57996651e-01 5.01127351e+01] [-2.72001426e-01 1.74914987e-02 9.62137865e-01 9.59601340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.600371743 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:88.08, Y:50.13, Z:9.59 [[ 7.45349255e-01 -6.27304843e-01 2.25705833e-01 8.80811826e+01] [ 6.08824466e-01 7.78421658e-01 1.52946044e-01 5.01340658e+01] [-2.71638102e-01 2.34170131e-02 9.62114538e-01 9.59029838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630371743 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:88.11, Y:50.15, Z:9.58 [[ 7.45731556e-01 -6.27383067e-01 2.24220725e-01 8.81051588e+01] [ 6.08400814e-01 7.78424349e-01 1.54609126e-01 5.01532923e+01] [-2.71538019e-01 2.11191673e-02 9.62195970e-01 9.58236701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.660371743 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:88.13, Y:50.17, Z:9.57 [[ 7.46002506e-01 -6.26036566e-01 2.27064923e-01 8.81293691e+01] [ 6.08110192e-01 7.79376631e-01 1.50910773e-01 5.01747012e+01] [-2.71444757e-01 2.55006785e-02 9.62116136e-01 9.57495898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690371743 meters Centerline goodness : 0.995946 Centerline is valid? [True, True] Translation: X:88.15, Y:50.20, Z:9.57 [[ 7.46558438e-01 -6.24898869e-01 2.28367909e-01 8.81548628e+01] [ 6.07393972e-01 7.80231833e-01 1.49368166e-01 5.01950840e+01] [-2.71519910e-01 2.71972270e-02 9.62048465e-01 9.56609540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.720371743 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:88.18, Y:50.21, Z:9.56 [[ 7.46505244e-01 -6.25575763e-01 2.26682346e-01 8.81791260e+01] [ 6.07136906e-01 7.79803386e-01 1.52615389e-01 5.02117652e+01] [-2.72240149e-01 2.36990300e-02 9.61937450e-01 9.55653182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750371743 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:88.20, Y:50.23, Z:9.55 [[ 7.45764677e-01 -6.25560383e-01 2.29148976e-01 8.82032908e+01] [ 6.07732742e-01 7.79712628e-01 1.50695495e-01 5.02313772e+01] [-2.72939482e-01 2.68779578e-02 9.61655663e-01 9.54795435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.780371743 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:88.23, Y:50.25, Z:9.54 [[ 7.45490138e-01 -6.25940233e-01 2.29004975e-01 8.82299972e+01] [ 6.08877053e-01 7.79328859e-01 1.48038047e-01 5.02514453e+01] [-2.71133156e-01 2.90749700e-02 9.62102623e-01 9.53942752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810371743 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:88.26, Y:50.27, Z:9.53 [[ 7.45350632e-01 -6.27478093e-01 2.25219178e-01 8.82550965e+01] [ 6.09130137e-01 7.78277938e-01 1.52459593e-01 5.02675616e+01] [-2.70948172e-01 2.35519344e-02 9.62305770e-01 9.52917920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.840371743 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:88.28, Y:50.29, Z:9.52 [[ 7.45216591e-01 -6.26410191e-01 2.28609943e-01 8.82798084e+01] [ 6.10068444e-01 7.78875334e-01 1.45498135e-01 5.02901814e+01] [-2.69200160e-01 3.10400881e-02 9.62583912e-01 9.52209723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870371743 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:88.31, Y:50.31, Z:9.51 [[ 7.45259694e-01 -6.27818135e-01 2.24571543e-01 8.83066406e+01] [ 6.10343547e-01 7.77933243e-01 1.49333937e-01 5.03072452e+01] [-2.68456222e-01 2.57732278e-02 9.62947038e-01 9.51099216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.900371743 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:88.33, Y:50.32, Z:9.50 [[ 7.45763949e-01 -6.28187307e-01 2.21848686e-01 8.83301215e+01] [ 6.10036225e-01 7.77742437e-01 1.51566835e-01 5.03237869e+01] [-2.67753499e-01 2.23026534e-02 9.63229285e-01 9.50296956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930371743 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:88.35, Y:50.35, Z:9.50 [[ 7.46210723e-01 -6.26722506e-01 2.24473733e-01 8.83542826e+01] [ 6.09916752e-01 7.78760356e-01 1.46744212e-01 5.03451287e+01] [-2.66779145e-01 2.74081860e-02 9.63367884e-01 9.49597502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.960371743 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:88.38, Y:50.36, Z:9.49 [[ 7.46659744e-01 -6.27637967e-01 2.20385592e-01 8.83794070e+01] [ 6.09865177e-01 7.78182576e-01 1.49987814e-01 5.03619699e+01] [-2.65638274e-01 2.24156358e-02 9.63812143e-01 9.48642275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990371743 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:88.39, Y:50.37, Z:9.48 [[ 7.44552007e-01 -6.36887830e-01 2.00040501e-01 8.83948946e+01] [ 6.15185139e-01 7.70956410e-01 1.64843740e-01 5.03737906e+01] [-2.59209478e-01 3.27205769e-04 9.65821070e-01 9.48290587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.020371743 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:88.42, Y:50.41, Z:9.48 [[ 7.48361965e-01 -6.22546010e-01 2.28890441e-01 8.84239852e+01] [ 6.08985713e-01 7.81636378e-01 1.34836838e-01 5.04080456e+01] [-2.62851231e-01 3.84842475e-02 9.64068562e-01 9.47946324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050371743 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:88.45, Y:50.42, Z:9.46 [[ 7.48822548e-01 -6.25796864e-01 2.18272941e-01 8.84500950e+01] [ 6.07620718e-01 7.79740921e-01 1.51000525e-01 5.04197107e+01] [-2.64691999e-01 1.95545634e-02 9.64134723e-01 9.46489042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.080371743 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:88.48, Y:50.44, Z:9.46 [[ 7.48926770e-01 -6.25495829e-01 2.18777654e-01 8.84751325e+01] [ 6.07742048e-01 7.79944059e-01 1.49455241e-01 5.04394902e+01] [-2.64117961e-01 2.10293487e-02 9.64261100e-01 9.45814298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11037174300003 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:88.50, Y:50.46, Z:9.45 [[ 7.48542882e-01 -6.25393183e-01 2.20379038e-01 8.85000215e+01] [ 6.08261301e-01 7.79947356e-01 1.47310257e-01 5.04591263e+01] [-2.64010879e-01 2.37799956e-02 9.64226513e-01 9.45055506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.140371743 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:88.53, Y:50.48, Z:9.44 [[ 7.48098144e-01 -6.27470682e-01 2.15939133e-01 8.85256123e+01] [ 6.09272085e-01 7.78420743e-01 1.51157773e-01 5.04752069e+01] [-2.62938571e-01 1.84848366e-02 9.64635485e-01 9.44129049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17037174300003 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:88.55, Y:50.49, Z:9.43 [[ 7.48791040e-01 -6.26910580e-01 2.15162967e-01 8.85479184e+01] [ 6.08931630e-01 7.78870500e-01 1.50209903e-01 5.04924982e+01] [-2.61752265e-01 1.85437068e-02 9.64956933e-01 9.43450339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.200371743 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:88.57, Y:50.51, Z:9.43 [[ 7.48889735e-01 -6.24818992e-01 2.20828877e-01 8.85731745e+01] [ 6.08554916e-01 7.80320420e-01 1.44086629e-01 5.05139532e+01] [-2.62345344e-01 2.64815013e-02 9.64610621e-01 9.42662167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23037174300003 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:88.60, Y:50.52, Z:9.41 [[ 7.49954553e-01 -6.25903163e-01 2.14040650e-01 8.85958390e+01] [ 6.06488831e-01 7.79786054e-01 1.55257876e-01 5.05237220e+01] [-2.64082310e-01 1.33769132e-02 9.64407379e-01 9.41461558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.260371743 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:88.62, Y:50.55, Z:9.41 [[ 7.48945993e-01 -6.27146107e-01 2.13933777e-01 8.86224107e+01] [ 6.09694134e-01 7.78658996e-01 1.48199972e-01 5.05469652e+01] [-2.59524495e-01 1.94403936e-02 9.65540837e-01 9.40967737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.290371743 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:88.65, Y:50.57, Z:9.40 [[ 7.50527303e-01 -6.22107664e-01 2.22914384e-01 8.86465693e+01] [ 6.07191546e-01 7.82314611e-01 1.38932631e-01 5.05692009e+01] [-2.60820234e-01 3.10789966e-02 9.64886989e-01 9.40210028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.320371743 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:88.67, Y:50.58, Z:9.39 [[ 7.51254084e-01 -6.22539559e-01 2.19230014e-01 8.86733759e+01] [ 6.06009689e-01 7.82212282e-01 1.44555186e-01 5.05847500e+01] [-2.61475731e-01 2.42578391e-02 9.64905176e-01 9.39028893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.350371743 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:88.70, Y:50.60, Z:9.38 [[ 7.51856607e-01 -6.23613316e-01 2.14051569e-01 8.87001784e+01] [ 6.05557354e-01 7.81550399e-01 1.49930868e-01 5.06006769e+01] [-2.60790975e-01 1.68939880e-02 9.65247461e-01 9.38095878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380371743 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:88.73, Y:50.62, Z:9.37 [[ 7.52550549e-01 -6.24392489e-01 2.09288534e-01 8.87252765e+01] [ 6.05320940e-01 7.81031387e-01 1.53546517e-01 5.06173719e+01] [-2.59334206e-01 1.11352158e-02 9.65723447e-01 9.37372817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.410371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:88.74, Y:50.63, Z:9.37 [[ 7.55262700e-01 -6.20061609e-01 2.12371973e-01 8.87444557e+01] [ 6.00641716e-01 7.84476306e-01 1.54358201e-01 5.06336598e+01] [-2.62312375e-01 1.09784746e-02 9.64920562e-01 9.36825307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440371743 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:88.77, Y:50.66, Z:9.36 [[ 7.55434640e-01 -6.18322469e-01 2.16785214e-01 8.87724395e+01] [ 6.01710924e-01 7.85625973e-01 1.43999287e-01 5.06598035e+01] [-2.59350090e-01 2.16599815e-02 9.65540458e-01 9.36259577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.470371743 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:88.80, Y:50.68, Z:9.35 [[ 7.57438010e-01 -6.14673173e-01 2.20146658e-01 8.87974632e+01] [ 5.98322381e-01 7.88429827e-01 1.42789131e-01 5.06785194e+01] [-2.61338839e-01 2.35647570e-02 9.64959436e-01 9.35299753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500371743 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:88.82, Y:50.70, Z:9.34 [[ 7.57855114e-01 -6.14727192e-01 2.18554581e-01 8.88237876e+01] [ 5.97505907e-01 7.88485180e-01 1.45869160e-01 5.06957888e+01] [-2.61996787e-01 2.00399644e-02 9.64860655e-01 9.34192102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.530371743 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:88.85, Y:50.72, Z:9.33 [[ 7.58506516e-01 -6.12952219e-01 2.21263287e-01 8.88492727e+01] [ 5.96424997e-01 7.89776760e-01 1.43282561e-01 5.07158264e+01] [-2.62573966e-01 2.32861986e-02 9.64630844e-01 9.33309564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:88.88, Y:50.73, Z:9.32 [[ 7.58969671e-01 -6.11770319e-01 2.22939712e-01 8.88753037e+01] [ 5.95173368e-01 7.90678387e-01 1.43514287e-01 5.07334191e+01] [-2.64071393e-01 2.37647882e-02 9.64210316e-01 9.32224812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.590371743 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:88.90, Y:50.75, Z:9.31 [[ 7.58630838e-01 -6.14736546e-01 2.15819900e-01 8.89021723e+01] [ 5.96357478e-01 7.88590711e-01 1.49941485e-01 5.07485983e+01] [-2.62368080e-01 1.49555768e-02 9.64851969e-01 9.31218137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620371743 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:88.93, Y:50.77, Z:9.31 [[ 7.58938505e-01 -6.13032424e-01 2.19553167e-01 8.89256856e+01] [ 5.95755995e-01 7.89802737e-01 1.45898706e-01 5.07679495e+01] [-2.62844329e-01 2.00719698e-02 9.64629449e-01 9.30549095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.650371743 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:88.95, Y:50.78, Z:9.30 [[ 7.58879003e-01 -6.13702798e-01 2.17879632e-01 8.89521543e+01] [ 5.96275532e-01 7.89313311e-01 1.46423998e-01 5.07849041e+01] [-2.61836111e-01 1.87981957e-02 9.64929261e-01 9.29600584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680371743 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:88.98, Y:50.80, Z:9.29 [[ 7.58715978e-01 -6.12971288e-01 2.20490963e-01 8.89780846e+01] [ 5.96473593e-01 7.89772083e-01 1.43105939e-01 5.08042525e+01] [-2.61857439e-01 2.29402741e-02 9.64833885e-01 9.28780255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.710371743 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:89.00, Y:50.83, Z:9.28 [[ 7.58273770e-01 -6.11202691e-01 2.26830685e-01 8.90048881e+01] [ 5.96687091e-01 7.90825197e-01 1.36235176e-01 5.08253552e+01] [-2.62650728e-01 3.20433811e-02 9.64358760e-01 9.27803550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740371743 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:89.03, Y:50.84, Z:9.26 [[ 7.58392694e-01 -6.12727143e-01 2.22274537e-01 8.90317596e+01] [ 5.96051587e-01 7.89949051e-01 1.43885380e-01 5.08383301e+01] [-2.63748037e-01 2.33654692e-02 9.64308575e-01 9.26485214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.770371743 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:89.06, Y:50.86, Z:9.26 [[ 7.58199855e-01 -6.13693447e-01 2.20257427e-01 8.90578257e+01] [ 5.96581596e-01 7.89261862e-01 1.45451410e-01 5.08560021e+01] [-2.63103364e-01 2.11202892e-02 9.64536445e-01 9.25559809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800371743 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:89.08, Y:50.87, Z:9.25 [[ 7.58301336e-01 -6.15092112e-01 2.15964759e-01 8.90811624e+01] [ 5.96390495e-01 7.88328184e-01 1.51185492e-01 5.08684236e+01] [-2.63244110e-01 1.41551692e-02 9.64625404e-01 9.24666689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.830371743 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:89.10, Y:50.88, Z:9.24 [[ 7.55959734e-01 -6.26107371e-01 1.91087522e-01 8.90969101e+01] [ 6.02748034e-01 7.79623492e-01 1.69947105e-01 5.08765179e+01] [-2.55381456e-01 -1.32955404e-02 9.66748954e-01 9.24485185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86037174300003 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:89.12, Y:50.91, Z:9.25 [[ 7.57365983e-01 -6.19242506e-01 2.07208801e-01 8.91176741e+01] [ 6.01392570e-01 7.85101485e-01 1.48130467e-01 5.09055852e+01] [-2.54408618e-01 1.24248565e-02 9.67017000e-01 9.24728234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.890371743 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:89.14, Y:50.92, Z:9.24 [[ 7.58544891e-01 -6.17693687e-01 2.07519052e-01 8.91436991e+01] [ 5.99755083e-01 7.86327331e-01 1.48267222e-01 5.09234722e+01] [-2.54761630e-01 1.19932624e-02 9.66929508e-01 9.23898401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92037174300003 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:89.17, Y:50.94, Z:9.23 [[ 7.61162620e-01 -6.14480797e-01 2.07472445e-01 8.91702107e+01] [ 5.96457316e-01 7.88855251e-01 1.48142036e-01 5.09414506e+01] [-2.54696164e-01 1.09882773e-02 9.66958697e-01 9.23027846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.950371743 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:89.20, Y:50.96, Z:9.22 [[ 7.62572799e-01 -6.12704715e-01 2.07546761e-01 8.91954130e+01] [ 5.94628269e-01 7.90242497e-01 1.48101374e-01 5.09590557e+01] [-2.54754681e-01 1.04750920e-02 9.66948977e-01 9.22180783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98037174300003 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:89.23, Y:50.98, Z:9.21 [[ 7.66695315e-01 -6.04921017e-01 2.15055474e-01 8.92277040e+01] [ 5.87952425e-01 7.96111991e-01 1.43239809e-01 5.09775237e+01] [-2.57857012e-01 1.66210968e-02 9.66040113e-01 9.21065744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.010371743 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:89.25, Y:50.99, Z:9.20 [[ 7.65074031e-01 -6.10332433e-01 2.05319381e-01 8.92469934e+01] [ 5.91293337e-01 7.92125570e-01 1.51358092e-01 5.09920608e+01] [-2.55017484e-01 5.60383594e-03 9.66920203e-01 9.20383781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.040371743 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:89.28, Y:51.01, Z:9.19 [[ 7.67654587e-01 -6.03445147e-01 2.15778567e-01 8.92796927e+01] [ 5.86425523e-01 7.97232565e-01 1.43266684e-01 5.10122108e+01] [-2.58479286e-01 1.65587318e-02 9.65874871e-01 9.19330811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.070371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:89.31, Y:51.03, Z:9.18 [[ 7.66545639e-01 -6.04620998e-01 2.16428354e-01 8.93065682e+01] [ 5.87140923e-01 7.96357042e-01 1.45192969e-01 5.10271711e+01] [-2.60140962e-01 1.57769063e-02 9.65441748e-01 9.18295853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.100371743 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:89.33, Y:51.04, Z:9.17 [[ 7.65284089e-01 -6.07591522e-01 2.12538951e-01 8.93332305e+01] [ 5.89239186e-01 7.94166733e-01 1.48648518e-01 5.10419732e+01] [-2.59108944e-01 1.14779328e-02 9.65779899e-01 9.17394384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130371743 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:89.35, Y:51.06, Z:9.17 [[ 7.59932113e-01 -6.16024136e-01 2.07406478e-01 8.93511124e+01] [ 5.97678045e-01 7.87659995e-01 1.49575019e-01 5.10575111e+01] [-2.55507607e-01 1.02954377e-02 9.66752226e-01 9.17060107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.160371743 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:89.38, Y:51.08, Z:9.16 [[ 7.61523106e-01 -6.06235277e-01 2.29262617e-01 8.93847893e+01] [ 5.93047821e-01 7.94457044e-01 1.30890364e-01 5.10831135e+01] [-2.61489657e-01 3.62876590e-02 9.64523906e-01 9.15918477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190371743 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:89.41, Y:51.09, Z:9.14 [[ 7.59789026e-01 -6.12178211e-01 2.18994233e-01 8.94125622e+01] [ 5.94450222e-01 7.90510347e-01 1.47384954e-01 5.10903080e+01] [-2.63343064e-01 1.81996994e-02 9.64530560e-01 9.14251405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.220371743 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:89.43, Y:51.10, Z:9.14 [[ 7.54282248e-01 -6.26697156e-01 1.95726760e-01 8.94335234e+01] [ 6.04718204e-01 7.79241255e-01 1.64617617e-01 5.10971428e+01] [-2.55683759e-01 -5.80861178e-03 9.66743025e-01 9.13789431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250371743 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:89.46, Y:51.12, Z:9.14 [[ 7.53462731e-01 -6.23733239e-01 2.07968170e-01 8.94562357e+01] [ 6.06164199e-01 7.81498104e-01 1.47735160e-01 5.11221743e+01] [-2.54674061e-01 1.47499222e-02 9.66914455e-01 9.13711919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.280371743 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:89.48, Y:51.14, Z:9.13 [[ 7.52401770e-01 -6.24983586e-01 2.08055507e-01 8.94835235e+01] [ 6.07468574e-01 7.80488956e-01 1.47712293e-01 5.11394351e+01] [-2.54702784e-01 1.52481910e-02 9.66899159e-01 9.12805644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310371743 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:89.52, Y:51.17, Z:9.12 [[ 7.53233927e-01 -6.14185948e-01 2.35402363e-01 8.95158230e+01] [ 6.03407095e-01 7.87677300e-01 1.24355732e-01 5.11659038e+01] [-2.61798641e-01 4.83744998e-02 9.63909425e-01 9.11726878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.340371743 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:89.55, Y:51.17, Z:9.10 [[ 7.52351374e-01 -6.20120244e-01 2.22302255e-01 8.95467275e+01] [ 6.04102786e-01 7.84042025e-01 1.42611105e-01 5.11736178e+01] [-2.62730343e-01 2.69997514e-02 9.64491462e-01 9.09860591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370371743 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:89.58, Y:51.18, Z:9.09 [[ 7.50472669e-01 -6.25361938e-01 2.13806500e-01 8.95755795e+01] [ 6.07179568e-01 7.80154621e-01 1.50637774e-01 5.11843782e+01] [-2.61005260e-01 1.67694060e-02 9.65191712e-01 9.08703256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.400371743 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:89.60, Y:51.20, Z:9.08 [[ 7.49955701e-01 -6.25618004e-01 2.14868705e-01 8.95990543e+01] [ 6.08139059e-01 7.79884144e-01 1.48147246e-01 5.12022711e+01] [-2.60256280e-01 1.95661806e-02 9.65341304e-01 9.08082301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430371743 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:89.62, Y:51.22, Z:9.07 [[ 7.49816468e-01 -6.24067315e-01 2.19807302e-01 8.96240457e+01] [ 6.08265329e-01 7.80900130e-01 1.42155819e-01 5.12229040e+01] [-2.60362351e-01 2.71103866e-02 9.65130288e-01 9.07435852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.460371743 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:89.65, Y:51.24, Z:9.06 [[ 7.49439835e-01 -6.26305631e-01 2.14665300e-01 8.96495903e+01] [ 6.08460959e-01 7.79357877e-01 1.49587969e-01 5.12360495e+01] [-2.60988880e-01 1.85082720e-02 9.65164363e-01 9.06435210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490371743 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:89.67, Y:51.26, Z:9.06 [[ 7.48766606e-01 -6.26446480e-01 2.16594962e-01 8.96746105e+01] [ 6.09860648e-01 7.79111775e-01 1.45102830e-01 5.12558473e+01] [-2.59650843e-01 2.34445909e-02 9.65417936e-01 9.05877171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.520371743 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:89.70, Y:51.27, Z:9.05 [[ 7.48332334e-01 -6.26703145e-01 2.17351989e-01 8.97008612e+01] [ 6.10269464e-01 7.78876056e-01 1.44648787e-01 5.12742931e+01] [-2.59942109e-01 2.43979175e-02 9.65315928e-01 9.05037283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550371743 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:89.73, Y:51.29, Z:9.04 [[ 7.47568618e-01 -6.26945159e-01 2.19273639e-01 8.97258893e+01] [ 6.09091016e-01 7.78770492e-01 1.50082159e-01 5.12886374e+01] [-2.64857123e-01 2.13608915e-02 9.64051045e-01 9.03980651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.580371743 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:89.75, Y:51.31, Z:9.03 [[ 7.47225721e-01 -6.25877772e-01 2.23451869e-01 8.97516591e+01] [ 6.09988415e-01 7.79369680e-01 1.43167860e-01 5.13106263e+01] [-2.63757192e-01 2.93243441e-02 9.64143260e-01 9.03373787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61037174300003 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:89.78, Y:51.33, Z:9.02 [[ 7.45479128e-01 -6.29869395e-01 2.18003245e-01 8.97801407e+01] [ 6.13236095e-01 7.76301943e-01 1.45934184e-01 5.13276883e+01] [-2.61155819e-01 2.48965701e-02 9.64975543e-01 9.02498905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.640371743 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:89.81, Y:51.34, Z:9.02 [[ 7.44432841e-01 -6.33060518e-01 2.12259571e-01 8.98051660e+01] [ 6.14608403e-01 7.73919720e-01 1.52659026e-01 5.13409323e+01] [-2.60914270e-01 1.68121239e-02 9.65215570e-01 9.01587973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67037174300003 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:89.83, Y:51.36, Z:9.01 [[ 7.43771761e-01 -6.33440889e-01 2.13439004e-01 8.98302386e+01] [ 6.16293368e-01 7.73492516e-01 1.47958818e-01 5.13606315e+01] [-2.58816637e-01 2.14934517e-02 9.65687310e-01 9.01031864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.700371743 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:89.86, Y:51.38, Z:9.00 [[ 7.43000777e-01 -6.34120351e-01 2.14105644e-01 8.98551518e+01] [ 6.17468102e-01 7.72876444e-01 1.46270794e-01 5.13784816e+01] [-2.58230496e-01 2.35240924e-02 9.65796888e-01 9.00253778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73037174300003 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:89.88, Y:51.40, Z:8.99 [[ 7.41991859e-01 -6.35432499e-01 2.13713874e-01 8.98821040e+01] [ 6.19375851e-01 7.71739266e-01 1.44194527e-01 5.13959362e+01] [-2.56557277e-01 2.53780471e-02 9.66195797e-01 8.99356294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.760371743 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:89.91, Y:51.42, Z:8.98 [[ 7.42277462e-01 -6.33975079e-01 2.17024813e-01 8.99090837e+01] [ 6.19133122e-01 7.72747133e-01 1.39771403e-01 5.14158557e+01] [-2.56316888e-01 3.06180876e-02 9.66107751e-01 8.98448402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.790371743 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:89.93, Y:51.42, Z:8.98 [[ 7.38904234e-01 -6.48809778e-01 1.81841704e-01 8.99309963e+01] [ 6.26115065e-01 7.60853563e-01 1.70533810e-01 5.14151791e+01] [-2.48998912e-01 -1.21543234e-02 9.68427496e-01 8.97788051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.820371743 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:89.95, Y:51.46, Z:8.98 [[ 7.42194322e-01 -6.31811176e-01 2.23522319e-01 8.99545003e+01] [ 6.21164508e-01 7.73729361e-01 1.24489073e-01 5.14560864e+01] [-2.51599369e-01 4.64490482e-02 9.66716217e-01 8.97849396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.850371743 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:89.99, Y:51.46, Z:8.96 [[ 7.42562513e-01 -6.36917536e-01 2.07212373e-01 8.99857188e+01] [ 6.20579446e-01 7.70645379e-01 1.44868392e-01 5.14633563e+01] [-2.51956477e-01 2.10179021e-02 9.67510300e-01 8.96279870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880371743 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:90.01, Y:51.48, Z:8.96 [[ 7.43599116e-01 -6.36141709e-01 2.05873943e-01 9.00110969e+01] [ 6.19860473e-01 7.71307252e-01 1.44423394e-01 5.14814499e+01] [-2.50665810e-01 2.02200120e-02 9.67862492e-01 8.95636724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.910371743 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:90.04, Y:51.50, Z:8.95 [[ 7.44858146e-01 -6.33079864e-01 2.10704124e-01 9.00362950e+01] [ 6.18187111e-01 7.73627452e-01 1.39087247e-01 5.15029652e+01] [-2.51059830e-01 2.66543044e-02 9.67604521e-01 8.94894572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940371743 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:90.06, Y:51.52, Z:8.94 [[ 7.46147648e-01 -6.32893187e-01 2.06663738e-01 9.00633919e+01] [ 6.16892010e-01 7.73958752e-01 1.42940889e-01 5.15198565e+01] [-2.50415524e-01 2.08342002e-02 9.67914253e-01 8.93945198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.970371743 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:90.09, Y:51.54, Z:8.93 [[ 7.49569362e-01 -6.28494385e-01 2.07703103e-01 9.00885689e+01] [ 6.12954288e-01 7.77505407e-01 1.40614306e-01 5.15397866e+01] [-2.49865587e-01 2.19123317e-02 9.68032560e-01 8.93158466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000371743 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:90.11, Y:51.56, Z:8.92 [[ 7.51370737e-01 -6.27639480e-01 2.03741747e-01 9.01129087e+01] [ 6.11112587e-01 7.78333366e-01 1.44008948e-01 5.15556993e+01] [-2.48964701e-01 1.63050370e-02 9.68375301e-01 8.92411647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.030371743 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:90.14, Y:51.58, Z:8.92 [[ 7.55401119e-01 -6.21260765e-01 2.08336773e-01 9.01374477e+01] [ 6.05922949e-01 7.83312945e-01 1.38845992e-01 5.15780576e+01] [-2.49452458e-01 2.13516141e-02 9.68151631e-01 8.91746499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060371743 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:90.16, Y:51.60, Z:8.91 [[ 7.57105295e-01 -6.19540655e-01 2.07270233e-01 9.01634233e+01] [ 6.04104873e-01 7.84708235e-01 1.38889482e-01 5.15975561e+01] [-2.48694339e-01 2.00589955e-02 9.68374288e-01 8.90961837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.090371743 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:90.18, Y:51.61, Z:8.90 [[ 7.56338808e-01 -6.27788816e-01 1.83936970e-01 9.01819353e+01] [ 6.07486665e-01 7.78340550e-01 1.58574712e-01 5.16059774e+01] [-2.42717034e-01 -8.19695213e-03 9.70062499e-01 8.90395154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120371743 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:90.21, Y:51.64, Z:8.90 [[ 7.62346496e-01 -6.08824510e-01 2.19455087e-01 9.02084825e+01] [ 5.97166100e-01 7.92465916e-01 1.24058134e-01 5.16431866e+01] [-2.49440309e-01 3.64758552e-02 9.67702973e-01 8.90094241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.150371743 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:90.24, Y:51.65, Z:8.89 [[ 7.63357979e-01 -6.12034782e-01 2.06634995e-01 9.02377915e+01] [ 5.95503953e-01 7.90695616e-01 1.42040435e-01 5.16526175e+01] [-2.50319071e-01 1.46242572e-02 9.68052940e-01 8.88529070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180371743 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:90.26, Y:51.67, Z:8.88 [[ 7.63994255e-01 -6.11836729e-01 2.04862381e-01 9.02631847e+01] [ 5.94956042e-01 7.90886447e-01 1.43268755e-01 5.16707148e+01] [-2.49679967e-01 1.24276052e-02 9.68248661e-01 8.87774563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.210371743 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:90.29, Y:51.69, Z:8.87 [[ 7.64146334e-01 -6.11718811e-01 2.04647200e-01 9.02883576e+01] [ 5.95198315e-01 7.90961470e-01 1.41841175e-01 5.16895645e+01] [-2.48634964e-01 1.34182549e-02 9.68504313e-01 8.87123056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240371743 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:90.31, Y:51.71, Z:8.86 [[ 7.64225746e-01 -6.11451420e-01 2.05149140e-01 9.03122416e+01] [ 5.95253784e-01 7.91145704e-01 1.40575275e-01 5.17076098e+01] [-2.48257812e-01 1.46845571e-02 9.68582687e-01 8.86419743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.270371743 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:90.34, Y:51.72, Z:8.86 [[ 7.63401888e-01 -6.13050756e-01 2.03436298e-01 9.03381066e+01] [ 5.96458120e-01 7.89940532e-01 1.42238065e-01 5.17247029e+01] [-2.47901731e-01 1.27564244e-02 9.68701195e-01 8.85631807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300371743 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:90.36, Y:51.74, Z:8.85 [[ 7.62265430e-01 -6.15468353e-01 2.00374949e-01 9.03633650e+01] [ 5.98547347e-01 7.88093054e-01 1.43702508e-01 5.17418810e+01] [-2.46358452e-01 1.03944397e-02 9.69123041e-01 8.84988546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.330371743 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:90.39, Y:51.76, Z:8.84 [[ 7.61174651e-01 -6.15946640e-01 2.03034201e-01 9.03886954e+01] [ 6.00008016e-01 7.87640760e-01 1.40044326e-01 5.17615340e+01] [-2.46177844e-01 1.52239575e-02 9.69105103e-01 8.84315647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36037174300003 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:90.41, Y:51.78, Z:8.83 [[ 7.58350604e-01 -6.18874646e-01 2.04691314e-01 9.04144673e+01] [ 6.04146908e-01 7.85217393e-01 1.35794545e-01 5.17798456e+01] [-2.44766981e-01 2.06837494e-02 9.69361289e-01 8.83491953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.390371743 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:90.44, Y:51.79, Z:8.83 [[ 7.57001140e-01 -6.21797287e-01 2.00791952e-01 9.04393864e+01] [ 6.06172008e-01 7.83011778e-01 1.39456276e-01 5.17943267e+01] [-2.43935997e-01 1.61459007e-02 9.69656918e-01 8.82511938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42037174300003 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:90.47, Y:51.81, Z:8.82 [[ 7.54446929e-01 -6.26008484e-01 1.97289659e-01 9.04665235e+01] [ 6.10658146e-01 7.79655274e-01 1.38687717e-01 5.18115461e+01] [-2.40637610e-01 1.58440156e-02 9.70485707e-01 8.81647127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.450371743 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:90.49, Y:51.83, Z:8.81 [[ 7.53459085e-01 -6.26649112e-01 1.99023357e-01 9.04908284e+01] [ 6.11954260e-01 7.79066792e-01 1.36260474e-01 5.18299067e+01] [-2.40439993e-01 1.91264990e-02 9.70475547e-01 8.80900285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48037174300003 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:90.52, Y:51.85, Z:8.80 [[ 7.52657843e-01 -6.24275621e-01 2.09251334e-01 9.05170057e+01] [ 6.12442229e-01 7.80479248e-01 1.25565362e-01 5.18545165e+01] [-2.41703718e-01 3.36465989e-02 9.69766580e-01 8.80083223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.510371743 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:90.54, Y:51.87, Z:8.79 [[ 7.50579828e-01 -6.29845827e-01 1.99810300e-01 9.05441728e+01] [ 6.14666403e-01 7.76494969e-01 1.38711129e-01 5.18654564e+01] [-2.42518318e-01 1.87029028e-02 9.69966529e-01 8.78816858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.540371743 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:90.57, Y:51.88, Z:8.78 [[ 7.48612012e-01 -6.34934049e-01 1.90889523e-01 9.05692334e+01] [ 6.18328142e-01 7.72504339e-01 1.44593756e-01 5.18803488e+01] [-2.39270484e-01 9.78774134e-03 9.70903618e-01 8.78215682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.570371743 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:90.58, Y:51.90, Z:8.78 [[ 7.45525886e-01 -6.40084401e-01 1.85696294e-01 9.05824792e+01] [ 6.23776630e-01 7.68256359e-01 1.43822400e-01 5.18988424e+01] [-2.34720833e-01 8.60968653e-03 9.72024693e-01 8.78231837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.600371743 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:90.61, Y:51.92, Z:8.77 [[ 7.48138794e-01 -6.33416894e-01 1.97664827e-01 9.06137805e+01] [ 6.19889032e-01 7.73452690e-01 1.32319785e-01 5.19230359e+01] [-2.36697979e-01 2.35366934e-02 9.71298147e-01 8.77479809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630371743 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:90.64, Y:51.94, Z:8.77 [[ 7.48403528e-01 -6.32443932e-01 1.99766944e-01 9.06379010e+01] [ 6.19370073e-01 7.74168813e-01 1.30550229e-01 5.19437761e+01] [-2.37219038e-01 2.60254146e-02 9.71107515e-01 8.76634458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.660371743 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:90.67, Y:51.96, Z:8.76 [[ 7.48198673e-01 -6.33897228e-01 1.95890404e-01 9.06653285e+01] [ 6.19587646e-01 7.73157372e-01 1.35420927e-01 5.19604749e+01] [-2.37297060e-01 2.00495165e-02 9.71230211e-01 8.75602177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:90.69, Y:51.98, Z:8.75 [[ 7.48273599e-01 -6.33376945e-01 1.97282198e-01 9.06900903e+01] [ 6.19507016e-01 7.73525209e-01 1.33678000e-01 5.19807011e+01] [-2.37271317e-01 2.21899872e-02 9.71189954e-01 8.74817171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.720371743 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:90.71, Y:52.00, Z:8.74 [[ 7.47972992e-01 -6.34297156e-01 1.95457211e-01 9.07135196e+01] [ 6.19815339e-01 7.72847985e-01 1.36143076e-01 5.19979644e+01] [-2.37413878e-01 1.93160338e-02 9.71216527e-01 8.74047502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750371743 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:90.74, Y:52.02, Z:8.73 [[ 7.48003689e-01 -6.33025346e-01 1.99422649e-01 9.07371452e+01] [ 6.19708154e-01 7.73722268e-01 1.31588967e-01 5.20211560e+01] [-2.37596895e-01 2.51548090e-02 9.71038079e-01 8.73442809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.780371743 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:90.76, Y:52.04, Z:8.72 [[ 7.48101512e-01 -6.33889802e-01 1.96285114e-01 9.07619176e+01] [ 6.19274787e-01 7.73182820e-01 1.36700637e-01 5.20376960e+01] [-2.38417418e-01 1.92884689e-02 9.70971210e-01 8.72473931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810371743 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:90.79, Y:52.06, Z:8.72 [[ 7.47721088e-01 -6.35179251e-01 1.93547135e-01 9.07851175e+01] [ 6.20037352e-01 7.72194581e-01 1.38813587e-01 5.20561480e+01] [-2.37627559e-01 1.62126070e-02 9.71221033e-01 8.71802846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.840371743 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:90.81, Y:52.08, Z:8.71 [[ 7.47356890e-01 -6.35079062e-01 1.95274842e-01 9.08099654e+01] [ 6.20520849e-01 7.72210395e-01 1.36546628e-01 5.20769325e+01] [-2.37511167e-01 1.91230480e-02 9.71196558e-01 8.71143025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870371743 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:90.83, Y:52.10, Z:8.70 [[ 7.46702944e-01 -6.34380250e-01 1.99991029e-01 9.08347767e+01] [ 6.21419485e-01 7.72552337e-01 1.30386775e-01 5.21002751e+01] [-2.37218331e-01 2.69181339e-02 9.71083352e-01 8.70414088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.900371743 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:90.86, Y:52.11, Z:8.69 [[ 7.44776378e-01 -6.39625081e-01 1.90231182e-01 9.08590103e+01] [ 6.23891586e-01 7.68573450e-01 1.41612642e-01 5.21130441e+01] [-2.36785634e-01 1.32138829e-02 9.71472057e-01 8.69439960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930371743 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:90.88, Y:52.13, Z:8.69 [[ 7.43360882e-01 -6.41415735e-01 1.89737856e-01 9.08830069e+01] [ 6.26614253e-01 7.67019642e-01 1.37969007e-01 5.21343964e+01] [-2.34028154e-01 1.63316826e-02 9.72092639e-01 8.68935858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.960371743 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:90.90, Y:52.15, Z:8.69 [[ 7.40212915e-01 -6.47332651e-01 1.81783605e-01 9.09000994e+01] [ 6.31607270e-01 7.62147133e-01 1.42140789e-01 5.21504990e+01] [-2.30558227e-01 9.60139864e-03 9.73011160e-01 8.68512458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990371743 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:90.93, Y:52.18, Z:8.68 [[ 7.40836214e-01 -6.42620259e-01 1.95450520e-01 9.09292546e+01] [ 6.30508144e-01 7.65643510e-01 1.27473514e-01 5.21766562e+01] [-2.31562485e-01 2.87961488e-02 9.72393746e-01 8.67812723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.020371743 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:90.96, Y:52.19, Z:8.67 [[ 7.39963973e-01 -6.44735364e-01 1.91754084e-01 9.09561025e+01] [ 6.31485418e-01 7.64049745e-01 1.32114169e-01 5.21941080e+01] [-2.31688336e-01 2.33301829e-02 9.72510266e-01 8.66719403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050371743 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:90.98, Y:52.22, Z:8.66 [[ 7.39365063e-01 -6.43952855e-01 1.96631696e-01 9.09800862e+01] [ 6.31777365e-01 7.64495092e-01 1.28080503e-01 5.22165440e+01] [-2.32801773e-01 2.95292054e-02 9.72075800e-01 8.65912329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.080371743 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:91.01, Y:52.23, Z:8.65 [[ 7.38816368e-01 -6.47061842e-01 1.88311836e-01 9.10051098e+01] [ 6.32576178e-01 7.62232329e-01 1.37292593e-01 5.22307925e+01] [-2.32374168e-01 1.76875667e-02 9.72465627e-01 8.64887502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11037174300003 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:91.03, Y:52.25, Z:8.64 [[ 7.39378702e-01 -6.44882481e-01 1.93508970e-01 9.10276186e+01] [ 6.31741174e-01 7.63880968e-01 1.31867192e-01 5.22529307e+01] [-2.32856662e-01 2.47477906e-02 9.72196134e-01 8.64318622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.140371743 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:91.05, Y:52.27, Z:8.63 [[ 7.39462861e-01 -6.44918040e-01 1.93068379e-01 9.10526383e+01] [ 6.31788988e-01 7.63857732e-01 1.31772684e-01 5.22729826e+01] [-2.32459355e-01 2.45374696e-02 9.72296539e-01 8.63480522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17037174300003 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:91.08, Y:52.29, Z:8.63 [[ 7.39974108e-01 -6.46009429e-01 1.87376991e-01 9.10772481e+01] [ 6.31331900e-01 7.63156134e-01 1.37886720e-01 5.22907631e+01] [-2.32074021e-01 1.62644693e-02 9.72562140e-01 8.62611111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.200371743 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:91.10, Y:52.31, Z:8.62 [[ 7.40520776e-01 -6.43933914e-01 1.92296894e-01 9.11009385e+01] [ 6.30736449e-01 7.64715265e-01 1.31841176e-01 5.23145555e+01] [-2.31949375e-01 2.36575298e-02 9.72440131e-01 8.62092589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23037174300003 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:91.13, Y:52.34, Z:8.61 [[ 7.41234003e-01 -6.43687740e-01 1.90363458e-01 9.11254630e+01] [ 6.29773837e-01 7.65024232e-01 1.34621093e-01 5.23350732e+01] [-2.32286605e-01 2.01001932e-02 9.72439672e-01 8.61242539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.260371743 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:91.15, Y:52.35, Z:8.61 [[ 7.41533543e-01 -6.43817934e-01 1.88749761e-01 9.11486014e+01] [ 6.29403713e-01 7.64978395e-01 1.36598026e-01 5.23527347e+01] [-2.32333748e-01 1.75077822e-02 9.72478538e-01 8.60560084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.290371743 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:91.17, Y:52.37, Z:8.60 [[ 7.41855387e-01 -6.42720517e-01 1.91209106e-01 9.11726985e+01] [ 6.29078428e-01 7.65804590e-01 1.33430366e-01 5.23736508e+01] [-2.32187245e-01 2.12994881e-02 9.72437872e-01 8.59929218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.320371743 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:91.20, Y:52.40, Z:8.59 [[ 7.41962051e-01 -6.40690794e-01 1.97503473e-01 9.11972412e+01] [ 6.28386516e-01 7.67253442e-01 1.28267462e-01 5.23967522e+01] [-2.33715001e-01 2.89389301e-02 9.71874393e-01 8.59224637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.350371743 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:91.22, Y:52.41, Z:8.58 [[ 7.41407788e-01 -6.43158418e-01 1.91472560e-01 9.12240554e+01] [ 6.29195173e-01 7.65458938e-01 1.34855660e-01 5.24130450e+01] [-2.33297935e-01 2.04905740e-02 9.72189390e-01 8.58201431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380371743 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:91.25, Y:52.43, Z:8.57 [[ 7.41410894e-01 -6.42970425e-01 1.92090913e-01 9.12476563e+01] [ 6.28979837e-01 7.65610394e-01 1.35000330e-01 5.24315009e+01] [-2.33868019e-01 2.07305961e-02 9.72047320e-01 8.57419109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.410371743 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:91.27, Y:52.45, Z:8.57 [[ 7.41598434e-01 -6.41301936e-01 1.96884712e-01 9.12724607e+01] [ 6.28759932e-01 7.66780077e-01 1.29264312e-01 5.24536670e+01] [-2.33864728e-01 2.79310067e-02 9.71867865e-01 8.56727292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440371743 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:91.30, Y:52.47, Z:8.56 [[ 7.41598666e-01 -6.42147551e-01 1.94108068e-01 9.12985107e+01] [ 6.28721664e-01 7.66217665e-01 1.32738688e-01 5.24710488e+01] [-2.33966855e-01 2.36011136e-02 9.71958074e-01 8.55730289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.470371743 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:91.31, Y:52.48, Z:8.55 [[ 7.38631434e-01 -6.52586513e-01 1.68980613e-01 9.13147615e+01] [ 6.34804857e-01 7.57700645e-01 1.51368842e-01 5.24799868e+01] [-2.26817984e-01 -4.53607094e-03 9.73926602e-01 8.55210503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500371743 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:91.34, Y:52.51, Z:8.55 [[ 7.39854572e-01 -6.47780281e-01 1.81647792e-01 9.13365630e+01] [ 6.34137704e-01 7.61646738e-01 1.33280227e-01 5.25082332e+01] [-2.24687752e-01 1.65817285e-02 9.74289721e-01 8.55231970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.530371743 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:91.36, Y:52.53, Z:8.54 [[ 7.41178713e-01 -6.46412430e-01 1.81121741e-01 9.13611297e+01] [ 6.32828348e-01 7.62816582e-01 1.32812439e-01 5.25278440e+01] [-2.24014280e-01 1.61812195e-02 9.74451523e-01 8.54451773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560371743 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:91.39, Y:52.55, Z:8.54 [[ 7.41922342e-01 -6.45652779e-01 1.80786416e-01 9.13866031e+01] [ 6.32114611e-01 7.63463914e-01 1.32491400e-01 5.25481554e+01] [-2.23567345e-01 1.59794050e-02 9.74557490e-01 8.53695151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.590371743 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:91.41, Y:52.57, Z:8.53 [[ 7.42781766e-01 -6.44653233e-01 1.80824386e-01 9.14118060e+01] [ 6.31098722e-01 7.64312968e-01 1.32439008e-01 5.25678265e+01] [-2.23583658e-01 1.57447585e-02 9.74557567e-01 8.52940587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620371743 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:91.44, Y:52.60, Z:8.52 [[ 7.47307479e-01 -6.31439910e-01 2.06918273e-01 9.14446089e+01] [ 6.23022624e-01 7.74114287e-01 1.12204635e-01 5.25971432e+01] [-2.31028876e-01 4.50634027e-02 9.71902746e-01 8.51904814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.650371743 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:91.47, Y:52.61, Z:8.50 [[ 7.48278662e-01 -6.34084060e-01 1.94978074e-01 9.14723677e+01] [ 6.20976617e-01 7.72906819e-01 1.30395901e-01 5.26076237e+01] [-2.33381846e-01 2.35043543e-02 9.72101054e-01 8.50223416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680371743 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:91.50, Y:52.63, Z:8.49 [[ 7.48097641e-01 -6.35059068e-01 1.92483508e-01 9.14980610e+01] [ 6.21762783e-01 7.72160756e-01 1.31067953e-01 5.26275170e+01] [-2.31864103e-01 2.16274547e-02 9.72507733e-01 8.49418155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.710371743 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:91.52, Y:52.65, Z:8.49 [[ 7.49669812e-01 -6.32623964e-01 1.94376166e-01 9.15205773e+01] [ 6.19224429e-01 7.74149648e-01 1.31352309e-01 5.26468947e+01] [-2.33572859e-01 2.18916094e-02 9.72092834e-01 8.48558506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:91.54, Y:52.67, Z:8.48 [[ 7.50285073e-01 -6.31170754e-01 1.96712449e-01 9.15439793e+01] [ 6.18026003e-01 7.75279059e-01 1.30331271e-01 5.26660492e+01] [-2.34768329e-01 2.37878016e-02 9.71760244e-01 8.47768388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.770371743 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:91.57, Y:52.69, Z:8.47 [[ 7.49995633e-01 -6.32571486e-01 1.93287002e-01 9.15695266e+01] [ 6.19028147e-01 7.74223446e-01 1.31841608e-01 5.26857175e+01] [-2.33046571e-01 2.07694641e-02 9.72243758e-01 8.47057894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:91.59, Y:52.71, Z:8.47 [[ 7.49434362e-01 -6.33847611e-01 1.91272954e-01 9.15917398e+01] [ 6.19948984e-01 7.73232725e-01 1.33320702e-01 5.27054954e+01] [-2.32403515e-01 1.86643585e-02 9.72440357e-01 8.46586958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.830371743 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:91.62, Y:52.73, Z:8.46 [[ 7.48703037e-01 -6.33653239e-01 1.94749416e-01 9.16161982e+01] [ 6.21021551e-01 7.73217435e-01 1.28323933e-01 5.27283707e+01] [-2.31896520e-01 2.48670660e-02 9.72422559e-01 8.45990464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86037174300003 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:91.63, Y:52.73, Z:8.45 [[ 7.43839325e-01 -6.49387974e-01 1.58108564e-01 9.16332480e+01] [ 6.29913711e-01 7.60229091e-01 1.58935350e-01 5.27308770e+01] [-2.23409435e-01 -1.86276108e-02 9.74546683e-01 8.45366348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.890371743 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:91.65, Y:52.76, Z:8.46 [[ 7.42581813e-01 -6.45383605e-01 1.79031431e-01 9.16531197e+01] [ 6.31940822e-01 7.63707768e-01 1.31913767e-01 5.27639309e+01] [-2.21862677e-01 1.51805057e-02 9.74959745e-01 8.45947801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92037174300003 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:91.69, Y:52.79, Z:8.45 [[ 7.45130622e-01 -6.34989137e-01 2.03885146e-01 9.16853610e+01] [ 6.26674686e-01 7.71235624e-01 1.11689081e-01 5.27913377e+01] [-2.28164841e-01 4.45467052e-02 9.72602898e-01 8.44904570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.950371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:91.72, Y:52.80, Z:8.43 [[ 7.44408114e-01 -6.40237638e-01 1.89610985e-01 9.17159448e+01] [ 6.27802675e-01 7.67805455e-01 1.27822475e-01 5.28007481e+01] [-2.27421108e-01 2.38861962e-02 9.73503513e-01 8.43116309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98037174300003 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:91.74, Y:52.82, Z:8.42 [[ 7.44213756e-01 -6.42711523e-01 1.81845492e-01 9.17415056e+01] [ 6.28553251e-01 7.65981811e-01 1.34880228e-01 5.28159146e+01] [-2.25979416e-01 1.39198542e-02 9.74032618e-01 8.42206195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.010371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:91.76, Y:52.84, Z:8.42 [[ 7.44573630e-01 -6.41834775e-01 1.83461797e-01 9.17642926e+01] [ 6.28378648e-01 7.66652051e-01 1.31851842e-01 5.28355796e+01] [-2.25278460e-01 1.71100719e-02 9.74144168e-01 8.41736284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.040371743 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:91.79, Y:52.85, Z:8.41 [[ 7.44373848e-01 -6.42920553e-01 1.80445938e-01 9.17890201e+01] [ 6.29308875e-01 7.65786586e-01 1.32443361e-01 5.28545340e+01] [-2.23333638e-01 1.49688558e-02 9.74627118e-01 8.41174036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.070371743 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:91.81, Y:52.88, Z:8.41 [[ 7.44866886e-01 -6.40511677e-01 1.86863891e-01 9.18134086e+01] [ 6.28686416e-01 7.67559782e-01 1.24921464e-01 5.28779808e+01] [-2.23442864e-01 2.44289282e-02 9.74410855e-01 8.40659310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.100371743 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:91.84, Y:52.89, Z:8.40 [[ 7.44539650e-01 -6.42913588e-01 1.79785508e-01 9.18387209e+01] [ 6.29159411e-01 7.65809388e-01 1.33020361e-01 5.28915589e+01] [-2.23202028e-01 1.40748113e-02 9.74670588e-01 8.39672696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130371743 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:91.86, Y:52.90, Z:8.39 [[ 7.42405147e-01 -6.49265737e-01 1.65192617e-01 9.18566496e+01] [ 6.33490121e-01 7.60561025e-01 1.42257494e-01 5.29044139e+01] [-2.18001982e-01 -9.64805017e-04 9.75947849e-01 8.39300810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.160371743 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:91.88, Y:52.93, Z:8.39 [[ 7.45061917e-01 -6.39498798e-01 1.89536348e-01 9.18839661e+01] [ 6.29227814e-01 7.68162454e-01 1.18316539e-01 5.29343150e+01] [-2.21257990e-01 3.11083945e-02 9.74719021e-01 8.39037110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190371743 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:91.91, Y:52.95, Z:8.38 [[ 7.44566892e-01 -6.42981644e-01 1.79428953e-01 9.19124511e+01] [ 6.29533665e-01 7.65736174e-01 1.31664255e-01 5.29467890e+01] [-2.22052939e-01 1.49237213e-02 9.74920394e-01 8.37771583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.220371743 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:91.94, Y:52.96, Z:8.37 [[ 7.44289530e-01 -6.44271415e-01 1.75918843e-01 9.19370978e+01] [ 6.30346161e-01 7.64712408e-01 1.33711070e-01 5.29639837e+01] [-2.20673542e-01 1.13700173e-02 9.75281452e-01 8.37167520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250371743 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:91.96, Y:52.98, Z:8.37 [[ 7.42094229e-01 -6.47657902e-01 1.72729262e-01 9.19553976e+01] [ 6.33936013e-01 7.61855205e-01 1.33048027e-01 5.29828539e+01] [-2.17764294e-01 1.07651264e-02 9.75942019e-01 8.36945350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.280371743 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:91.99, Y:53.00, Z:8.36 [[ 7.43859224e-01 -6.43412339e-01 1.80814869e-01 9.19864174e+01] [ 6.31140254e-01 7.65260682e-01 1.26641496e-01 5.30038316e+01] [-2.19853211e-01 1.99160971e-02 9.75329644e-01 8.36120242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310371743 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:92.01, Y:53.02, Z:8.35 [[ 7.42059126e-01 -6.45827228e-01 1.79598007e-01 9.20112440e+01] [ 6.33423773e-01 7.63241934e-01 1.27420855e-01 5.30194154e+01] [-2.19368588e-01 1.92078393e-02 9.75452962e-01 8.35377000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.340371743 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:92.04, Y:53.04, Z:8.35 [[ 7.41424597e-01 -6.45413439e-01 1.83660174e-01 9.20362074e+01] [ 6.33883667e-01 7.63438731e-01 1.23906419e-01 5.30385906e+01] [-2.20184159e-01 2.45519173e-02 9.75149291e-01 8.34628647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370371743 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:92.06, Y:53.05, Z:8.34 [[ 7.39209198e-01 -6.50944044e-01 1.72747252e-01 9.20645655e+01] [ 6.37152498e-01 7.59043177e-01 1.33754067e-01 5.30497201e+01] [-2.18189036e-01 1.11941070e-02 9.75842322e-01 8.33551948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.400371743 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:92.09, Y:53.07, Z:8.33 [[ 7.38403298e-01 -6.50949469e-01 1.76140165e-01 9.20896726e+01] [ 6.38549419e-01 7.58904154e-01 1.27746330e-01 5.30705924e+01] [-2.16829909e-01 1.81458884e-02 9.76040736e-01 8.33104306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430371743 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:92.11, Y:53.09, Z:8.32 [[ 7.38151925e-01 -6.49646226e-01 1.81910739e-01 9.21141464e+01] [ 6.38708133e-01 7.59777514e-01 1.21614349e-01 5.30906158e+01] [-2.17217992e-01 2.64180030e-02 9.75765563e-01 8.32421177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.460371743 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:92.14, Y:53.11, Z:8.31 [[ 7.37339391e-01 -6.51635093e-01 1.78051476e-01 9.21421790e+01] [ 6.39779132e-01 7.58232603e-01 1.25562662e-01 5.31056438e+01] [-2.16825471e-01 2.13313219e-02 9.75977300e-01 8.31398733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490371743 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:92.17, Y:53.12, Z:8.31 [[ 7.37385683e-01 -6.54040755e-01 1.68798831e-01 9.21697852e+01] [ 6.40479700e-01 7.56391523e-01 1.32881971e-01 5.31206621e+01] [-2.14588230e-01 1.01269615e-02 9.76652106e-01 8.30549159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.520371743 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:92.19, Y:53.14, Z:8.30 [[ 7.38253784e-01 -6.51243657e-01 1.75678827e-01 9.21937111e+01] [ 6.39596746e-01 7.58589665e-01 1.24329091e-01 5.31436803e+01] [-2.14236675e-01 2.05771842e-02 9.76565014e-01 8.30232172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550371743 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:92.22, Y:53.16, Z:8.30 [[ 7.39926309e-01 -6.47956982e-01 1.80723014e-01 9.22168712e+01] [ 6.37057439e-01 7.61248421e-01 1.21072961e-01 5.31636174e+01] [-2.16025179e-01 2.55458713e-02 9.76053549e-01 8.29642095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.580371743 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:92.24, Y:53.18, Z:8.29 [[ 7.39686086e-01 -6.49282887e-01 1.76907396e-01 9.22441895e+01] [ 6.37248022e-01 7.60295352e-01 1.25960058e-01 5.31805792e+01] [-2.16285581e-01 1.95629856e-02 9.76134129e-01 8.28637911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61037174300003 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:92.27, Y:53.20, Z:8.28 [[ 7.40402662e-01 -6.47656260e-01 1.79847898e-01 9.22697007e+01] [ 6.36154437e-01 7.61589594e-01 1.23647978e-01 5.32010239e+01] [-2.17051675e-01 2.28617463e-02 9.75892367e-01 8.27940797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.640371743 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:92.30, Y:53.22, Z:8.27 [[ 7.42544646e-01 -6.45190166e-01 1.79880790e-01 9.22960438e+01] [ 6.33124115e-01 7.63748878e-01 1.25863046e-01 5.32188685e+01] [-2.18589351e-01 2.04279347e-02 9.75603093e-01 8.27113184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67037174300003 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:92.32, Y:53.24, Z:8.26 [[ 7.43858648e-01 -6.42998412e-01 1.82283719e-01 9.23211030e+01] [ 6.31351522e-01 7.65525733e-01 1.23958088e-01 5.32391045e+01] [-2.19247731e-01 2.28778073e-02 9.75400963e-01 8.26420885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.700371743 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:92.35, Y:53.25, Z:8.26 [[ 7.44902485e-01 -6.44122158e-01 1.73858946e-01 9.23463044e+01] [ 6.30375988e-01 7.64848079e-01 1.32791301e-01 5.32535369e+01] [-2.18509500e-01 1.06799347e-02 9.75776377e-01 8.25573813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73037174300003 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:92.37, Y:53.28, Z:8.25 [[ 7.48349063e-01 -6.37141770e-01 1.84456076e-01 9.23688819e+01] [ 6.25469305e-01 7.70405825e-01 1.23543569e-01 5.32781942e+01] [-2.20820803e-01 2.29178999e-02 9.75045098e-01 8.25238175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.760371743 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:92.40, Y:53.29, Z:8.24 [[ 7.49136220e-01 -6.37917829e-01 1.78481839e-01 9.23951742e+01] [ 6.24637392e-01 7.69978571e-01 1.30234895e-01 5.32944088e+01] [-2.20506353e-01 1.39227532e-02 9.75286166e-01 8.24314231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.790371743 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:92.42, Y:53.32, Z:8.24 [[ 7.50466357e-01 -6.35024435e-01 1.83150797e-01 9.24196059e+01] [ 6.22864907e-01 7.72231738e-01 1.25289463e-01 5.33167794e+01] [-2.20996729e-01 2.00526768e-02 9.75068375e-01 8.23725189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.820371743 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:92.44, Y:53.33, Z:8.23 [[ 7.53019095e-01 -6.35403987e-01 1.70950333e-01 9.24448815e+01] [ 6.20233078e-01 7.72177065e-01 1.38034450e-01 5.33299744e+01] [-2.19711566e-01 2.08647493e-03 9.75562645e-01 8.22871046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.850371743 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:92.47, Y:53.36, Z:8.23 [[ 7.54980789e-01 -6.29323993e-01 1.84269693e-01 9.24671984e+01] [ 6.17347149e-01 7.76879252e-01 1.23859299e-01 5.33569859e+01] [-2.21102930e-01 2.02469790e-02 9.75040283e-01 8.22702994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880371743 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:92.49, Y:53.37, Z:8.22 [[ 7.55657314e-01 -6.32594542e-01 1.69723805e-01 9.24857035e+01] [ 6.17500921e-01 7.74482498e-01 1.37366201e-01 5.33711665e+01] [-2.18345225e-01 1.00283085e-03 9.75871076e-01 8.22011692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.910371743 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:92.52, Y:53.40, Z:8.21 [[ 7.59156830e-01 -6.25343750e-01 1.80626970e-01 9.25171582e+01] [ 6.12337065e-01 7.80228744e-01 1.27618280e-01 5.33951892e+01] [-2.20735648e-01 1.37223003e-02 9.75237136e-01 8.21264852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940371743 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:92.54, Y:53.42, Z:8.21 [[ 7.60202830e-01 -6.22365135e-01 1.86422359e-01 9.25414156e+01] [ 6.10259697e-01 7.82478996e-01 1.23732464e-01 5.34164585e+01] [-2.22878352e-01 1.97042833e-02 9.74647106e-01 8.20523277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.970371743 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:92.57, Y:53.43, Z:8.19 [[ 7.61841351e-01 -6.22105570e-01 1.80506002e-01 9.25677325e+01] [ 6.08118997e-01 7.82874882e-01 1.31522643e-01 5.34309892e+01] [-2.23134583e-01 9.56974073e-03 9.74740672e-01 8.19442260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000371743 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:92.59, Y:53.45, Z:8.19 [[ 7.63357154e-01 -6.18280269e-01 1.87123926e-01 9.25932473e+01] [ 6.05814720e-01 7.85750088e-01 1.24841199e-01 5.34535783e+01] [-2.24219491e-01 1.80640059e-02 9.74371239e-01 8.18819545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.030371743 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:92.62, Y:53.47, Z:8.18 [[ 7.63892490e-01 -6.18352280e-01 1.84685465e-01 9.26186162e+01] [ 6.04800779e-01 7.85795820e-01 1.29386814e-01 5.34703735e+01] [-2.25131698e-01 1.28602974e-02 9.74243466e-01 8.17925519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060371743 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:92.65, Y:53.49, Z:8.17 [[ 7.64504882e-01 -6.20459813e-01 1.74819638e-01 9.26450703e+01] [ 6.04892233e-01 7.84238226e-01 1.38115137e-01 5.34855611e+01] [-2.22795135e-01 1.57344146e-04 9.74865274e-01 8.17112091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.090371743 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:92.66, Y:53.51, Z:8.17 [[ 7.64670776e-01 -6.19988380e-01 1.75764084e-01 9.26580491e+01] [ 6.05850758e-01 7.84590095e-01 1.31769654e-01 5.35076827e+01] [-2.19598414e-01 5.72640004e-03 9.75573547e-01 8.17363764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120371743 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:92.69, Y:53.53, Z:8.16 [[ 7.67853256e-01 -6.12460980e-01 1.87864113e-01 9.26908772e+01] [ 6.00338461e-01 7.90282203e-01 1.22669359e-01 5.35300752e+01] [-2.23595861e-01 1.85899862e-02 9.74504645e-01 8.16320035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.150371743 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:92.71, Y:53.54, Z:8.15 [[ 7.67341138e-01 -6.18157777e-01 1.70494984e-01 9.27108766e+01] [ 6.02582458e-01 7.86047943e-01 1.37923938e-01 5.35410402e+01] [-2.19275986e-01 -3.09742498e-03 9.75657956e-01 8.15494228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180371743 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:92.74, Y:53.56, Z:8.15 [[ 7.70862273e-01 -6.10602044e-01 1.81484162e-01 9.27447381e+01] [ 5.96992106e-01 7.91883421e-01 1.28534322e-01 5.35637056e+01] [-2.22197619e-01 9.26235239e-03 9.74957654e-01 8.14671960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.210371743 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:92.77, Y:53.59, Z:8.14 [[ 7.71976098e-01 -6.05535783e-01 1.93337318e-01 9.27712412e+01] [ 5.94097245e-01 7.95493051e-01 1.19328411e-01 5.35873580e+01] [-2.26056116e-01 2.27424873e-02 9.73848762e-01 8.13905640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:92.80, Y:53.60, Z:8.13 [[ 7.73971403e-01 -6.06103985e-01 1.83320011e-01 9.27995853e+01] [ 5.91488653e-01 7.95363290e-01 1.32432661e-01 5.35968020e+01] [-2.26073971e-01 5.93261390e-03 9.74092072e-01 8.12500040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.270371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:92.83, Y:53.62, Z:8.12 [[ 7.74510820e-01 -6.03858681e-01 1.88381748e-01 9.28251373e+01] [ 5.90566945e-01 7.96983167e-01 1.26682733e-01 5.36176092e+01] [-2.26635550e-01 1.31348865e-02 9.73891063e-01 8.11935626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:92.85, Y:53.63, Z:8.11 [[ 7.74303523e-01 -6.06760455e-01 1.79710336e-01 9.28530710e+01] [ 5.91607280e-01 7.94882311e-01 1.34769944e-01 5.36312541e+01] [-2.24621640e-01 1.96510068e-03 9.74444076e-01 8.11054376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.330371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:92.87, Y:53.64, Z:8.11 [[ 7.70080736e-01 -6.15056467e-01 1.69355255e-01 9.28678368e+01] [ 5.99403639e-01 7.88468903e-01 1.37956759e-01 5.36443824e+01] [-2.18382548e-01 -4.72568646e-03 9.75851797e-01 8.11044180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36037174300003 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:92.89, Y:53.67, Z:8.11 [[ 7.69516283e-01 -6.14369991e-01 1.74339338e-01 9.28937671e+01] [ 6.00408148e-01 7.89005793e-01 1.30306999e-01 5.36650498e+01] [-2.17611458e-01 4.40140186e-03 9.76025554e-01 8.10637193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.390371743 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:92.93, Y:53.69, Z:8.10 [[ 7.71434223e-01 -6.05609650e-01 1.95259292e-01 9.29332279e+01] [ 5.96012112e-01 7.95184855e-01 1.11582298e-01 5.36889732e+01] [-2.22842548e-01 3.02984998e-02 9.74383497e-01 8.09638412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42037174300003 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:92.96, Y:53.70, Z:8.08 [[ 7.69493285e-01 -6.12403510e-01 1.81223690e-01 9.29625078e+01] [ 5.98951931e-01 7.90481889e-01 1.28042835e-01 5.36965583e+01] [-2.21667926e-01 1.00161776e-02 9.75070770e-01 8.08229479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.450371743 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:92.99, Y:53.70, Z:8.08 [[ 7.64477316e-01 -6.24091860e-01 1.61504748e-01 9.29872873e+01] [ 6.07046831e-01 7.81240177e-01 1.45457661e-01 5.36996601e+01] [-2.16952940e-01 -1.31581366e-02 9.76093379e-01 8.07500328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48037174300003 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:93.00, Y:53.73, Z:8.08 [[ 7.62554474e-01 -6.21805124e-01 1.78519082e-01 9.30036721e+01] [ 6.09941989e-01 7.83010338e-01 1.21924490e-01 5.37270037e+01] [-2.15595559e-01 1.59122185e-02 9.76353090e-01 8.07922754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.510371743 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:93.03, Y:53.74, Z:8.07 [[ 7.60973068e-01 -6.25199669e-01 1.73335985e-01 9.30322169e+01] [ 6.11834439e-01 7.80423680e-01 1.28831280e-01 5.37398096e+01] [-2.15820781e-01 8.01579112e-03 9.76400091e-01 8.06846525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.540371743 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:93.06, Y:53.76, Z:8.06 [[ 7.59511135e-01 -6.27111171e-01 1.72842165e-01 9.30598485e+01] [ 6.13881935e-01 7.78882610e-01 1.28416701e-01 5.37570762e+01] [-2.15155305e-01 8.57076796e-03 9.76542235e-01 8.06105462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.570371743 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:93.10, Y:53.78, Z:8.05 [[ 7.61104272e-01 -6.18058660e-01 1.96783585e-01 9.30996494e+01] [ 6.09773424e-01 7.85214536e-01 1.07770606e-01 5.37825440e+01] [-2.21125888e-01 3.79687323e-02 9.74505884e-01 8.04989572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.600371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:93.12, Y:53.78, Z:8.04 [[ 7.54525700e-01 -6.36894041e-01 1.58293869e-01 9.31164964e+01] [ 6.20466841e-01 7.70879669e-01 1.44102168e-01 5.37788985e+01] [-2.13803338e-01 -1.05126925e-02 9.76820156e-01 8.03824750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630371743 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:93.14, Y:53.80, Z:8.04 [[ 7.52665246e-01 -6.36244951e-01 1.69373525e-01 9.31406451e+01] [ 6.23771279e-01 7.71409648e-01 1.25843341e-01 5.38030761e+01] [-2.10723561e-01 1.09324316e-02 9.77484559e-01 8.03835363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.660371743 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:93.17, Y:53.82, Z:8.03 [[ 7.52102040e-01 -6.36958765e-01 1.69192358e-01 9.31680611e+01] [ 6.24546024e-01 7.70816809e-01 1.25633241e-01 5.38206549e+01] [-2.10439507e-01 1.11793974e-02 9.77542958e-01 8.03057176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690371743 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:93.19, Y:53.84, Z:8.02 [[ 7.51856978e-01 -6.37259856e-01 1.69147747e-01 9.31949293e+01] [ 6.24877353e-01 7.70565858e-01 1.25525109e-01 5.38379669e+01] [-2.10331591e-01 1.13196672e-02 9.77564569e-01 8.02300836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.720371743 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:93.23, Y:53.85, Z:8.01 [[ 7.55767596e-01 -6.31921805e-01 1.71727032e-01 9.32330169e+01] [ 6.19892055e-01 7.74920157e-01 1.23420380e-01 5.38531205e+01] [-2.11066768e-01 1.31750984e-02 9.77382850e-01 8.01326570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750371743 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:93.25, Y:53.87, Z:8.01 [[ 7.53355336e-01 -6.35611141e-01 1.68683776e-01 9.32464321e+01] [ 6.23912490e-01 7.71895609e-01 1.22108040e-01 5.38718004e+01] [-2.07819496e-01 1.32531715e-02 9.78077405e-01 8.01063374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.780371743 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:93.28, Y:53.89, Z:8.00 [[ 7.58156454e-01 -6.28377719e-01 1.74184479e-01 9.32845250e+01] [ 6.17483895e-01 7.77696286e-01 1.17907280e-01 5.38909827e+01] [-2.09552930e-01 1.81639451e-02 9.77628580e-01 8.00030585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810371743 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:93.30, Y:53.90, Z:7.99 [[ 7.57255120e-01 -6.32043472e-01 1.64577440e-01 9.32999056e+01] [ 6.19439569e-01 7.74903929e-01 1.25771704e-01 5.39033301e+01] [-2.07024889e-01 6.70451141e-03 9.78312703e-01 7.99466659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.840371743 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:93.33, Y:53.92, Z:7.99 [[ 7.58969546e-01 -6.29469215e-01 1.66534488e-01 9.33262320e+01] [ 6.17278175e-01 7.76973521e-01 1.23611493e-01 5.39224759e+01] [-2.07202517e-01 8.98074622e-03 9.78256849e-01 7.98839631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870371743 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:93.35, Y:53.94, Z:7.98 [[ 7.61796460e-01 -6.26099277e-01 1.66330543e-01 9.33534323e+01] [ 6.13874673e-01 7.79701161e-01 1.23385519e-01 5.39389234e+01] [-2.06939701e-01 8.11145603e-03 9.78320073e-01 7.98036770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.900371743 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:93.38, Y:53.96, Z:7.97 [[ 7.63068638e-01 -6.24557325e-01 1.66296127e-01 9.33792344e+01] [ 6.12317930e-01 7.80940487e-01 1.23283046e-01 5.39559100e+01] [-2.06864708e-01 7.75267391e-03 9.78338842e-01 7.97323737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930371743 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:93.41, Y:53.97, Z:7.97 [[ 7.64147923e-01 -6.23205868e-01 1.66410330e-01 9.34061567e+01] [ 6.10927109e-01 7.82022562e-01 1.23323882e-01 5.39735323e+01] [-2.06992800e-01 7.42689355e-03 9.78314276e-01 7.96562795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.960371743 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:93.43, Y:53.99, Z:7.96 [[ 7.65065551e-01 -6.22013799e-01 1.66653942e-01 9.34330507e+01] [ 6.09686791e-01 7.82973400e-01 1.23428815e-01 5.39912373e+01] [-2.07260029e-01 7.17557311e-03 9.78259573e-01 7.95801195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990371743 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:93.47, Y:54.02, Z:7.95 [[ 7.69715740e-01 -6.05168062e-01 2.03246884e-01 9.34691860e+01] [ 5.99868639e-01 7.94554363e-01 9.40264883e-02 5.40215688e+01] [-2.18392526e-01 4.95477633e-02 9.74602341e-01 7.94887386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.020371743 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:93.50, Y:54.01, Z:7.93 [[ 7.62805009e-01 -6.29820834e-01 1.46472640e-01 9.34957318e+01] [ 6.11127751e-01 7.76209564e-01 1.54988983e-01 5.40053185e+01] [-2.11308755e-01 -2.87128780e-02 9.76997534e-01 7.93180436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050371743 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:93.52, Y:54.04, Z:7.94 [[ 7.61991529e-01 -6.25227607e-01 1.68698986e-01 9.35157217e+01] [ 6.12672170e-01 7.80399832e-01 1.24935643e-01 5.40365540e+01] [-2.09765873e-01 8.15727216e-03 9.77717616e-01 7.93609051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.080371743 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:93.54, Y:54.05, Z:7.93 [[ 7.60151633e-01 -6.27558832e-01 1.68343124e-01 9.35437268e+01] [ 6.15129281e-01 7.78518948e-01 1.24596205e-01 5.40531008e+01] [-2.09249761e-01 8.84077655e-03 9.77822263e-01 7.92834190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11037174300003 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:93.57, Y:54.07, Z:7.92 [[ 7.58271836e-01 -6.30014896e-01 1.67645618e-01 9.35716905e+01] [ 6.17764073e-01 7.76524499e-01 1.24005053e-01 5.40695151e+01] [-2.08305960e-01 9.53590080e-03 9.78017226e-01 7.92080358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.140371743 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:93.60, Y:54.08, Z:7.91 [[ 7.53380659e-01 -6.36101193e-01 1.66711894e-01 9.36009775e+01] [ 6.24149126e-01 7.71524266e-01 1.23240313e-01 5.40837461e+01] [-2.07015582e-01 1.12062149e-02 9.78273464e-01 7.91266596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17037174300003 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:93.63, Y:54.10, Z:7.91 [[ 7.51240290e-01 -6.38821062e-01 1.65968905e-01 9.36287565e+01] [ 6.27056825e-01 7.69262430e-01 1.22617499e-01 5.41002247e+01] [-2.06004284e-01 1.19567293e-02 9.78478038e-01 7.90521832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.200371743 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:93.66, Y:54.12, Z:7.90 [[ 7.47458967e-01 -6.43341901e-01 1.65578653e-01 9.36577657e+01] [ 6.31757121e-01 7.65464778e-01 1.22256344e-01 5.41150845e+01] [-2.05397256e-01 1.32238929e-02 9.78589340e-01 7.89717693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.230371743 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:93.68, Y:54.13, Z:7.89 [[ 7.46710246e-01 -6.44369122e-01 1.64961337e-01 9.36849351e+01] [ 6.32911383e-01 7.64595234e-01 1.21726369e-01 5.41328373e+01] [-2.04565366e-01 1.35115811e-02 9.78759648e-01 7.89025310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.260371743 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:93.71, Y:54.15, Z:7.88 [[ 7.46340901e-01 -6.44738435e-01 1.65189616e-01 9.37108031e+01] [ 6.33273171e-01 7.64280652e-01 1.21820262e-01 5.41505109e+01] [-2.04793432e-01 1.36907079e-02 9.78709464e-01 7.88281113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.290371743 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:93.74, Y:54.19, Z:7.87 [[ 7.50909785e-01 -6.28061996e-01 2.04138737e-01 9.37403005e+01] [ 6.24903595e-01 7.75728961e-01 8.79776947e-02 5.41851906e+01] [-2.13611777e-01 6.15037186e-02 9.74980667e-01 7.87378898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.320371743 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:93.78, Y:54.18, Z:7.85 [[ 7.49994853e-01 -6.40348903e-01 1.65713618e-01 9.37772501e+01] [ 6.26160512e-01 7.68077510e-01 1.34089342e-01 5.41809460e+01] [-2.13144866e-01 3.19700777e-03 9.77015376e-01 7.85466826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.350371743 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:93.79, Y:54.19, Z:7.86 [[ 7.47330478e-01 -6.47427499e-01 1.49448285e-01 9.37928816e+01] [ 6.31297150e-01 7.62008281e-01 1.44247320e-01 5.41940776e+01] [-2.07270513e-01 -1.34541426e-02 9.78191147e-01 7.85590796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380371743 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:93.82, Y:54.23, Z:7.85 [[ 7.51886267e-01 -6.31322073e-01 1.89998636e-01 9.38172549e+01] [ 6.24553856e-01 7.74362303e-01 1.01466769e-01 5.42328173e+01] [-2.11185992e-01 4.23729106e-02 9.76527016e-01 7.85459209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.410371743 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:93.85, Y:54.24, Z:7.84 [[ 7.52595152e-01 -6.34472051e-01 1.76198051e-01 9.38495125e+01] [ 6.23181611e-01 7.72712463e-01 1.20665365e-01 5.42435295e+01] [-2.12709232e-01 1.89912170e-02 9.76930968e-01 7.83930437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440371743 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:93.87, Y:54.26, Z:7.83 [[ 7.52681738e-01 -6.37421099e-01 1.64816699e-01 9.38748681e+01] [ 6.24144008e-01 7.70496905e-01 1.29532915e-01 5.42570464e+01] [-2.09557769e-01 5.37229504e-03 9.77781509e-01 7.83285836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.470371743 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:93.90, Y:54.28, Z:7.83 [[ 7.52753481e-01 -6.35722584e-01 1.70935637e-01 9.38982339e+01] [ 6.24381266e-01 7.71752938e-01 1.20604464e-01 5.42804660e+01] [-2.08591061e-01 1.59435794e-02 9.77872983e-01 7.82900256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500371743 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:93.92, Y:54.30, Z:7.82 [[ 7.54688920e-01 -6.32337635e-01 1.74910691e-01 9.39224174e+01] [ 6.21724997e-01 7.74425867e-01 1.17143521e-01 5.43021331e+01] [-2.09529620e-01 2.03394319e-02 9.77590735e-01 7.82150358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.530371743 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:93.95, Y:54.32, Z:7.81 [[ 7.55632754e-01 -6.33705517e-01 1.65639542e-01 9.39466805e+01] [ 6.20827255e-01 7.73545745e-01 1.27281189e-01 5.43156721e+01] [-2.08788555e-01 6.65570689e-03 9.77938158e-01 7.81451211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560371743 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:93.97, Y:54.34, Z:7.81 [[ 7.58833846e-01 -6.30437949e-01 1.63460045e-01 9.39693340e+01] [ 6.17274320e-01 7.76231252e-01 1.28208648e-01 5.43371619e+01] [-2.07710393e-01 3.61062621e-03 9.78183703e-01 7.81307976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.590371743 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:93.99, Y:54.37, Z:7.81 [[ 7.63128834e-01 -6.18947948e-01 1.85843537e-01 9.39897879e+01] [ 6.09692170e-01 7.84897311e-01 1.10506424e-01 5.43680291e+01] [-2.14265817e-01 2.89767102e-02 9.76345487e-01 7.80914969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620371743 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:94.02, Y:54.38, Z:7.80 [[ 7.64266992e-01 -6.20717288e-01 1.74945746e-01 9.40192313e+01] [ 6.08259878e-01 7.83950948e-01 1.24261145e-01 5.43820559e+01] [-2.14279924e-01 1.14437870e-02 9.76705254e-01 7.79724893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.650371743 meters Centerline goodness : 0.992570 Centerline is valid? [True, True] Translation: X:94.03, Y:54.39, Z:7.80 [[ 7.61951143e-01 -6.28082210e-01 1.57934142e-01 9.40336206e+01] [ 6.12691607e-01 7.78097919e-01 1.38465246e-01 5.43935627e+01] [-2.09855785e-01 -8.73882939e-03 9.77693297e-01 7.79503005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680371743 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:94.05, Y:54.42, Z:7.79 [[ 7.63415114e-01 -6.23483062e-01 1.68719401e-01 9.40549802e+01] [ 6.10797389e-01 7.81802200e-01 1.25347000e-01 5.44207014e+01] [-2.10056930e-01 7.36157551e-03 9.77661441e-01 7.79348444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.710371743 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:94.08, Y:54.44, Z:7.79 [[ 7.63992784e-01 -6.22347301e-01 1.70290526e-01 9.40783142e+01] [ 6.09410943e-01 7.82708293e-01 1.26435871e-01 5.44411130e+01] [-2.11974830e-01 7.18081707e-03 9.77248744e-01 7.78659783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740371743 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:94.10, Y:54.46, Z:7.78 [[ 7.62478010e-01 -6.24021655e-01 1.70951041e-01 9.41029160e+01] [ 6.11040903e-01 7.81368764e-01 1.26853731e-01 5.44613681e+01] [-2.12735279e-01 7.73489866e-03 9.77079256e-01 7.77880109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.770371743 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:94.13, Y:54.48, Z:7.77 [[ 7.61179041e-01 -6.25565179e-01 1.71098437e-01 9.41281203e+01] [ 6.12616625e-01 7.80128461e-01 1.26887572e-01 5.44813042e+01] [-2.12855207e-01 8.23358665e-03 9.77049062e-01 7.77132890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800371743 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:94.16, Y:54.52, Z:7.76 [[ 7.63161268e-01 -6.09846660e-01 2.13709922e-01 9.41574342e+01] [ 6.06503027e-01 7.90103983e-01 8.88244001e-02 5.45207420e+01] [-2.23022324e-01 6.18283727e-02 9.72850603e-01 7.76396445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.830371743 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:94.19, Y:54.51, Z:7.74 [[ 7.61011606e-01 -6.26808358e-01 1.67250168e-01 9.41924033e+01] [ 6.09564792e-01 7.79116796e-01 1.46313984e-01 5.45096245e+01] [-2.22018243e-01 -9.39682605e-03 9.74997230e-01 7.74071084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86037174300003 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:94.21, Y:54.53, Z:7.74 [[ 7.54424818e-01 -6.37312598e-01 1.57085475e-01 9.42057838e+01] [ 6.20623865e-01 7.70508715e-01 1.45404051e-01 5.45292799e+01] [-2.13703561e-01 -1.22054302e-02 9.76822305e-01 7.74447164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.890371743 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:94.23, Y:54.57, Z:7.74 [[ 7.55407969e-01 -6.23373849e-01 2.01900583e-01 9.42302998e+01] [ 6.17533010e-01 7.80319153e-01 9.87674080e-02 5.45704109e+01] [-2.19115911e-01 5.00705874e-02 9.74413236e-01 7.74173943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92037174300003 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:94.26, Y:54.57, Z:7.72 [[ 7.53591428e-01 -6.33574054e-01 1.75168141e-01 9.42614387e+01] [ 6.19559451e-01 7.73635837e-01 1.32791857e-01 5.45715609e+01] [-2.19649827e-01 8.45627203e-03 9.75542129e-01 7.72304647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.950371743 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:94.28, Y:54.58, Z:7.72 [[ 7.49469900e-01 -6.43927800e-01 1.53791605e-01 9.42788869e+01] [ 6.26854093e-01 7.64948340e-01 1.48013457e-01 5.45823042e+01] [-2.12952613e-01 -1.45267334e-02 9.76954533e-01 7.72186254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.980371743 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:94.30, Y:54.63, Z:7.72 [[ 7.52363257e-01 -6.27653701e-01 2.00000904e-01 9.43022102e+01] [ 6.21698464e-01 7.76916560e-01 9.94569175e-02 5.46254692e+01] [-2.17808517e-01 4.95125247e-02 9.74734815e-01 7.72205743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.010371743 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:94.33, Y:54.62, Z:7.71 [[ 7.47076043e-01 -6.47518339e-01 1.50324270e-01 9.43295381e+01] [ 6.29434126e-01 7.61790633e-01 1.53257018e-01 5.46175823e+01] [-2.13752351e-01 -1.98754213e-02 9.76685671e-01 7.70648637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.040371743 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:94.35, Y:54.65, Z:7.71 [[ 7.46964528e-01 -6.42594343e-01 1.70635589e-01 9.43482026e+01] [ 6.30195519e-01 7.66093158e-01 1.26312638e-01 5.46510299e+01] [-2.11890544e-01 1.31827235e-02 9.77204489e-01 7.70981458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.070371743 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:94.38, Y:54.68, Z:7.70 [[ 7.49833977e-01 -6.34332435e-01 1.88072773e-01 9.43783387e+01] [ 6.25383172e-01 7.72311623e-01 1.11492806e-01 5.46775292e+01] [-2.15974292e-01 3.40164530e-02 9.75806326e-01 7.70078584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.100371743 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:94.41, Y:54.69, Z:7.69 [[ 7.49716926e-01 -6.37298721e-01 1.78255073e-01 9.44067767e+01] [ 6.25401985e-01 7.70393645e-01 1.23959625e-01 5.46922515e+01] [-2.16325886e-01 1.85464478e-02 9.76145041e-01 7.68887388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130371743 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:94.43, Y:54.71, Z:7.68 [[ 7.51197351e-01 -6.37367876e-01 1.71652933e-01 9.44324049e+01] [ 6.24261697e-01 7.70491432e-01 1.28997238e-01 5.47107470e+01] [-2.14475810e-01 1.02539677e-02 9.76675475e-01 7.68198562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.160371743 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:94.46, Y:54.75, Z:7.68 [[ 7.53420641e-01 -6.26992980e-01 1.98083673e-01 9.44556659e+01] [ 6.20468302e-01 7.77638758e-01 1.01474370e-01 5.47464220e+01] [-2.17661259e-01 4.64517554e-02 9.74918361e-01 7.67781440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190371743 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:94.49, Y:54.75, Z:7.66 [[ 7.54699841e-01 -6.36431474e-01 1.59320833e-01 9.44854248e+01] [ 6.20446666e-01 7.71288519e-01 1.41985757e-01 5.47460922e+01] [-2.13246534e-01 -8.30654831e-03 9.76963109e-01 7.66252914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.220371743 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:94.50, Y:54.77, Z:7.66 [[ 7.55693975e-01 -6.33502420e-01 1.66136389e-01 9.45044536e+01] [ 6.20316054e-01 7.73719044e-01 1.28712210e-01 5.47724400e+01] [-2.10082384e-01 5.79002812e-03 9.77666542e-01 7.66467008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250371743 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:94.53, Y:54.80, Z:7.66 [[ 7.57660658e-01 -6.26257211e-01 1.83717809e-01 9.45250815e+01] [ 6.16761196e-01 7.79104307e-01 1.12259106e-01 5.48011850e+01] [-2.13438411e-01 2.82557071e-02 9.76547828e-01 7.66128886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.280371743 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:94.55, Y:54.83, Z:7.65 [[ 7.58919511e-01 -6.21876237e-01 1.93160870e-01 9.45523179e+01] [ 6.13587768e-01 7.82250301e-01 1.07677842e-01 5.48266906e+01] [-2.18062439e-01 3.68023320e-02 9.75240668e-01 7.65099041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310371743 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:94.57, Y:54.82, Z:7.64 [[ 7.53895152e-01 -6.41202503e-01 1.43183275e-01 9.45705283e+01] [ 6.22596026e-01 7.66844841e-01 1.55958896e-01 5.48192511e+01] [-2.09800591e-01 -2.84313175e-02 9.77330739e-01 7.64114291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.340371743 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:94.59, Y:54.86, Z:7.65 [[ 7.54134511e-01 -6.35284992e-01 1.66415498e-01 9.45875617e+01] [ 6.23127786e-01 7.72211614e-01 1.24100709e-01 5.48557099e+01] [-2.07347298e-01 1.01094934e-02 9.78215159e-01 7.64651609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370371743 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:94.61, Y:54.88, Z:7.64 [[ 7.54377191e-01 -6.35221948e-01 1.65554010e-01 9.46137190e+01] [ 6.23205338e-01 7.72263664e-01 1.23385333e-01 5.48755047e+01] [-2.06228417e-01 1.00950618e-02 9.78451802e-01 7.63968815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.400371743 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:94.64, Y:54.90, Z:7.63 [[ 7.53563424e-01 -6.36321009e-01 1.65038600e-01 9.46392622e+01] [ 6.24421309e-01 7.71353998e-01 1.22926965e-01 5.48959312e+01] [-2.05524194e-01 1.04203545e-02 9.78596557e-01 7.63232950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430371743 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:94.66, Y:54.92, Z:7.63 [[ 7.51740686e-01 -6.38738503e-01 1.64009347e-01 9.46638448e+01] [ 6.27060271e-01 7.69344291e-01 1.22085128e-01 5.49153883e+01] [-2.04160127e-01 1.10673876e-02 9.78874944e-01 7.62562790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.460371743 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:94.69, Y:54.93, Z:7.62 [[ 7.50793000e-01 -6.39870852e-01 1.63936464e-01 9.46896231e+01] [ 6.28244197e-01 7.68397533e-01 1.21960900e-01 5.49347194e+01] [-2.04007600e-01 1.14247424e-02 9.78902638e-01 7.61860909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:94.72, Y:54.98, Z:7.61 [[ 7.54151141e-01 -6.21789063e-01 2.11268589e-01 9.47211406e+01] [ 6.20785355e-01 7.79940816e-01 7.94850056e-02 5.49750946e+01] [-2.14199903e-01 7.12087384e-02 9.74190801e-01 7.61016295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.520371743 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:94.75, Y:54.95, Z:7.59 [[ 7.46223308e-01 -6.52861802e-01 1.30085522e-01 9.47484310e+01] [ 6.33236815e-01 7.56428072e-01 1.63791660e-01 5.49497970e+01] [-2.05333659e-01 -3.98502126e-02 9.77880386e-01 7.58839329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550371743 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:94.76, Y:54.99, Z:7.60 [[ 7.45298000e-01 -6.46775949e-01 1.61900474e-01 9.47630536e+01] [ 6.35589723e-01 7.62567456e-01 1.20484769e-01 5.49901137e+01] [-2.01386683e-01 1.31052203e-02 9.79424146e-01 7.59970477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.580371743 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:94.79, Y:55.03, Z:7.59 [[ 7.49169357e-01 -6.31158446e-01 2.00958429e-01 9.47943665e+01] [ 6.28055553e-01 7.73262922e-01 8.72391866e-02 5.50264693e+01] [-2.10455452e-01 6.08561320e-02 9.75707453e-01 7.59112350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61037174300003 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:94.82, Y:55.01, Z:7.57 [[ 7.43354912e-01 -6.54851549e-01 1.36355875e-01 9.48197265e+01] [ 6.37071583e-01 7.55251407e-01 1.54062035e-01 5.50110067e+01] [-2.03870729e-01 -2.76543174e-02 9.78607155e-01 7.57263099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.640371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:94.84, Y:55.06, Z:7.58 [[ 7.47976608e-01 -6.34102455e-01 1.96074146e-01 9.48420609e+01] [ 6.29787318e-01 7.71309672e-01 9.19202025e-02 5.50612657e+01] [-2.09520712e-01 5.47308494e-02 9.76271277e-01 7.57777269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67037174300003 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:94.87, Y:55.05, Z:7.56 [[ 7.43249485e-01 -6.54257227e-01 1.39741488e-01 9.48653009e+01] [ 6.37286814e-01 7.55945826e-01 1.49704457e-01 5.50514309e+01] [-2.03582218e-01 -2.22123530e-02 9.78805850e-01 7.56324694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.700371743 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:94.89, Y:55.10, Z:7.57 [[ 7.47680188e-01 -6.36919724e-01 1.87903169e-01 9.48908052e+01] [ 6.30259463e-01 7.69747421e-01 1.01301121e-01 5.50956054e+01] [-2.09158662e-01 4.26869091e-02 9.76949580e-01 7.56657925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.730371743 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:94.92, Y:55.11, Z:7.55 [[ 7.47075520e-01 -6.41737424e-01 1.73352953e-01 9.49210999e+01] [ 6.30502486e-01 7.66692099e-01 1.21036526e-01 5.51060471e+01] [-2.10582008e-01 1.88760425e-02 9.77393940e-01 7.55148815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.760371743 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:94.94, Y:55.12, Z:7.54 [[ 7.46757808e-01 -6.43549634e-01 1.67918568e-01 9.49445730e+01] [ 6.30881546e-01 7.65329368e-01 1.27512485e-01 5.51208274e+01] [-2.10573625e-01 1.07157824e-02 9.77519269e-01 7.54483646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.790371743 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:94.97, Y:55.15, Z:7.54 [[ 7.45193602e-01 -6.43467291e-01 1.75032400e-01 9.49685338e+01] [ 6.33195558e-01 7.65107008e-01 1.16938665e-01 5.51459645e+01] [-2.09164722e-01 2.36877936e-02 9.77593478e-01 7.54232153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.820371743 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:94.99, Y:55.16, Z:7.53 [[ 7.44139377e-01 -6.46573545e-01 1.67926288e-01 9.49929497e+01] [ 6.34578890e-01 7.62727720e-01 1.24723927e-01 5.51599624e+01] [-2.08725226e-01 1.37504923e-02 9.77877653e-01 7.53469775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.850371743 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:95.02, Y:55.18, Z:7.53 [[ 7.41771231e-01 -6.48143409e-01 1.72294984e-01 9.50176784e+01] [ 6.37620468e-01 7.61199244e-01 1.18388555e-01 5.51819061e+01] [-2.07883573e-01 2.20415843e-02 9.77905204e-01 7.52975782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:95.04, Y:55.20, Z:7.52 [[ 7.40209135e-01 -6.50290482e-01 1.70917306e-01 9.50436411e+01] [ 6.39463641e-01 7.59408551e-01 1.19937090e-01 5.51996309e+01] [-2.07790011e-01 2.05168732e-02 9.77958266e-01 7.52227986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.910371743 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:95.07, Y:55.22, Z:7.52 [[ 7.38455345e-01 -6.52473023e-01 1.70184186e-01 9.50682203e+01] [ 6.41628877e-01 7.57536652e-01 1.20210670e-01 5.52167221e+01] [-2.07354978e-01 2.04248762e-02 9.78052523e-01 7.51521165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940371743 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:95.09, Y:55.24, Z:7.51 [[ 7.37821704e-01 -6.53024244e-01 1.70817063e-01 9.50933913e+01] [ 6.42525632e-01 7.57012573e-01 1.18713002e-01 5.52360604e+01] [-2.06833133e-01 2.21653117e-02 9.78125122e-01 7.50850470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.970371743 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:95.12, Y:55.25, Z:7.50 [[ 7.37506124e-01 -6.54469964e-01 1.66594668e-01 9.51177504e+01] [ 6.43080296e-01 7.55904854e-01 1.22701203e-01 5.52517257e+01] [-2.06233969e-01 1.66408597e-02 9.78361197e-01 7.50109054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000371743 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:95.14, Y:55.28, Z:7.50 [[ 7.36837570e-01 -6.53690563e-01 1.72508097e-01 9.51417804e+01] [ 6.44690531e-01 7.56214235e-01 1.11866663e-01 5.52763505e+01] [-2.03579261e-01 2.87867761e-02 9.78635175e-01 7.49693621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.030371743 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:95.17, Y:55.29, Z:7.49 [[ 7.36347332e-01 -6.56825910e-01 1.62395600e-01 9.51662901e+01] [ 6.45066340e-01 7.53927861e-01 1.24427479e-01 5.52870945e+01] [-2.04161759e-01 1.31340929e-02 9.78849055e-01 7.48718105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:95.19, Y:55.31, Z:7.48 [[ 7.36319262e-01 -6.54964432e-01 1.69869178e-01 9.51904516e+01] [ 6.45452812e-01 7.55225647e-01 1.14126643e-01 5.53115724e+01] [-2.03038452e-01 2.56088935e-02 9.78835825e-01 7.48330028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.090371743 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:95.22, Y:55.33, Z:7.48 [[ 7.35948357e-01 -6.55459201e-01 1.69567836e-01 9.52161651e+01] [ 6.45928227e-01 7.54801577e-01 1.14242310e-01 5.53315899e+01] [-2.02871243e-01 2.54522110e-02 9.78874580e-01 7.47549470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120371743 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:95.23, Y:55.34, Z:7.47 [[ 7.32293191e-01 -6.66484236e-01 1.39805025e-01 9.52341142e+01] [ 6.52070421e-01 7.45451250e-01 1.38226625e-01 5.53381986e+01] [-1.96343697e-01 -1.00596952e-02 9.80483531e-01 7.47087546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.150371743 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:95.25, Y:55.37, Z:7.47 [[ 7.33101027e-01 -6.61886982e-01 1.56424127e-01 9.52539669e+01] [ 6.51562184e-01 7.49437750e-01 1.17515020e-01 5.53682961e+01] [-1.95011808e-01 1.57696643e-02 9.80674111e-01 7.47361174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180371743 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:95.28, Y:55.39, Z:7.47 [[ 7.33292479e-01 -6.61551426e-01 1.56945378e-01 9.52796645e+01] [ 6.51163888e-01 7.49733558e-01 1.17835407e-01 5.53886525e+01] [-1.95621398e-01 1.57893453e-02 9.80552378e-01 7.46676789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.210371743 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:95.31, Y:55.41, Z:7.46 [[ 7.33266249e-01 -6.61404936e-01 1.57683604e-01 9.53054848e+01] [ 6.50929974e-01 7.49860813e-01 1.18317075e-01 5.54083504e+01] [-1.96496253e-01 1.58830665e-02 9.80375923e-01 7.46014272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240371743 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:95.34, Y:55.44, Z:7.45 [[ 7.37027163e-01 -6.49850860e-01 1.85700890e-01 9.53384172e+01] [ 6.44014227e-01 7.58617351e-01 9.87187466e-02 5.54372978e+01] [-2.05028380e-01 4.68356174e-02 9.77634793e-01 7.45034390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.270371743 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:95.37, Y:55.45, Z:7.43 [[ 7.36400653e-01 -6.54977818e-01 1.69464259e-01 9.53694033e+01] [ 6.44116578e-01 7.55372662e-01 1.20523758e-01 5.54466712e+01] [-2.06949057e-01 2.04009648e-02 9.78138993e-01 7.43397421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300371743 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:95.39, Y:55.46, Z:7.43 [[ 7.36348847e-01 -6.55486007e-01 1.67715445e-01 9.53940765e+01] [ 6.44348954e-01 7.54982224e-01 1.21722088e-01 5.54649724e+01] [-2.06409305e-01 1.84373526e-02 9.78292013e-01 7.42765855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.330371743 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:95.42, Y:55.48, Z:7.42 [[ 7.35909369e-01 -6.56161493e-01 1.67001482e-01 9.54189823e+01] [ 6.45301210e-01 7.54377518e-01 1.20419722e-01 5.54847972e+01] [-2.04996948e-01 1.91482565e-02 9.78575289e-01 7.42245435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36037174300003 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:95.43, Y:55.50, Z:7.42 [[ 7.32341982e-01 -6.65167413e-01 1.45696722e-01 9.54341788e+01] [ 6.51274651e-01 7.46682451e-01 1.35302056e-01 5.54957687e+01] [-1.98787704e-01 -4.19879465e-03 9.80033581e-01 7.42078303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.390371743 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:95.46, Y:55.52, Z:7.42 [[ 7.32790111e-01 -6.61815910e-01 1.58171914e-01 9.54563671e+01] [ 6.51269432e-01 7.49495925e-01 1.18760203e-01 5.55234459e+01] [-1.97146596e-01 1.59862303e-02 9.80243674e-01 7.42114562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42037174300003 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:95.49, Y:55.54, Z:7.41 [[ 7.36196271e-01 -6.53404425e-01 1.76288704e-01 9.54894856e+01] [ 6.43642550e-01 7.56487834e-01 1.15975967e-01 5.55423344e+01] [-2.09139470e-01 2.80858364e-02 9.77482413e-01 7.40720595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.450371743 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:95.51, Y:55.56, Z:7.40 [[ 7.32486789e-01 -6.63777855e-01 1.51202063e-01 9.55070204e+01] [ 6.52024424e-01 7.47893788e-01 1.24575407e-01 5.55562721e+01] [-1.95773480e-01 7.33759774e-03 9.80621693e-01 7.40412619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.480371743 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:95.54, Y:55.59, Z:7.40 [[ 7.36656439e-01 -6.51805392e-01 1.80241567e-01 9.55395420e+01] [ 6.45852897e-01 7.57108540e-01 9.82888330e-02 5.55884832e+01] [-2.00527621e-01 4.40044368e-02 9.78699281e-01 7.39668369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.510371743 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:95.57, Y:55.59, Z:7.38 [[ 7.36823033e-01 -6.55699698e-01 1.64771734e-01 9.55690873e+01] [ 6.43384509e-01 7.54920455e-01 1.27088476e-01 5.55927966e+01] [-2.07721428e-01 1.23698652e-02 9.78109807e-01 7.37849184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.540371743 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:95.59, Y:55.62, Z:7.37 [[ 7.38271576e-01 -6.52462415e-01 1.71020108e-01 9.55905657e+01] [ 6.42894422e-01 7.57388204e-01 1.14236029e-01 5.56170721e+01] [-2.04063328e-01 2.56106606e-02 9.78622630e-01 7.37497506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.570371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:95.62, Y:55.64, Z:7.37 [[ 7.38811393e-01 -6.50501262e-01 1.76084735e-01 9.56166713e+01] [ 6.43265843e-01 7.58613435e-01 1.03511891e-01 5.56425203e+01] [-2.00914862e-01 3.67935311e-02 9.78917491e-01 7.36943989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.600371743 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:95.64, Y:55.64, Z:7.35 [[ 7.42178577e-01 -6.50038797e-01 1.63157966e-01 9.56400732e+01] [ 6.37073662e-01 7.59860059e-01 1.29421171e-01 5.56439575e+01] [-2.08106004e-01 7.89002206e-03 9.78074455e-01 7.35264143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630371743 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:95.67, Y:55.68, Z:7.36 [[ 7.42571468e-01 -6.47226136e-01 1.72296091e-01 9.56656158e+01] [ 6.38507744e-01 7.61762157e-01 1.09664384e-01 5.56780840e+01] [-2.02226298e-01 2.85787456e-02 9.78921743e-01 7.35505024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.660371743 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:95.69, Y:55.69, Z:7.34 [[ 7.44020033e-01 -6.46125605e-01 1.70164313e-01 9.56912051e+01] [ 6.34577796e-01 7.63049320e-01 1.22746717e-01 5.56919547e+01] [-2.09153560e-01 1.66564783e-02 9.77740942e-01 7.34374185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690371743 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:95.71, Y:55.72, Z:7.34 [[ 7.45799262e-01 -6.44560382e-01 1.68301438e-01 9.57143945e+01] [ 6.34851779e-01 7.64233729e-01 1.13622298e-01 5.57169492e+01] [-2.01858067e-01 2.21070410e-02 9.79165256e-01 7.34175989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.720371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:95.74, Y:55.74, Z:7.33 [[ 7.46773674e-01 -6.42444897e-01 1.72028004e-01 9.57393286e+01] [ 6.32775367e-01 7.65955551e-01 1.13610863e-01 5.57363959e+01] [-2.04754524e-01 2.40134816e-02 9.78518747e-01 7.33315111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750371743 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:95.77, Y:55.76, Z:7.33 [[ 7.47116369e-01 -6.42651678e-01 1.69752619e-01 9.57661110e+01] [ 6.33941715e-01 7.65703492e-01 1.08701719e-01 5.57590552e+01] [-1.99837515e-01 2.64004325e-02 9.79473320e-01 7.32734410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.780371743 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:95.79, Y:55.77, Z:7.32 [[ 7.47489084e-01 -6.43612209e-01 1.64387935e-01 9.57919665e+01] [ 6.33530617e-01 7.65134433e-01 1.14927180e-01 5.57743674e+01] [-1.99747406e-01 1.82379776e-02 9.79677677e-01 7.31803044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810371743 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:95.82, Y:55.79, Z:7.31 [[ 7.47412668e-01 -6.44365211e-01 1.61764577e-01 9.58168355e+01] [ 6.34113691e-01 7.64547086e-01 1.15618255e-01 5.57935077e+01] [-1.98177018e-01 1.61625845e-02 9.80032979e-01 7.31229468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.840371743 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:95.83, Y:55.80, Z:7.31 [[ 7.42600619e-01 -6.59122313e-01 1.18752254e-01 9.58305028e+01] [ 6.43591888e-01 7.51362829e-01 1.45751097e-01 5.57951592e+01] [-1.85293830e-01 -3.18068672e-02 9.82168275e-01 7.31106358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:95.85, Y:55.85, Z:7.32 [[ 7.48336962e-01 -6.33461936e-01 1.96768307e-01 9.58523555e+01] [ 6.33893035e-01 7.70323832e-01 6.91434378e-02 5.58537781e+01] [-1.95375052e-01 7.29874693e-02 9.78008905e-01 7.31913662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.900371743 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:95.88, Y:55.83, Z:7.30 [[ 7.42314760e-01 -6.60874877e-01 1.10513321e-01 9.58798511e+01] [ 6.44050690e-01 7.49237710e-01 1.54407134e-01 5.58292160e+01] [-1.84844543e-01 -4.34425137e-02 9.81807131e-01 7.29610578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930371743 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:95.90, Y:55.90, Z:7.31 [[ 7.50250075e-01 -6.23438730e-01 2.20111281e-01 9.58986509e+01] [ 6.30142164e-01 7.75034683e-01 4.73507443e-02 5.59024739e+01] [-2.00114165e-01 1.03176499e-01 9.74324859e-01 7.30669345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.960371743 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:95.94, Y:55.86, Z:7.27 [[ 7.41959796e-01 -6.64247513e-01 9.09445015e-02 9.59359931e+01] [ 6.44188889e-01 7.43903578e-01 1.77843025e-01 5.58564382e+01] [-1.85785727e-01 -7.33669371e-02 9.79847415e-01 7.27473115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990371743 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:95.95, Y:55.95, Z:7.30 [[ 7.51095514e-01 -6.19552327e-01 2.28057982e-01 9.59465700e+01] [ 6.28869677e-01 7.76557661e-01 3.84854412e-02 5.59488092e+01] [-2.00943917e-01 1.14512507e-01 9.72886647e-01 7.30189371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.020371743 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:95.99, Y:55.89, Z:7.26 [[ 7.43355732e-01 -6.63455310e-01 8.51428676e-02 9.59858840e+01] [ 6.42112835e-01 7.43445089e-01 1.87030764e-01 5.58915395e+01] [-1.87385600e-01 -8.43590620e-02 9.78657338e-01 7.26066024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050371743 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:95.99, Y:55.95, Z:7.29 [[ 7.46100921e-01 -6.49820442e-01 1.45144095e-01 9.59906844e+01] [ 6.40400068e-01 7.60017495e-01 1.10730129e-01 5.59506019e+01] [-1.82266753e-01 1.03344376e-02 9.83194808e-01 7.28877614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.080371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:96.02, Y:55.97, Z:7.28 [[ 7.46768266e-01 -6.49016913e-01 1.45307275e-01 9.60168259e+01] [ 6.39572517e-01 7.60705579e-01 1.10788168e-01 5.59699668e+01] [-1.82439449e-01 1.02014517e-02 9.83164166e-01 7.28219548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11037174300003 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:96.04, Y:55.99, Z:7.28 [[ 7.47832030e-01 -6.47798399e-01 1.45273843e-01 9.60426202e+01] [ 6.38347988e-01 7.61746790e-01 1.10696316e-01 5.59885421e+01] [-1.82370781e-01 9.95301457e-03 9.83179453e-01 7.27534426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.140371743 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:96.07, Y:56.01, Z:7.27 [[ 7.48935474e-01 -6.46612266e-01 1.44873166e-01 9.60693117e+01] [ 6.37203605e-01 7.62757372e-01 1.10330219e-01 5.60078362e+01] [-1.81843948e-01 9.68348880e-03 9.83279721e-01 7.26865805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17037174300003 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:96.09, Y:56.02, Z:7.26 [[ 7.49632129e-01 -6.46286587e-01 1.42707107e-01 9.60938442e+01] [ 6.35790642e-01 7.63085678e-01 1.16062516e-01 5.60234233e+01] [-1.83907397e-01 3.72765256e-03 9.82936506e-01 7.26081067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.200371743 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:96.12, Y:56.05, Z:7.26 [[ 7.51217053e-01 -6.43250540e-01 1.47992168e-01 9.61189543e+01] [ 6.34599715e-01 7.65523808e-01 1.06096661e-01 5.60477878e+01] [-1.81538263e-01 1.42141661e-02 9.83281148e-01 7.25850208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.230371743 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:96.15, Y:56.06, Z:7.25 [[ 7.51200672e-01 -6.45509836e-01 1.37893444e-01 9.61457764e+01] [ 6.32359619e-01 7.63679780e-01 1.30055776e-01 5.60555576e+01] [-1.89258718e-01 -1.04997411e-02 9.81871118e-01 7.24526776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.260371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:96.17, Y:56.12, Z:7.25 [[ 7.58980874e-01 -6.15743966e-01 2.11677588e-01 9.61735617e+01] [ 6.21607006e-01 7.81983873e-01 4.58906531e-02 5.61160406e+01] [-1.93785353e-01 9.67501435e-02 9.76261567e-01 7.25218457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.290371743 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:96.22, Y:56.10, Z:7.21 [[ 7.60434217e-01 -6.30317101e-01 1.56333467e-01 9.62171232e+01] [ 6.17100592e-01 7.76336900e-01 1.28405130e-01 5.60951085e+01] [-2.02303389e-01 -1.17017943e-03 9.79322199e-01 7.21318398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.320371743 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:96.24, Y:56.13, Z:7.22 [[ 7.61969527e-01 -6.25508730e-01 1.67753599e-01 9.62406685e+01] [ 6.17539795e-01 7.79805615e-01 1.02702504e-01 5.61275213e+01] [-1.95056511e-01 2.53383450e-02 9.80464648e-01 7.21573216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.350371743 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:96.26, Y:56.12, Z:7.21 [[ 7.56185916e-01 -6.46230379e-01 1.02806407e-01 9.62552593e+01] [ 6.29497837e-01 7.61317554e-01 1.55332078e-01 5.61157070e+01] [-1.78648630e-01 -5.27435188e-02 9.82498238e-01 7.21282815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380371743 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:96.28, Y:56.18, Z:7.22 [[ 7.64132111e-01 -6.09565437e-01 2.11026290e-01 9.62758922e+01] [ 6.11615338e-01 7.88618310e-01 6.33074908e-02 5.61823755e+01] [-2.05009255e-01 8.06916292e-02 9.75428145e-01 7.22286345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.410371743 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:96.32, Y:56.17, Z:7.19 [[ 7.66562663e-01 -6.19669001e-01 1.68499296e-01 9.63164025e+01] [ 6.07823309e-01 7.84803498e-01 1.20972287e-01 5.61713812e+01] [-2.07201613e-01 9.68496132e-03 9.78250322e-01 7.19185721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440371743 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:96.34, Y:56.21, Z:7.19 [[ 7.65075138e-01 -6.17985386e-01 1.80980930e-01 9.63436858e+01] [ 6.12140196e-01 7.85207403e-01 9.34543472e-02 5.62065547e+01] [-1.99860987e-01 3.92861043e-02 9.79036357e-01 7.19103351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.470371743 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:96.38, Y:56.21, Z:7.18 [[ 7.63598775e-01 -6.25053820e-01 1.61940217e-01 9.63767508e+01] [ 6.14998265e-01 7.80461660e-01 1.12502138e-01 5.62147015e+01] [-1.96708022e-01 1.36864578e-02 9.80366582e-01 7.17765530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500371743 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:96.40, Y:56.23, Z:7.17 [[ 7.62315844e-01 -6.27107007e-01 1.60035481e-01 9.64004388e+01] [ 6.17007453e-01 7.78828893e-01 1.12815595e-01 5.62315062e+01] [-1.95387707e-01 1.27419685e-02 9.80643302e-01 7.17308765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.530371743 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:96.41, Y:56.22, Z:7.18 [[ 7.53276494e-01 -6.51703003e-01 8.86437746e-02 9.64110036e+01] [ 6.34062730e-01 7.55384784e-01 1.65403394e-01 5.62159783e+01] [-1.74754047e-01 -6.83887752e-02 9.82234187e-01 7.17513987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560371743 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:96.43, Y:56.30, Z:7.19 [[ 7.58528673e-01 -6.13948884e-01 2.18405633e-01 9.64288823e+01] [ 6.22287280e-01 7.81923279e-01 3.68039037e-02 5.62992569e+01] [-1.93372165e-01 1.07994231e-01 9.75163808e-01 7.19430571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.590371743 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:96.48, Y:56.27, Z:7.15 [[ 7.58243551e-01 -6.34443092e-01 1.50162181e-01 9.64767024e+01] [ 6.20585955e-01 7.72938386e-01 1.32058030e-01 5.62697734e+01] [-1.99849419e-01 -6.94360934e-03 9.79802019e-01 7.15247172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620371743 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:96.50, Y:56.29, Z:7.15 [[ 7.56118363e-01 -6.36247131e-01 1.53214260e-01 9.64954787e+01] [ 6.25405383e-01 7.71451522e-01 1.17177881e-01 5.62898766e+01] [-1.92751464e-01 7.22067485e-03 9.81221043e-01 7.15406685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.650371743 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:96.52, Y:56.33, Z:7.16 [[ 7.54298220e-01 -6.32494210e-01 1.76026332e-01 9.65196211e+01] [ 6.28719327e-01 7.73107914e-01 8.37625217e-02 5.63274745e+01] [-1.89066660e-01 4.74892361e-02 9.80815258e-01 7.15614974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680371743 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:96.55, Y:56.31, Z:7.14 [[ 7.53379276e-01 -6.46052001e-01 1.22623316e-01 9.65506423e+01] [ 6.30736234e-01 7.62684470e-01 1.43123033e-01 5.63106497e+01] [-1.85987821e-01 -3.04829587e-02 9.82079080e-01 7.13774422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.710371743 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:96.57, Y:56.36, Z:7.15 [[ 7.51507469e-01 -6.40141437e-01 1.59547689e-01 9.65687570e+01] [ 6.34646589e-01 7.67526072e-01 9.01522974e-02 5.63573570e+01] [-1.80167232e-01 3.35062715e-02 9.83065155e-01 7.15062794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740371743 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:96.60, Y:56.36, Z:7.14 [[ 7.51476561e-01 -6.45456299e-01 1.36635076e-01 9.65986715e+01] [ 6.34940617e-01 7.63797073e-01 1.16036394e-01 5.63617677e+01] [-1.79257892e-01 -4.43470658e-04 9.83802018e-01 7.13895328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.770371743 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:96.61, Y:56.38, Z:7.14 [[ 7.55875324e-01 -6.38482590e-01 1.44887811e-01 9.66149801e+01] [ 6.29057940e-01 7.69591622e-01 1.09612242e-01 5.63761467e+01] [-1.81489954e-01 8.28963882e-03 9.83357859e-01 7.13779726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800371743 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:96.64, Y:56.39, Z:7.13 [[ 7.55716448e-01 -6.39978065e-01 1.38999018e-01 9.66426155e+01] [ 6.29251158e-01 7.68392845e-01 1.16685115e-01 5.63927235e+01] [-1.81481765e-01 -7.15567632e-04 9.83394050e-01 7.13292805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.830371743 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:96.67, Y:56.43, Z:7.13 [[ 7.55622679e-01 -6.36428213e-01 1.54898345e-01 9.66691490e+01] [ 6.30071513e-01 7.70869120e-01 9.36519503e-02 5.64274316e+01] [-1.79009094e-01 2.68314970e-02 9.83481477e-01 7.13395151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86037174300003 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:96.69, Y:56.42, Z:7.13 [[ 7.52603122e-01 -6.50734526e-01 1.00663390e-01 9.66852184e+01] [ 6.37088626e-01 7.58245579e-01 1.38498103e-01 5.64209669e+01] [-1.66453068e-01 -4.01026034e-02 9.85233555e-01 7.12950979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.890371743 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:96.70, Y:56.46, Z:7.14 [[ 7.55094249e-01 -6.42739033e-01 1.29302785e-01 9.67009254e+01] [ 6.34646276e-01 7.66067632e-01 1.01806126e-01 5.64573945e+01] [-1.64489450e-01 5.18831039e-03 9.86365197e-01 7.13881745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92037174300003 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:96.74, Y:56.49, Z:7.13 [[ 7.63931219e-01 -6.23232995e-01 1.67301307e-01 9.67390598e+01] [ 6.20868054e-01 7.80539635e-01 7.26686832e-02 5.64902533e+01] [-1.75874822e-01 4.83581611e-02 9.83224051e-01 7.12802687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.950371743 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:96.76, Y:56.48, Z:7.11 [[ 7.58681197e-01 -6.43016183e-01 1.04561127e-01 9.67601180e+01] [ 6.30270774e-01 7.65090260e-01 1.31892550e-01 5.64770526e+01] [-1.64807744e-01 -3.41625757e-02 9.85733902e-01 7.11465362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.980371743 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:96.78, Y:56.51, Z:7.12 [[ 7.59991914e-01 -6.37046544e-01 1.28778843e-01 9.67769563e+01] [ 6.28923703e-01 7.70815633e-01 1.01480225e-01 5.65100968e+01] [-1.63912372e-01 3.86791686e-03 9.86467320e-01 7.12163775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.010371743 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:96.81, Y:56.54, Z:7.11 [[ 7.61685380e-01 -6.29447266e-01 1.53725473e-01 9.68081410e+01] [ 6.24711656e-01 7.76368805e-01 8.35872289e-02 5.65381643e+01] [-1.71961415e-01 3.23669249e-02 9.84571813e-01 7.11342537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.040371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:96.84, Y:56.53, Z:7.10 [[ 7.58923942e-01 -6.40973360e-01 1.14837285e-01 9.68363774e+01] [ 6.29584211e-01 7.67295098e-01 1.21991619e-01 5.65331093e+01] [-1.66307463e-01 -2.02826189e-02 9.85865327e-01 7.10239281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.070371743 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:96.86, Y:56.56, Z:7.10 [[ 7.58382659e-01 -6.38698809e-01 1.30075265e-01 9.68568216e+01] [ 6.30454643e-01 7.69444480e-01 1.02382298e-01 5.65596355e+01] [-1.65477146e-01 4.36159560e-03 9.86203980e-01 7.10424346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.100371743 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:96.88, Y:56.58, Z:7.10 [[ 7.57458916e-01 -6.39769551e-01 1.30195671e-01 9.68831089e+01] [ 6.31535202e-01 7.68552767e-01 1.02420376e-01 5.65768953e+01] [-1.65587681e-01 4.64392226e-03 9.86184138e-01 7.09851943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130371743 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:96.91, Y:56.59, Z:7.09 [[ 7.55461740e-01 -6.42210734e-01 1.29780321e-01 9.69118256e+01] [ 6.34070740e-01 7.66510566e-01 1.02058067e-01 5.65932480e+01] [-1.65020774e-01 5.18893927e-03 9.86276442e-01 7.09198706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.160371743 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:96.94, Y:56.61, Z:7.09 [[ 7.55023264e-01 -6.42723212e-01 1.29795006e-01 9.69392969e+01] [ 6.34598492e-01 7.66079820e-01 1.02012073e-01 5.66118648e+01] [-1.64998862e-01 5.34622654e-03 9.86279267e-01 7.08639175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190371743 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:96.98, Y:56.64, Z:7.08 [[ 7.59537986e-01 -6.27925774e-01 1.69738828e-01 9.69772365e+01] [ 6.26033071e-01 7.76528041e-01 7.13217726e-02 5.66447607e+01] [-1.76591739e-01 5.20905241e-02 9.82904845e-01 7.07574073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.220371743 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:97.00, Y:56.63, Z:7.06 [[ 7.52755715e-01 -6.49895991e-01 1.04852446e-01 9.69999340e+01] [ 6.36704865e-01 7.59229203e-01 1.34825559e-01 5.66302647e+01] [-1.67229630e-01 -3.47306474e-02 9.85306061e-01 7.06492203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250371743 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:97.02, Y:56.66, Z:7.07 [[ 7.52859683e-01 -6.45118624e-01 1.30477042e-01 9.70176832e+01] [ 6.36934321e-01 7.64059953e-01 1.02601458e-01 5.66637021e+01] [-1.65882395e-01 5.86080482e-03 9.86128127e-01 7.07103139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.280371743 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:97.04, Y:56.68, Z:7.07 [[ 7.52941594e-01 -6.45016826e-01 1.30507661e-01 9.70437067e+01] [ 6.36837747e-01 7.64145678e-01 1.02562497e-01 5.66840708e+01] [-1.65881402e-01 5.88863523e-03 9.86128128e-01 7.06527117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310371743 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:97.08, Y:56.71, Z:7.05 [[ 7.58211737e-01 -6.30901334e-01 1.64555368e-01 9.70807260e+01] [ 6.25766692e-01 7.75019214e-01 8.80980418e-02 5.67069034e+01] [-1.83114744e-01 3.61762993e-02 9.82425705e-01 7.05341827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.340371743 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:97.10, Y:56.71, Z:7.05 [[ 7.51190803e-01 -6.50102107e-01 1.14366200e-01 9.71024298e+01] [ 6.38439962e-01 7.59574941e-01 1.24259104e-01 5.67063091e+01] [-1.67650804e-01 -2.03263436e-02 9.85636874e-01 7.04673499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370371743 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:97.13, Y:56.74, Z:7.04 [[ 7.55131174e-01 -6.35662808e-01 1.60342462e-01 9.71338034e+01] [ 6.31707581e-01 7.70934239e-01 8.12768848e-02 5.67430363e+01] [-1.75278187e-01 3.99148395e-02 9.83709491e-01 7.04432770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.400371743 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:97.17, Y:56.75, Z:7.03 [[ 7.54115304e-01 -6.40965027e-01 1.43087187e-01 9.71664011e+01] [ 6.32759024e-01 7.67462738e-01 1.03038652e-01 5.67503625e+01] [-1.75858257e-01 1.28366842e-02 9.84331800e-01 7.03033527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430371743 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:97.19, Y:56.77, Z:7.02 [[ 7.53408656e-01 -6.40584337e-01 1.48415311e-01 9.71918716e+01] [ 6.33430294e-01 7.67615425e-01 9.76351516e-02 5.67710045e+01] [-1.76469431e-01 2.04515859e-02 9.84093630e-01 7.02411417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.460371743 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:97.22, Y:56.78, Z:7.02 [[ 7.51298914e-01 -6.46721942e-01 1.31532017e-01 9.72210630e+01] [ 6.37057722e-01 7.62725847e-01 1.11385550e-01 5.67800707e+01] [-1.72358348e-01 1.09644449e-04 9.85034308e-01 7.01785366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490371743 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:97.24, Y:56.80, Z:7.02 [[ 7.51261323e-01 -6.45020348e-01 1.39839817e-01 9.72426696e+01] [ 6.37361728e-01 7.64038173e-01 1.00078458e-01 5.68028582e+01] [-1.71395600e-01 1.39434727e-02 9.85103613e-01 7.01610683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.520371743 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:97.26, Y:56.81, Z:7.01 [[ 7.46519981e-01 -6.56584732e-01 1.07723758e-01 9.72614741e+01] [ 6.44362028e-01 7.53774931e-01 1.28922191e-01 5.68058640e+01] [-1.65847810e-01 -2.68298925e-02 9.85786316e-01 7.01317514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550371743 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:97.28, Y:56.84, Z:7.02 [[ 7.46782169e-01 -6.52250707e-01 1.29943860e-01 9.72795795e+01] [ 6.44668154e-01 7.57945217e-01 9.96093333e-02 5.68385843e+01] [-1.63460585e-01 9.38419446e-03 9.86505233e-01 7.01715807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.580371743 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:97.32, Y:56.86, Z:7.01 [[ 7.51557362e-01 -6.42682736e-01 1.48729392e-01 9.73150668e+01] [ 6.37576351e-01 7.65544487e-01 8.62440457e-02 5.68641429e+01] [-1.69286525e-01 3.00089953e-02 9.85109909e-01 7.00705211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61037174300003 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:97.35, Y:56.87, Z:7.00 [[ 7.52393808e-01 -6.44833224e-01 1.34512715e-01 9.73459265e+01] [ 6.36403544e-01 7.64289173e-01 1.04175765e-01 5.68723491e+01] [-1.69982606e-01 7.22316767e-03 9.85420590e-01 6.99514790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.640371743 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:97.37, Y:56.89, Z:6.99 [[ 7.52266359e-01 -6.44832898e-01 1.35225212e-01 9.73714461e+01] [ 6.37060484e-01 7.64249615e-01 1.00381599e-01 5.68939204e+01] [-1.68075173e-01 1.06329392e-02 9.85716834e-01 6.99078175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67037174300003 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:97.39, Y:56.90, Z:6.98 [[ 7.53822873e-01 -6.44491672e-01 1.27990472e-01 9.73942676e+01] [ 6.34391675e-01 7.64597816e-01 1.13742613e-01 5.69041382e+01] [-1.71167402e-01 -4.54569327e-03 9.85231474e-01 6.98463349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.700371743 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:97.42, Y:56.93, Z:6.98 [[ 7.53230197e-01 -6.43108672e-01 1.38041686e-01 9.74158194e+01] [ 6.36220450e-01 7.65605960e-01 9.52420771e-02 5.69323849e+01] [-1.66936543e-01 1.60857350e-02 9.85836416e-01 6.98367661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.730371743 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:97.44, Y:56.95, Z:6.98 [[ 7.53995666e-01 -6.42845987e-01 1.35053963e-01 9.74431141e+01] [ 6.34298929e-01 7.65965934e-01 1.04695064e-01 5.69465920e+01] [-1.70749537e-01 6.72495939e-03 9.85291516e-01 6.97538719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.760371743 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:97.46, Y:56.97, Z:6.98 [[ 7.47893249e-01 -6.52752939e-01 1.20703311e-01 9.74587927e+01] [ 6.44214817e-01 7.57570264e-01 1.05235754e-01 5.69662267e+01] [-1.60134187e-01 -9.46248661e-04 9.87094801e-01 6.97626616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.790371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:97.48, Y:56.98, Z:6.97 [[ 7.47753897e-01 -6.52683027e-01 1.21938410e-01 9.74802317e+01] [ 6.43070339e-01 7.57613747e-01 1.11722644e-01 5.69818420e+01] [-1.65301690e-01 -5.12606769e-03 9.86229727e-01 6.97140348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.820371743 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:97.51, Y:57.01, Z:6.96 [[ 7.54026340e-01 -6.40837614e-01 1.44122971e-01 9.75148004e+01] [ 6.34379258e-01 7.67384684e-01 9.31863966e-02 5.70077234e+01] [-1.70315109e-01 2.11636261e-02 9.85162354e-01 6.96462066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.850371743 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:97.53, Y:57.02, Z:6.96 [[ 7.47449321e-01 -6.52691053e-01 1.23749355e-01 9.75325091e+01] [ 6.44402792e-01 7.57620901e-01 1.03709263e-01 5.70235086e+01] [-1.61445206e-01 2.22701220e-03 9.86879165e-01 6.96192918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880371743 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:97.57, Y:57.05, Z:6.95 [[ 7.52519267e-01 -6.41281992e-01 1.49907170e-01 9.75682187e+01] [ 6.36486725e-01 7.66644954e-01 8.44994878e-02 5.70526716e+01] [-1.69113575e-01 3.18264308e-02 9.85082574e-01 6.95276426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.910371743 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:97.59, Y:57.06, Z:6.95 [[ 7.46633617e-01 -6.55410355e-01 1.13910090e-01 9.75861300e+01] [ 6.45128723e-01 7.55153536e-01 1.16413352e-01 5.70553808e+01] [-1.62318124e-01 -1.34314515e-02 9.86647061e-01 6.94879228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:97.61, Y:57.08, Z:6.95 [[ 7.46967488e-01 -6.52775558e-01 1.26188920e-01 9.76069841e+01] [ 6.45117742e-01 7.57521143e-01 9.99240511e-02 5.70822921e+01] [-1.60818753e-01 6.76669361e-03 9.86960759e-01 6.94843392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.970371743 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:97.63, Y:57.10, Z:6.94 [[ 7.47383472e-01 -6.52488563e-01 1.25206314e-01 9.76324501e+01] [ 6.44955633e-01 7.57768988e-01 9.90878010e-02 5.71006852e+01] [-1.59531118e-01 6.69593240e-03 9.87170191e-01 6.94314583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000371743 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:97.66, Y:57.11, Z:6.94 [[ 7.47661695e-01 -6.53248780e-01 1.19448827e-01 9.76550642e+01] [ 6.43693183e-01 7.57115559e-01 1.11512854e-01 5.71145821e+01] [-1.63282201e-01 -6.48549420e-03 9.86558088e-01 6.93758654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.030371743 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:97.68, Y:57.14, Z:6.94 [[ 7.48565646e-01 -6.49877484e-01 1.31562648e-01 9.76803753e+01] [ 6.43787548e-01 7.59847895e-01 9.03812469e-02 5.71439943e+01] [-1.58704338e-01 1.70420980e-02 9.87179062e-01 6.93611948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060371743 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:97.71, Y:57.16, Z:6.93 [[ 7.48621731e-01 -6.50951537e-01 1.25807793e-01 9.77085013e+01] [ 6.43351886e-01 7.59091194e-01 9.93927042e-02 5.71610358e+01] [-1.60199421e-01 6.53114262e-03 9.87063063e-01 6.92794469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.090371743 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:97.73, Y:57.18, Z:6.92 [[ 7.50081387e-01 -6.49177686e-01 1.26278440e-01 9.77329898e+01] [ 6.41505631e-01 7.60611344e-01 9.97041088e-02 5.71802396e+01] [-1.60774497e-01 6.22213435e-03 9.86971553e-01 6.92248152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120371743 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:97.76, Y:57.20, Z:6.92 [[ 7.50829452e-01 -6.48268755e-01 1.26501998e-01 9.77578043e+01] [ 6.40565700e-01 7.61387310e-01 9.98245874e-02 5.71997217e+01] [-1.61030177e-01 6.08160092e-03 9.86930745e-01 6.91729733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.150371743 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:97.78, Y:57.22, Z:6.91 [[ 7.52089495e-01 -6.46855568e-01 1.26250803e-01 9.77831463e+01] [ 6.39172342e-01 7.62590408e-01 9.95720226e-02 5.72201505e+01] [-1.60686369e-01 5.80894927e-03 9.86988423e-01 6.91182905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180371743 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:97.81, Y:57.24, Z:6.91 [[ 7.52190123e-01 -6.46716510e-01 1.26363660e-01 9.78085781e+01] [ 6.39027266e-01 7.62708173e-01 9.96011804e-02 5.72406397e+01] [-1.60792324e-01 5.83079988e-03 9.86971038e-01 6.90591376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.210371743 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:97.83, Y:57.26, Z:6.90 [[ 7.51896959e-01 -6.47046269e-01 1.26420289e-01 9.78330708e+01] [ 6.39364757e-01 7.62427507e-01 9.95841550e-02 5.72601666e+01] [-1.60821862e-01 5.95165412e-03 9.86965504e-01 6.90093070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:97.86, Y:57.28, Z:6.90 [[ 7.49581704e-01 -6.49754802e-01 1.26277341e-01 9.78597520e+01] [ 6.42137968e-01 7.60115490e-01 9.94146484e-02 5.72796295e+01] [-1.60580508e-01 6.56807342e-03 9.87000892e-01 6.89619507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.270371743 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:97.89, Y:57.30, Z:6.89 [[ 7.47994838e-01 -6.51541505e-01 1.26480784e-01 9.78854421e+01] [ 6.43935047e-01 7.58580608e-01 9.95144017e-02 5.72982469e+01] [-1.60783633e-01 7.00915063e-03 9.86964789e-01 6.89092229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300371743 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:97.91, Y:57.32, Z:6.89 [[ 7.44502029e-01 -6.55409084e-01 1.27104923e-01 9.79129921e+01] [ 6.47791681e-01 7.55232496e-01 9.99490626e-02 5.73157940e+01] [-1.61501292e-01 7.92523207e-03 9.86840678e-01 6.88522516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.330371743 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:97.96, Y:57.32, Z:6.88 [[ 7.45576018e-01 -6.59561780e-01 9.53659272e-02 9.79593172e+01] [ 6.48200107e-01 7.50961222e-01 1.26070872e-01 5.73207056e+01] [-1.54767642e-01 -3.21792146e-02 9.87426694e-01 6.88299745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36037174300003 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:97.95, Y:57.37, Z:6.89 [[ 7.41288053e-01 -6.53164771e-01 1.54492085e-01 9.79529999e+01] [ 6.51959315e-01 7.55417730e-01 6.55217881e-02 5.73687305e+01] [-1.59502584e-01 5.21520353e-02 9.85818995e-01 6.88546645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.390371743 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:97.99, Y:57.37, Z:6.87 [[ 7.37524438e-01 -6.63278823e-01 1.26960252e-01 9.79889695e+01] [ 6.55803498e-01 7.48309794e-01 9.97708556e-02 5.73717222e+01] [-1.61181496e-01 9.67753347e-03 9.86877333e-01 6.86795537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42037174300003 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:98.03, Y:57.38, Z:6.86 [[ 7.38217826e-01 -6.66445782e-01 1.04328624e-01 9.80312937e+01] [ 6.56320119e-01 7.45336463e-01 1.17121550e-01 5.73796918e+01] [-1.55815090e-01 -1.79882414e-02 9.87622438e-01 6.86432567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.450371743 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:98.03, Y:57.42, Z:6.86 [[ 7.35103373e-01 -6.62217961e-01 1.45225353e-01 9.80320411e+01] [ 6.59278019e-01 7.48192611e-01 7.45674865e-02 5.74198337e+01] [-1.58036465e-01 4.09290721e-02 9.86584658e-01 6.86429092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.480371743 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:98.07, Y:57.43, Z:6.85 [[ 7.34543936e-01 -6.66802967e-01 1.25773641e-01 9.80650789e+01] [ 6.59529019e-01 7.45161497e-01 9.87715323e-02 5.74287301e+01] [-1.59582825e-01 1.03993360e-02 9.87129766e-01 6.85082897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.510371743 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:98.09, Y:57.45, Z:6.85 [[ 7.34874021e-01 -6.66512574e-01 1.25384057e-01 9.80902720e+01] [ 6.59289148e-01 7.45421970e-01 9.84068373e-02 5.74497419e+01] [-1.59053426e-01 1.03477202e-02 9.87215748e-01 6.84618710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.540371743 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:98.12, Y:57.47, Z:6.84 [[ 7.35110532e-01 -6.66230053e-01 1.25499090e-01 9.81154728e+01] [ 6.58998960e-01 7.45674569e-01 9.84368188e-02 5.74704063e+01] [-1.59163047e-01 1.03418275e-02 9.87198142e-01 6.84063186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.570371743 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:98.14, Y:57.49, Z:6.84 [[ 7.35595288e-01 -6.65611050e-01 1.25942455e-01 9.81396759e+01] [ 6.58329438e-01 7.46227863e-01 9.87234947e-02 5.74907701e+01] [-1.59693218e-01 1.02910881e-02 9.87113048e-01 6.83595130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.600371743 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:98.16, Y:57.51, Z:6.83 [[ 7.35737373e-01 -6.65321406e-01 1.26641008e-01 9.81649847e+01] [ 6.57963382e-01 7.46485584e-01 9.92142140e-02 5.75108278e+01] [-1.60545027e-01 1.03295406e-02 9.86974465e-01 6.83034358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630371743 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:98.21, Y:57.52, Z:6.83 [[ 7.39821962e-01 -6.63766568e-01 1.09897261e-01 9.82052668e+01] [ 6.53591410e-01 7.47799326e-01 1.16680918e-01 5.75215037e+01] [-1.59629990e-01 -1.44952004e-02 9.87070492e-01 6.82629800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.660371743 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:98.21, Y:57.56, Z:6.83 [[ 7.35968440e-01 -6.61471843e-01 1.44240962e-01 9.82070247e+01] [ 6.57850736e-01 7.49049771e-01 7.84655960e-02 5.75619615e+01] [-1.59946442e-01 3.71408208e-02 9.86426731e-01 6.82713177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690371743 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:98.24, Y:57.57, Z:6.81 [[ 7.35973647e-01 -6.64939444e-01 1.27272648e-01 9.82386107e+01] [ 6.57509421e-01 7.46825780e-01 9.96625086e-02 5.75729869e+01] [-1.61320028e-01 1.03339855e-02 9.86848042e-01 6.81433897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.720371743 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:98.26, Y:57.59, Z:6.81 [[ 7.36605796e-01 -6.64828681e-01 1.24156058e-01 9.82631863e+01] [ 6.56726898e-01 7.46977629e-01 1.03606000e-01 5.75914224e+01] [-1.61622038e-01 5.21984307e-03 9.86838928e-01 6.80787661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750371743 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:98.30, Y:57.60, Z:6.80 [[ 7.40653102e-01 -6.61902304e-01 1.15405037e-01 9.83013364e+01] [ 6.51674245e-01 7.49508941e-01 1.16434639e-01 5.76042314e+01] [-1.63565463e-01 -1.10311864e-02 9.86470807e-01 6.80392883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.780371743 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:98.30, Y:57.64, Z:6.80 [[ 7.36657301e-01 -6.61100931e-01 1.42413414e-01 9.83040691e+01] [ 6.57673731e-01 7.49379305e-01 7.67849008e-02 5.76434489e+01] [-1.57484235e-01 3.70974036e-02 9.86824452e-01 6.80475342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810371743 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:98.34, Y:57.65, Z:6.79 [[ 7.36431794e-01 -6.64794487e-01 1.25365476e-01 9.83354332e+01] [ 6.57610808e-01 7.46955740e-01 9.80058608e-02 5.76541560e+01] [-1.58796218e-01 1.02670600e-02 9.87257995e-01 6.79196453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.840371743 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:98.36, Y:57.67, Z:6.79 [[ 7.36745861e-01 -6.64494616e-01 1.25109717e-01 9.83603600e+01] [ 6.57345551e-01 7.47223088e-01 9.77470412e-02 5.76746186e+01] [-1.58437251e-01 1.02255877e-02 9.87316097e-01 6.78625337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870371743 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:98.38, Y:57.70, Z:6.78 [[ 7.37329154e-01 -6.63897257e-01 1.24844508e-01 9.83843965e+01] [ 6.56779540e-01 7.47755327e-01 9.74813181e-02 5.76951942e+01] [-1.58070726e-01 1.01195007e-02 9.87375937e-01 6.78083521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.900371743 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:98.42, Y:57.71, Z:6.77 [[ 7.42938102e-01 -6.58253588e-01 1.21429775e-01 9.84233644e+01] [ 6.48857230e-01 7.52787711e-01 1.10882628e-01 5.77081564e+01] [-1.64399730e-01 -3.58834189e-03 9.86387273e-01 6.77176638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930371743 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:98.44, Y:57.74, Z:6.77 [[ 7.44735465e-01 -6.53229571e-01 1.36602396e-01 9.84423212e+01] [ 6.47699928e-01 7.56809709e-01 8.78855391e-02 5.77397876e+01] [-1.60791453e-01 2.30258843e-02 9.86719777e-01 6.76973727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.960371743 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:98.47, Y:57.75, Z:6.76 [[ 7.42566731e-01 -6.59490475e-01 1.16905785e-01 9.84714113e+01] [ 6.51392156e-01 7.51712834e-01 1.03034335e-01 5.77536811e+01] [-1.55829742e-01 -3.58357842e-04 9.87783865e-01 6.76485850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990371743 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:98.49, Y:57.79, Z:6.76 [[ 7.44210980e-01 -6.53118035e-01 1.39953027e-01 9.84913121e+01] [ 6.48774264e-01 7.56644638e-01 8.11224171e-02 5.77855392e+01] [-1.58877221e-01 3.04257287e-02 9.86829420e-01 6.76055323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.020371743 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:98.52, Y:57.80, Z:6.75 [[ 7.47089075e-01 -6.49277730e-01 1.42465239e-01 9.85150829e+01] [ 6.42975588e-01 7.60228036e-01 9.29286082e-02 5.78008515e+01] [-1.68642545e-01 2.21757229e-02 9.85427790e-01 6.74739777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050371743 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:98.53, Y:57.82, Z:6.75 [[ 7.41837231e-01 -6.60101376e-01 1.18083431e-01 9.85281061e+01] [ 6.51551727e-01 7.51174757e-01 1.05909540e-01 5.78155770e+01] [-1.58612326e-01 -1.63017669e-03 9.87339593e-01 6.74711803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.080371743 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:98.55, Y:57.84, Z:6.74 [[ 7.45469121e-01 -6.54445332e-01 1.26400541e-01 9.85485471e+01] [ 6.46988254e-01 7.56066004e-01 9.88453212e-02 5.78417833e+01] [-1.60256011e-01 8.09353035e-03 9.87042302e-01 6.74491341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11037174300003 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:98.57, Y:57.86, Z:6.74 [[ 7.45456164e-01 -6.54718562e-01 1.25054834e-01 9.85732017e+01] [ 6.47426796e-01 7.55829598e-01 9.77760805e-02 5.78639806e+01] [-1.58535959e-01 8.07606830e-03 9.87320174e-01 6.74061147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.140371743 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:98.60, Y:57.89, Z:6.74 [[ 7.46693351e-01 -6.53329061e-01 1.24940696e-01 9.85976258e+01] [ 6.46034303e-01 7.57034012e-01 9.76687467e-02 5.78852589e+01] [-1.58394187e-01 7.78737176e-03 9.87345248e-01 6.73544714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17037174300003 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:98.62, Y:57.91, Z:6.73 [[ 7.48063788e-01 -6.51829548e-01 1.24574515e-01 9.86211974e+01] [ 6.44566318e-01 7.58328505e-01 9.73249219e-02 5.79083576e+01] [-1.57907666e-01 7.49128686e-03 9.87425465e-01 6.72998224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.200371743 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:98.65, Y:57.93, Z:6.72 [[ 7.48146632e-01 -6.51728832e-01 1.24603958e-01 9.86473000e+01] [ 6.44470477e-01 7.58414796e-01 9.72872114e-02 5.79286521e+01] [-1.57906366e-01 7.51847297e-03 9.87425467e-01 6.72433055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.230371743 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:98.68, Y:57.96, Z:6.71 [[ 7.52434740e-01 -6.41733931e-01 1.48389773e-01 9.86805630e+01] [ 6.37667222e-01 7.66152315e-01 7.99446345e-02 5.79582054e+01] [-1.64992353e-01 3.44701743e-02 9.85692310e-01 6.71381473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.260371743 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:98.71, Y:57.98, Z:6.70 [[ 7.52172980e-01 -6.41019138e-01 1.52742507e-01 9.87071112e+01] [ 6.37240169e-01 7.66592622e-01 7.91247005e-02 5.79804730e+01] [-1.67811726e-01 3.78181992e-02 9.85093401e-01 6.70258690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.290371743 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:98.74, Y:57.99, Z:6.69 [[ 7.51171952e-01 -6.47133807e-01 1.30224938e-01 9.87384703e+01] [ 6.38713659e-01 7.62360518e-01 1.04169585e-01 5.79898214e+01] [-1.66690011e-01 4.92717610e-03 9.85997040e-01 6.69043002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.320371743 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:98.76, Y:58.01, Z:6.69 [[ 7.49945780e-01 -6.48083645e-01 1.32547792e-01 9.87591446e+01] [ 6.40350788e-01 7.61507770e-01 1.00283526e-01 5.80125619e+01] [-1.65928287e-01 9.66987594e-03 9.86090410e-01 6.68803267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.350371743 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:98.77, Y:58.02, Z:6.69 [[ 7.43716011e-01 -6.61129114e-01 9.89686283e-02 9.87718579e+01] [ 6.50011828e-01 7.49756507e-01 1.23894325e-01 5.80187539e+01] [-1.56112518e-01 -2.78114142e-02 9.87347663e-01 6.68911431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380371743 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:98.79, Y:58.05, Z:6.69 [[ 7.42903756e-01 -6.58402791e-01 1.20829527e-01 9.87871977e+01] [ 6.51548902e-01 7.52622421e-01 9.50974225e-02 5.80531640e+01] [-1.53551420e-01 8.07811351e-03 9.88107639e-01 6.69437063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.410371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:98.81, Y:58.07, Z:6.69 [[ 7.42297839e-01 -6.59135942e-01 1.20555914e-01 9.88123522e+01] [ 6.52330975e-01 7.51978546e-01 9.48291391e-02 5.80740898e+01] [-1.53160755e-01 8.25089210e-03 9.88166841e-01 6.68890740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:98.84, Y:58.12, Z:6.68 [[ 7.47702483e-01 -6.40118492e-01 1.76604962e-01 9.88433462e+01] [ 6.42591787e-01 7.64539112e-01 5.05543452e-02 5.81170756e+01] [-1.67382172e-01 7.56852889e-02 9.82982678e-01 6.67813506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.470371743 meters Centerline goodness : 0.992964 Centerline is valid? [True, True] Translation: X:98.88, Y:58.12, Z:6.66 [[ 7.45342454e-01 -6.53247460e-01 1.33162993e-01 9.88833778e+01] [ 6.45645797e-01 7.57058258e-01 1.00021493e-01 5.81153404e+01] [-1.66150930e-01 1.14258613e-02 9.86034136e-01 6.65734604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500371743 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:98.90, Y:58.14, Z:6.65 [[ 7.44749062e-01 -6.50806734e-01 1.47646296e-01 9.89046151e+01] [ 6.45641790e-01 7.58637304e-01 8.72703842e-02 5.81412860e+01] [-1.68806141e-01 3.03320818e-02 9.85182446e-01 6.65271831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.530371743 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:98.93, Y:58.14, Z:6.65 [[ 7.41437960e-01 -6.60953463e-01 1.15802727e-01 9.89336098e+01] [ 6.50321314e-01 7.50318661e-01 1.18760662e-01 5.81440075e+01] [-1.65384218e-01 -1.27446813e-02 9.86146862e-01 6.64547212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:98.94, Y:58.16, Z:6.66 [[ 7.34649115e-01 -6.72172655e-01 9.20575929e-02 9.89405804e+01] [ 6.61029825e-01 7.39717195e-01 1.25928714e-01 5.81569657e+01] [-1.52742423e-01 -3.16606041e-02 9.87758755e-01 6.65605712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.590371743 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:98.96, Y:58.21, Z:6.66 [[ 7.39870783e-01 -6.52519289e-01 1.63736992e-01 9.89632820e+01] [ 6.53099343e-01 7.55055951e-01 5.78943695e-02 5.82108949e+01] [-1.61407783e-01 6.41021696e-02 9.84803757e-01 6.65707104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620371743 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:99.00, Y:58.21, Z:6.64 [[ 7.37824465e-01 -6.62942901e-01 1.26971532e-01 9.90008266e+01] [ 6.55757997e-01 7.48589324e-01 9.79564870e-02 5.82126360e+01] [-1.59989091e-01 1.09879050e-02 9.87057626e-01 6.63877449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.650371743 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:99.02, Y:58.23, Z:6.63 [[ 7.39051631e-01 -6.61784368e-01 1.25873501e-01 9.90209667e+01] [ 6.53628017e-01 7.49673243e-01 1.03732563e-01 5.82265888e+01] [-1.63012584e-01 5.61072659e-03 9.86608036e-01 6.63253889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680371743 meters Centerline goodness : 0.992255 Centerline is valid? [True, True] Translation: X:99.04, Y:58.25, Z:6.63 [[ 7.38954837e-01 -6.61058542e-01 1.30182001e-01 9.90439050e+01] [ 6.53755656e-01 7.50236056e-01 9.87390683e-02 5.82506036e+01] [-1.62939536e-01 1.21435074e-02 9.86561322e-01 6.63127101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.710371743 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:99.06, Y:58.29, Z:6.63 [[ 7.40107751e-01 -6.53325891e-01 1.59391962e-01 9.90629039e+01] [ 6.52340872e-01 7.55059080e-01 6.58572148e-02 5.82863604e+01] [-1.63376572e-01 5.52364563e-02 9.85016259e-01 6.62704373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740371743 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:99.10, Y:58.29, Z:6.61 [[ 7.38924332e-01 -6.62548487e-01 1.22557471e-01 9.90999876e+01] [ 6.54781337e-01 7.48999578e-01 1.01296759e-01 5.82905984e+01] [-1.58909509e-01 5.39770460e-03 9.87278397e-01 6.61254389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.770371743 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:99.12, Y:58.32, Z:6.61 [[ 7.41319298e-01 -6.56589807e-01 1.39052235e-01 9.91193367e+01] [ 6.50918312e-01 7.53859494e-01 8.94495071e-02 5.83176149e+01] [-1.63557482e-01 2.42010005e-02 9.86236920e-01 6.60878332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800371743 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:99.14, Y:58.30, Z:6.61 [[ 7.34732373e-01 -6.75368449e-01 6.36065990e-02 9.91387888e+01] [ 6.61720561e-01 7.34194302e-01 1.51936257e-01 5.83036139e+01] [-1.49312556e-01 -6.95426918e-02 9.86341510e-01 6.61116635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.830371743 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:99.15, Y:58.37, Z:6.63 [[ 7.43228758e-01 -6.49155625e-01 1.61888811e-01 9.91482726e+01] [ 6.50295989e-01 7.57812729e-01 5.32446631e-02 5.83734548e+01] [-1.57245474e-01 6.57026797e-02 9.85371513e-01 6.62555300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86037174300003 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:99.18, Y:58.36, Z:6.60 [[ 7.45253968e-01 -6.56094817e-01 1.18895392e-01 9.91836382e+01] [ 6.45590155e-01 7.54601810e-01 1.17428532e-01 5.83600994e+01] [-1.66762930e-01 -1.07563847e-02 9.85938348e-01 6.60055322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.890371743 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:99.20, Y:58.41, Z:6.61 [[ 7.45152247e-01 -6.48183300e-01 1.56864717e-01 9.92026945e+01] [ 6.46981363e-01 7.59670147e-01 6.56991985e-02 5.84087923e+01] [-1.61750566e-01 5.25326431e-02 9.85432431e-01 6.60508554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92037174300003 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:99.23, Y:58.39, Z:6.59 [[ 7.38922519e-01 -6.70507593e-01 6.64310082e-02 9.92310499e+01] [ 6.57063696e-01 7.38900051e-01 1.49311802e-01 5.83854874e+01] [-1.49200572e-01 -6.66804491e-02 9.86556084e-01 6.59381539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.950371743 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:99.24, Y:58.44, Z:6.60 [[ 7.46023386e-01 -6.48316097e-01 1.52103078e-01 9.92442366e+01] [ 6.46304353e-01 7.59937813e-01 6.91751617e-02 5.84449086e+01] [-1.60436252e-01 4.66985934e-02 9.85940896e-01 6.60391915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.980371743 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:99.28, Y:58.46, Z:6.59 [[ 7.44483541e-01 -6.55619422e-01 1.26124663e-01 9.92798373e+01] [ 6.49600961e-01 7.54942351e-01 8.98923704e-02 5.84566137e+01] [-1.54152034e-01 1.50073122e-02 9.87933161e-01 6.58978373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.010371743 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:99.30, Y:58.48, Z:6.58 [[ 7.45775044e-01 -6.51754884e-01 1.37967951e-01 9.93015170e+01] [ 6.46226666e-01 7.58062946e-01 8.79298947e-02 5.84774422e+01] [-1.61897129e-01 2.35826476e-02 9.86525812e-01 6.58254943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.040371743 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:99.32, Y:58.48, Z:6.58 [[ 7.37419264e-01 -6.70805989e-01 7.89439979e-02 9.93229670e+01] [ 6.59950173e-01 7.40458381e-01 1.27228747e-01 5.84769444e+01] [-1.43800550e-01 -4.17218239e-02 9.88726803e-01 6.58133993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.070371743 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:99.34, Y:58.52, Z:6.59 [[ 7.38007597e-01 -6.65735473e-01 1.10186510e-01 9.93362339e+01] [ 6.59976038e-01 7.46145314e-01 8.77428075e-02 5.85160821e+01] [-1.40628647e-01 7.96559752e-03 9.90030370e-01 6.59146036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.100371743 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:99.36, Y:58.53, Z:6.58 [[ 7.37760138e-01 -6.66312930e-01 1.08337703e-01 9.93590231e+01] [ 6.59107958e-01 7.45671913e-01 9.77246019e-02 5.85318630e+01] [-1.45899548e-01 -6.91073382e-04 9.89299168e-01 6.58454446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130371743 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:99.38, Y:58.56, Z:6.58 [[ 7.37586770e-01 -6.65318153e-01 1.15401525e-01 9.93836469e+01] [ 6.60343132e-01 7.46404037e-01 8.26314760e-02 5.85592230e+01] [-1.41112385e-01 1.52567211e-02 9.89876016e-01 6.58401761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.160371743 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:99.42, Y:58.58, Z:6.57 [[ 7.42636304e-01 -6.55815044e-01 1.35639035e-01 9.94193932e+01] [ 6.52962197e-01 7.54066250e-01 7.08834230e-02 5.85847335e+01] [-1.48767234e-01 3.59265592e-02 9.88219405e-01 6.57196420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190371743 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:99.45, Y:58.60, Z:6.56 [[ 7.43193766e-01 -6.56342933e-01 1.29911433e-01 9.94476987e+01] [ 6.50431634e-01 7.54251600e-01 8.96839613e-02 5.85967351e+01] [-1.56849340e-01 1.78459447e-02 9.87461294e-01 6.55804624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.220371743 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:99.47, Y:58.60, Z:6.56 [[ 7.35601301e-01 -6.71290208e-01 9.08855510e-02 9.94658012e+01] [ 6.62124578e-01 7.40841842e-01 1.12891138e-01 5.86047276e+01] [-1.43114535e-01 -2.28653110e-02 9.89441968e-01 6.55761198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250371743 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:99.48, Y:58.63, Z:6.56 [[ 7.38468811e-01 -6.63295649e-01 1.21254682e-01 9.94804895e+01] [ 6.58514321e-01 7.48105558e-01 8.18349741e-02 5.86347411e+01] [-1.44992084e-01 1.94153687e-02 9.89242306e-01 6.56048706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.280371743 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:99.50, Y:58.65, Z:6.56 [[ 7.34757181e-01 -6.70390471e-01 1.03481888e-01 9.95040875e+01] [ 6.63432513e-01 7.42005392e-01 9.63602558e-02 5.86483114e+01] [-1.41383116e-01 -2.14814118e-03 9.89952625e-01 6.55526129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310371743 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:99.53, Y:58.67, Z:6.55 [[ 7.34802294e-01 -6.69235792e-01 1.10404003e-01 9.95266520e+01] [ 6.63470697e-01 7.43001061e-01 8.80684863e-02 5.86719362e+01] [-1.40968875e-01 8.53689509e-03 9.89977221e-01 6.55387539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.340371743 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:99.55, Y:58.69, Z:6.55 [[ 7.34672940e-01 -6.69273379e-01 1.11035204e-01 9.95522885e+01] [ 6.63449242e-01 7.42966125e-01 8.85236693e-02 5.86925487e+01] [-1.41741931e-01 8.63027787e-03 9.89866023e-01 6.54880024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370371743 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:99.58, Y:58.72, Z:6.54 [[ 7.41277925e-01 -6.56109669e-01 1.41517283e-01 9.95834679e+01] [ 6.54078463e-01 7.53448006e-01 6.70631583e-02 5.87213174e+01] [-1.50626701e-01 4.28509681e-02 9.87661577e-01 6.53998952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.400371743 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:99.61, Y:58.72, Z:6.53 [[ 7.33441541e-01 -6.73737124e-01 9.02318900e-02 9.96085317e+01] [ 6.64453454e-01 7.38593898e-01 1.13932707e-01 5.87208518e+01] [-1.43405418e-01 -2.36080891e-02 9.89382406e-01 6.53024501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430371743 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:99.63, Y:58.77, Z:6.53 [[ 7.38947665e-01 -6.58307821e-01 1.43482270e-01 9.96349962e+01] [ 6.57035920e-01 7.51230257e-01 6.29039000e-02 5.87657734e+01] [-1.49198352e-01 4.77903150e-02 9.87651729e-01 6.53177254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.460371743 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:99.67, Y:58.77, Z:6.52 [[ 7.37946486e-01 -6.64107356e-01 1.19985013e-01 9.96679045e+01] [ 6.57891853e-01 7.47548657e-01 9.13745889e-02 5.87726465e+01] [-1.50377172e-01 1.15076059e-02 9.88561724e-01 6.51611347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490371743 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:99.69, Y:58.78, Z:6.51 [[ 7.38223318e-01 -6.65585600e-01 1.09645532e-01 9.96886582e+01] [ 6.57956369e-01 7.46318689e-01 1.00507868e-01 5.87847429e+01] [-1.48727099e-01 -2.05527623e-03 9.88876143e-01 6.51267459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.520371743 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:99.71, Y:58.82, Z:6.51 [[ 7.37951961e-01 -6.60859696e-01 1.36716368e-01 9.97097197e+01] [ 6.58176441e-01 7.49550841e-01 7.05500474e-02 5.88220168e+01] [-1.49099551e-01 3.79209466e-02 9.88094796e-01 6.51336344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550371743 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:99.74, Y:58.83, Z:6.50 [[ 7.37808573e-01 -6.65719325e-01 1.11607747e-01 9.97402843e+01] [ 6.58147588e-01 7.46202122e-01 1.00120654e-01 5.88264063e+01] [-1.49934192e-01 -4.15507842e-04 9.88695891e-01 6.49974099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.580371743 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:99.76, Y:58.86, Z:6.50 [[ 7.38567009e-01 -6.59605506e-01 1.39425068e-01 9.97592590e+01] [ 6.57139748e-01 7.50539222e-01 6.97009850e-02 5.88627962e+01] [-1.50619136e-01 4.01429059e-02 9.87776505e-01 6.50048102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61037174300003 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:99.79, Y:58.86, Z:6.49 [[ 7.37308879e-01 -6.67978738e-01 1.00896099e-01 9.97898755e+01] [ 6.59219235e-01 7.44055766e-01 1.08678500e-01 5.88628927e+01] [-1.47667252e-01 -1.36169739e-02 9.88943356e-01 6.48877647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.640371743 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:99.81, Y:58.90, Z:6.49 [[ 7.37866925e-01 -6.64054407e-01 1.20764837e-01 9.98066424e+01] [ 6.58896253e-01 7.47484165e-01 8.43987609e-02 5.88957144e+01] [-1.46315172e-01 1.72964441e-02 9.89086803e-01 6.49259523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67037174300003 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:99.83, Y:58.91, Z:6.48 [[ 7.39358706e-01 -6.63026904e-01 1.17234927e-01 9.98284950e+01] [ 6.56556238e-01 7.48548758e-01 9.27828866e-02 5.89086733e+01] [-1.49273609e-01 8.37148762e-03 9.88760491e-01 6.48438856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.700371743 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:99.85, Y:58.94, Z:6.48 [[ 7.38282986e-01 -6.62222811e-01 1.28059291e-01 9.98535203e+01] [ 6.58081790e-01 7.48844352e-01 7.84888194e-02 5.89384038e+01] [-1.47873563e-01 2.63265273e-02 9.88655816e-01 6.48224220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.730371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:99.88, Y:58.96, Z:6.47 [[ 7.38729029e-01 -6.63232755e-01 1.20007224e-01 9.98817622e+01] [ 6.57443931e-01 7.48290769e-01 8.84782677e-02 5.89560081e+01] [-1.48481983e-01 1.35365562e-02 9.88822463e-01 6.47421985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.760371743 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:99.90, Y:58.96, Z:6.47 [[ 7.33743057e-01 -6.75084793e-01 7.66919034e-02 9.98989682e+01] [ 6.65152746e-01 7.36752981e-01 1.21519011e-01 5.89584631e+01] [-1.38538625e-01 -3.81519004e-02 9.89621888e-01 6.47309771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.790371743 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:99.92, Y:59.01, Z:6.48 [[ 7.41994627e-01 -6.55120064e-01 1.42343513e-01 9.99158603e+01] [ 6.54046636e-01 7.54002135e-01 6.08586751e-02 5.90094439e+01] [-1.47197052e-01 4.79424859e-02 9.87944607e-01 6.48028784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.820371743 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:99.95, Y:59.01, Z:6.46 [[ 7.43635661e-01 -6.58712071e-01 1.14474498e-01 9.99498302e+01] [ 6.51460119e-01 7.52392257e-01 9.74966903e-02 5.90129156e+01] [-1.50351973e-01 2.07355457e-03 9.88630358e-01 6.46132637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.850371743 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:99.97, Y:59.04, Z:6.46 [[ 7.43360914e-01 -6.57083410e-01 1.25123713e-01 9.99722379e+01] [ 6.52848413e-01 7.53448182e-01 7.81331322e-02 5.90442202e+01] [-1.45614219e-01 2.36057005e-02 9.89059791e-01 6.46372622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880371743 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:100.00, Y:59.07, Z:6.46 [[ 7.45844083e-01 -6.52362221e-01 1.34685325e-01 9.99961434e+01] [ 6.49017981e-01 7.57208176e-01 7.35624809e-02 5.90673380e+01] [-1.49974213e-01 3.25470567e-02 9.88154049e-01 6.45655466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.910371743 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:100.02, Y:59.05, Z:6.45 [[ 7.40774077e-01 -6.68834978e-01 6.25582765e-02 1.00018169e+02] [ 6.57651406e-01 7.41052783e-01 1.35408280e-01 5.90520309e+01] [-1.36924779e-01 -5.91654055e-02 9.88812955e-01 6.44839532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940371743 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:100.03, Y:59.13, Z:6.47 [[ 7.47464345e-01 -6.40503683e-01 1.76216017e-01 1.00031152e+02] [ 6.46997030e-01 7.62065095e-01 2.55271303e-02 5.91304396e+01] [-1.50638297e-01 9.49306197e-02 9.84020468e-01 6.46510238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.970371743 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:100.08, Y:59.11, Z:6.43 [[ 7.47101755e-01 -6.56155877e-01 1.06294086e-01 1.00078770e+02] [ 6.47840569e-01 7.54568809e-01 1.04539512e-01 5.91142798e+01] [-1.48800417e-01 -9.24003153e-03 9.88824078e-01 6.43251864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000371743 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:100.10, Y:59.15, Z:6.44 [[ 7.47401101e-01 -6.50574328e-01 1.34702033e-01 1.00096257e+02] [ 6.47449657e-01 7.58705646e-01 7.19352816e-02 5.91512934e+01] [-1.48998440e-01 3.34482763e-02 9.88271561e-01 6.43618765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.030371743 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:100.13, Y:59.15, Z:6.42 [[ 7.46987735e-01 -6.58213270e-01 9.36195285e-02 1.00126613e+02] [ 6.48709123e-01 7.52432437e-01 1.14113547e-01 5.91469669e+01] [-1.45553421e-01 -2.45095776e-02 9.89046754e-01 6.42240713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:100.13, Y:59.16, Z:6.43 [[ 7.41044375e-01 -6.67900835e-01 6.90051327e-02 1.00132252e+02] [ 6.58180064e-01 7.42881480e-01 1.22172458e-01 5.91593052e+01] [-1.32861722e-01 -4.51174098e-02 9.90107157e-01 6.43489813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.090371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:100.15, Y:59.20, Z:6.45 [[ 7.41681015e-01 -6.63087991e-01 1.01111764e-01 1.00146200e+02] [ 6.57880163e-01 7.48525449e-01 8.30863640e-02 5.91984702e+01] [-1.30778298e-01 4.89584475e-03 9.91399550e-01 6.44637712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120371743 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:100.18, Y:59.24, Z:6.44 [[ 7.47265472e-01 -6.45649378e-01 1.57261550e-01 1.00175247e+02] [ 6.49023209e-01 7.59920019e-01 3.59226616e-02 5.92434177e+01] [-1.42699644e-01 7.52226310e-02 9.86903424e-01 6.44112897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.150371743 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:100.22, Y:59.24, Z:6.42 [[ 7.46174400e-01 -6.55317851e-01 1.17397949e-01 1.00217146e+02] [ 6.50055512e-01 7.55230084e-01 8.39961324e-02 5.92432206e+01] [-1.43706628e-01 1.36394200e-02 9.89526337e-01 6.41535656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180371743 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:100.24, Y:59.27, Z:6.41 [[ 7.45442944e-01 -6.55742951e-01 1.19649487e-01 1.00242320e+02] [ 6.51370094e-01 7.54727241e-01 7.81267684e-02 5.92672109e+01] [-1.41533805e-01 1.96970492e-02 9.89737444e-01 6.41220787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.210371743 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:100.26, Y:59.26, Z:6.41 [[ 7.38034765e-01 -6.72762975e-01 5.19101558e-02 1.00262236e+02] [ 6.62808052e-01 7.37227738e-01 1.31075356e-01 5.92560294e+01] [-1.26452253e-01 -6.23317001e-02 9.90012418e-01 6.41052675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240371743 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:100.27, Y:59.32, Z:6.42 [[ 7.45386778e-01 -6.49692944e-01 1.49323910e-01 1.00271989e+02] [ 6.52130640e-01 7.57110903e-01 3.88421001e-02 5.93186524e+01] [-1.38290199e-01 6.84263095e-02 9.88025132e-01 6.42483954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.270371743 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:100.32, Y:59.32, Z:6.40 [[ 7.43938963e-01 -6.59639902e-01 1.06911265e-01 1.00315693e+02] [ 6.54308328e-01 7.51544964e-01 8.40284445e-02 5.93209647e+01] [-1.35777138e-01 7.44089722e-03 9.90711463e-01 6.40317797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300371743 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:100.34, Y:59.33, Z:6.40 [[ 7.44975096e-01 -6.60426008e-01 9.40722883e-02 1.00338550e+02] [ 6.53365059e-01 7.50814419e-01 9.69113448e-02 5.93321993e+01] [-1.34633603e-01 -1.07329922e-02 9.90837321e-01 6.39934247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.330371743 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:100.36, Y:59.36, Z:6.40 [[ 7.44829811e-01 -6.58383012e-01 1.08445204e-01 1.00359961e+02] [ 6.54260366e-01 7.52533042e-01 7.50825762e-02 5.93642567e+01] [-1.31041692e-01 1.50276581e-02 9.91262954e-01 6.40437596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36037174300003 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:100.38, Y:59.37, Z:6.40 [[ 7.40178093e-01 -6.69073811e-01 6.69075972e-02 1.00377016e+02] [ 6.61554821e-01 7.42421823e-01 1.05617497e-01 5.93664400e+01] [-1.20339561e-01 -3.39127136e-02 9.92153374e-01 6.40315458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.390371743 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:100.39, Y:59.40, Z:6.41 [[ 7.42037407e-01 -6.64071122e-01 9.15971188e-02 1.00394094e+02] [ 6.59796005e-01 7.47655800e-01 7.53660164e-02 5.94006764e+01] [-1.18531512e-01 4.51100965e-03 9.92940044e-01 6.41187704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42037174300003 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:100.42, Y:59.42, Z:6.41 [[ 7.42661939e-01 -6.63333500e-01 9.18798795e-02 1.00419171e+02] [ 6.59031794e-01 7.48310722e-01 7.55523467e-02 5.94202144e+01] [-1.18871102e-01 4.44190948e-03 9.92899759e-01 6.40791209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.450371743 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:100.45, Y:59.45, Z:6.40 [[ 7.48326273e-01 -6.52966785e-01 1.16799689e-01 1.00450052e+02] [ 6.51229523e-01 7.56675814e-01 5.78084790e-02 5.94463780e+01] [-1.26126516e-01 3.28038019e-02 9.91471640e-01 6.40021452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.480371743 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:100.48, Y:59.46, Z:6.39 [[ 7.46694680e-01 -6.56401802e-01 1.07627737e-01 1.00483437e+02] [ 6.53125284e-01 7.54164466e-01 6.82885241e-02 5.94641501e+01] [-1.25993725e-01 1.93037184e-02 9.91843207e-01 6.38960416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.510371743 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:100.51, Y:59.46, Z:6.38 [[ 7.41886385e-01 -6.67347673e-01 6.52048735e-02 1.00507208e+02] [ 6.60282379e-01 7.44023256e-01 1.02257393e-01 5.94641869e+01] [-1.16755176e-01 -3.28097387e-02 9.92618633e-01 6.38347762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.540371743 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:100.53, Y:59.51, Z:6.39 [[ 7.46555329e-01 -6.55059202e-01 1.16415566e-01 1.00529090e+02] [ 6.54026393e-01 7.54664794e-01 5.22544292e-02 5.95067608e+01] [-1.22084474e-01 3.71280301e-02 9.91825030e-01 6.38950989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.570371743 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:100.56, Y:59.52, Z:6.38 [[ 7.46529282e-01 -6.58390768e-01 9.59980593e-02 1.00562845e+02] [ 6.54047135e-01 7.52650504e-01 7.57599104e-02 5.95160421e+01] [-1.22132613e-01 6.23026412e-03 9.92494236e-01 6.37564845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.600371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:100.59, Y:59.54, Z:6.37 [[ 7.46007592e-01 -6.59615441e-01 9.15431208e-02 1.00588893e+02] [ 6.54994470e-01 7.51601111e-01 7.79616235e-02 5.95350357e+01] [-1.20228602e-01 1.80027483e-03 9.92744601e-01 6.37236310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630371743 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:100.61, Y:59.56, Z:6.37 [[ 7.46217580e-01 -6.58075425e-01 1.00479146e-01 1.00612740e+02] [ 6.54710793e-01 7.52803560e-01 6.81217826e-02 5.95584999e+01] [-1.20470330e-01 1.49511099e-02 9.92604334e-01 6.37047804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.660371743 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:100.64, Y:59.57, Z:6.36 [[ 7.45882934e-01 -6.60614217e-01 8.51322792e-02 1.00641894e+02] [ 6.55493861e-01 7.50704910e-01 8.22796231e-02 5.95694440e+01] [-1.18264309e-01 -5.56728036e-03 9.92966545e-01 6.36443765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690371743 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:100.66, Y:59.59, Z:6.37 [[ 7.41841995e-01 -6.66558869e-01 7.32784335e-02 1.00655416e+02] [ 6.61203261e-01 7.45299444e-01 8.56678837e-02 5.95856577e+01] [-1.11717063e-01 -1.51000945e-02 9.93625324e-01 6.36803092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.720371743 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:100.68, Y:59.62, Z:6.37 [[ 7.47151524e-01 -6.54630661e-01 1.14992596e-01 1.00682880e+02] [ 6.53838151e-01 7.54994094e-01 4.97954852e-02 5.96230190e+01] [-1.19416382e-01 3.79817737e-02 9.92117489e-01 6.36701024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750371743 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:100.72, Y:59.63, Z:6.35 [[ 7.46844028e-01 -6.58852927e-01 9.02043129e-02 1.00717580e+02] [ 6.54389152e-01 7.52269544e-01 7.65857079e-02 5.96314164e+01] [-1.18316675e-01 1.83114530e-03 9.92974225e-01 6.35381690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.780371743 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:100.74, Y:59.66, Z:6.35 [[ 7.47224062e-01 -6.56939684e-01 1.00431333e-01 1.00741600e+02] [ 6.53703544e-01 7.53781518e-01 6.69708809e-02 5.96553177e+01] [-1.19699112e-01 1.56100650e-02 9.92687488e-01 6.35175974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810371743 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:100.76, Y:59.66, Z:6.35 [[ 7.41658319e-01 -6.67911710e-01 6.19425972e-02 1.00760001e+02] [ 6.61598346e-01 7.43608096e-01 9.66158814e-02 5.96577432e+01] [-1.10591895e-01 -3.06748523e-02 9.93392413e-01 6.34944058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.840371743 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:100.79, Y:59.70, Z:6.35 [[ 7.46173811e-01 -6.56716694e-01 1.09306119e-01 1.00785909e+02] [ 6.55335717e-01 7.53461197e-01 5.32101770e-02 5.96969351e+01] [-1.17301931e-01 3.19281636e-02 9.92582918e-01 6.35353599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870371743 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:100.82, Y:59.71, Z:6.34 [[ 7.45261139e-01 -6.60482448e-01 9.13716032e-02 1.00817562e+02] [ 6.56329157e-01 7.50826510e-01 7.41052604e-02 5.97069588e+01] [-1.17549446e-01 4.74207653e-03 9.93055709e-01 6.34253077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.900371743 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:100.85, Y:59.72, Z:6.34 [[ 7.42985964e-01 -6.65241723e-01 7.36566817e-02 1.00845113e+02] [ 6.59685638e-01 7.46450178e-01 8.73326497e-02 5.97182693e+01] [-1.13078366e-01 -1.62966779e-02 9.93452415e-01 6.34109533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930371743 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:100.86, Y:59.76, Z:6.34 [[ 7.44217423e-01 -6.57635857e-01 1.16856777e-01 1.00861548e+02] [ 6.56988569e-01 7.52275610e-01 4.94714653e-02 5.97574614e+01] [-1.20442713e-01 3.99560406e-02 9.91915857e-01 6.34261586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.960371743 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:100.90, Y:59.76, Z:6.33 [[ 7.43004699e-01 -6.63120048e-01 9.06411583e-02 1.00896170e+02] [ 6.58409128e-01 7.48512326e-01 7.89095494e-02 5.97638213e+01] [-1.20172528e-01 1.04880005e-03 9.92752468e-01 6.32953840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990371743 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:100.92, Y:59.79, Z:6.33 [[ 7.40893580e-01 -6.64705690e-01 9.61407754e-02 1.00922065e+02] [ 6.60969797e-01 7.47027302e-01 7.11978772e-02 5.97862756e+01] [-1.19145418e-01 1.07960987e-02 9.92818117e-01 6.32737809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.020371743 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:100.94, Y:59.79, Z:6.33 [[ 7.34307110e-01 -6.75730269e-01 6.46658482e-02 1.00938555e+02] [ 6.69699657e-01 7.36710526e-01 9.35947127e-02 5.97916559e+01] [-1.10884791e-01 -2.54205666e-02 9.93508107e-01 6.32683329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050371743 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:100.97, Y:59.83, Z:6.33 [[ 7.36669833e-01 -6.67757294e-01 1.06853887e-01 1.00966649e+02] [ 6.66409217e-01 7.43688817e-01 5.31573125e-02 5.98300542e+01] [-1.14962224e-01 3.20490266e-02 9.92852732e-01 6.32793399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.080371743 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:101.00, Y:59.84, Z:6.32 [[ 7.35502651e-01 -6.70360870e-01 9.82453753e-02 1.00996647e+02] [ 6.67342634e-01 7.41836912e-01 6.58164471e-02 5.98443298e+01] [-1.17002817e-01 1.71551562e-02 9.92983404e-01 6.31677970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11037174300003 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:101.01, Y:59.85, Z:6.32 [[ 7.29019220e-01 -6.81751798e-01 6.12001767e-02 1.01014112e+02] [ 6.75727275e-01 7.31063935e-01 9.45419083e-02 5.98467872e+01] [-1.09195358e-01 -2.75682396e-02 9.93637945e-01 6.31521414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.140371743 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:101.04, Y:59.89, Z:6.32 [[ 7.32428518e-01 -6.71184031e-01 1.14282385e-01 1.01038662e+02] [ 6.70977400e-01 7.40045772e-01 4.60606591e-02 5.98907008e+01] [-1.15489374e-01 4.29447570e-02 9.92379944e-01 6.31815730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17037174300003 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:101.07, Y:59.90, Z:6.30 [[ 7.31647878e-01 -6.74667783e-01 9.75436614e-02 1.01072463e+02] [ 6.71522362e-01 7.37939226e-01 6.71074917e-02 5.99028386e+01] [-1.17256557e-01 1.64036961e-02 9.92966172e-01 6.30450306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.200371743 meters Centerline goodness : 0.992811 Centerline is valid? [True, True] Translation: X:101.10, Y:59.92, Z:6.30 [[ 7.30602891e-01 -6.76815754e-01 9.02211230e-02 1.01100054e+02] [ 6.72893141e-01 7.36116426e-01 7.31261134e-02 5.99199934e+01] [-1.15906156e-01 7.28302493e-03 9.93233467e-01 6.29971680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.230371743 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:101.12, Y:59.94, Z:6.30 [[ 7.30124989e-01 -6.77630737e-01 8.79436442e-02 1.01123777e+02] [ 6.73567356e-01 7.35385249e-01 7.42667703e-02 5.99386308e+01] [-1.14997905e-01 5.01194306e-03 9.93353090e-01 6.29724872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.260371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:101.14, Y:59.95, Z:6.30 [[ 7.24752626e-01 -6.86500166e-01 5.87465179e-02 1.01137077e+02] [ 6.80643681e-01 7.26591997e-01 9.37456686e-02 5.99453071e+01] [-1.07041167e-01 -2.79569733e-02 9.93861457e-01 6.29921177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.290371743 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:101.16, Y:59.99, Z:6.30 [[ 7.31584318e-01 -6.71279089e-01 1.19032648e-01 1.01160343e+02] [ 6.72168856e-01 7.39392749e-01 3.85667050e-02 5.99946371e+01] [-1.13900899e-01 5.17952421e-02 9.92141037e-01 6.30250177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.320371743 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:101.20, Y:60.00, Z:6.29 [[ 7.31591930e-01 -6.75861726e-01 8.93542195e-02 1.01196366e+02] [ 6.71970638e-01 7.36996823e-01 7.27402524e-02 6.00007935e+01] [-1.15016128e-01 6.82723032e-03 9.93340163e-01 6.28639372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.350371743 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:101.22, Y:60.02, Z:6.28 [[ 7.31641294e-01 -6.76133578e-01 8.68585089e-02 1.01220146e+02] [ 6.72274453e-01 7.36758803e-01 7.23431107e-02 6.00213778e+01] [-1.12907377e-01 5.46354946e-03 9.93590496e-01 6.28465839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380371743 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:101.24, Y:60.04, Z:6.28 [[ 7.30548529e-01 -6.77806514e-01 8.29287478e-02 1.01243215e+02] [ 6.73851272e-01 7.35236285e-01 7.31578323e-02 6.00401695e+01] [-1.10559080e-01 2.43629545e-03 9.93866568e-01 6.28368133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.410371743 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:101.27, Y:60.06, Z:6.28 [[ 7.29583425e-01 -6.78806195e-01 8.32476746e-02 1.01266594e+02] [ 6.75175806e-01 7.34300928e-01 7.02835567e-02 6.00624022e+01] [-1.08837758e-01 4.92909774e-03 9.94047306e-01 6.28235426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440371743 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:101.29, Y:60.09, Z:6.28 [[ 7.29400866e-01 -6.77091129e-01 9.75806284e-02 1.01288279e+02] [ 6.75133027e-01 7.35496034e-01 5.69295974e-02 6.00901109e+01] [-1.10316691e-01 2.43554073e-02 9.93598028e-01 6.27993848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.470371743 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:101.31, Y:60.11, Z:6.27 [[ 7.28989255e-01 -6.78212933e-01 9.27463368e-02 1.01314517e+02] [ 6.75157002e-01 7.34721352e-01 6.59360103e-02 6.01062633e+01] [-1.12861369e-01 1.45516957e-02 9.93504182e-01 6.27172684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500371743 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:101.33, Y:60.11, Z:6.27 [[ 7.20174816e-01 -6.92331352e-01 4.50059359e-02 1.01332823e+02] [ 6.86091664e-01 7.20319369e-01 1.02069754e-01 6.01061157e+01] [-1.03084738e-01 -4.26298692e-02 9.93758638e-01 6.27093975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.530371743 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:101.34, Y:60.14, Z:6.28 [[ 7.19466720e-01 -6.90275781e-01 7.67266883e-02 1.01344738e+02] [ 6.87269794e-01 7.23519642e-01 6.46494964e-02 6.01432188e+01] [-1.00139248e-01 6.21877413e-03 9.94953998e-01 6.28047318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560371743 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:101.38, Y:60.17, Z:6.27 [[ 7.21323688e-01 -6.84330438e-01 1.06695779e-01 1.01376333e+02] [ 6.84328913e-01 7.27937803e-01 4.24322332e-02 6.01749014e+01] [-1.06705560e-01 4.24076316e-02 9.93385885e-01 6.27440863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.590371743 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:101.41, Y:60.19, Z:6.26 [[ 7.19268285e-01 -6.89112080e-01 8.81911283e-02 1.01408538e+02] [ 6.86280566e-01 7.24510689e-01 6.40565845e-02 6.01863500e+01] [-1.08037581e-01 1.44499877e-02 9.94041789e-01 6.26200552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620371743 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:101.43, Y:60.21, Z:6.26 [[ 7.17367580e-01 -6.91525915e-01 8.47092872e-02 1.01433766e+02] [ 6.88346289e-01 7.22279222e-01 6.70232186e-02 6.02062374e+01] [-1.07532051e-01 1.02290393e-02 9.94148995e-01 6.25753793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.650371743 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:101.45, Y:60.21, Z:6.26 [[ 7.09234911e-01 -7.03191358e-01 5.00774895e-02 1.01451472e+02] [ 6.97791875e-01 7.10350374e-01 9.21349290e-02 6.02140236e+01] [-1.00361049e-01 -3.04016429e-02 9.94486501e-01 6.25775860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680371743 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:101.47, Y:60.26, Z:6.26 [[ 7.13427769e-01 -6.92575723e-01 1.06581827e-01 1.01471122e+02] [ 6.92942144e-01 7.19903416e-01 3.96264647e-02 6.02599870e+01] [-1.04172949e-01 4.55844196e-02 9.93513995e-01 6.26245180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.710371743 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:101.50, Y:60.27, Z:6.25 [[ 7.11192646e-01 -6.98692245e-01 7.76799065e-02 1.01504607e+02] [ 6.95030265e-01 7.15415496e-01 7.15094327e-02 6.02671961e+01] [-1.05536495e-01 3.13290333e-03 9.94410495e-01 6.24851250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740371743 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:101.53, Y:60.29, Z:6.25 [[ 7.10179787e-01 -6.99358596e-01 8.08840238e-02 1.01527141e+02] [ 6.96265025e-01 7.14711800e-01 6.63480076e-02 6.02907904e+01] [-1.04209816e-01 9.19770300e-03 9.94512804e-01 6.24732288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.770371743 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:101.54, Y:60.30, Z:6.25 [[ 7.04888234e-01 -7.07134754e-01 5.56149021e-02 1.01542839e+02] [ 7.02515696e-01 7.06811649e-01 8.29999371e-02 6.03024074e+01] [-9.80014008e-02 -1.94353374e-02 9.94996479e-01 6.24818592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800371743 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:101.56, Y:60.36, Z:6.25 [[ 7.09881725e-01 -6.92877240e-01 1.26447883e-01 1.01562700e+02] [ 6.96487478e-01 7.17282216e-01 2.02833733e-02 6.03573872e+01] [-1.04752705e-01 7.36705709e-02 9.91765858e-01 6.25005389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.830371743 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:101.59, Y:60.34, Z:6.23 [[ 7.01443808e-01 -7.12002382e-01 3.20810258e-02 1.01594503e+02] [ 7.05619331e-01 7.00087005e-01 1.09451115e-01 6.03351417e+01] [-1.00388964e-01 -5.41368150e-02 9.93474339e-01 6.23417283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86037174300003 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:101.60, Y:60.38, Z:6.25 [[ 7.02041944e-01 -7.08334064e-01 7.34844374e-02 1.01602750e+02] [ 7.05648784e-01 7.05829591e-01 6.21641611e-02 6.03790611e+01] [-9.59004832e-02 8.21235541e-03 9.95357049e-01 6.24837673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.890371743 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:101.63, Y:60.40, Z:6.25 [[ 7.02230158e-01 -7.08159161e-01 7.33717161e-02 1.01627068e+02] [ 7.05482473e-01 7.06005386e-01 6.20554233e-02 6.04017273e+01] [-9.57459432e-02 8.18527004e-03 9.95372149e-01 6.24524552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92037174300003 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:101.65, Y:60.43, Z:6.24 [[ 7.02777707e-01 -7.07655532e-01 7.29872766e-02 1.01649054e+02] [ 7.05005503e-01 7.06511363e-01 6.17165623e-02 6.04250194e+01] [-9.52404070e-02 8.08340753e-03 9.95421480e-01 6.24201301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.950371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:101.67, Y:60.45, Z:6.24 [[ 7.03080083e-01 -7.07451139e-01 7.20505516e-02 1.01671646e+02] [ 7.04868649e-01 7.06717450e-01 6.09149664e-02 6.04470851e+01] [-9.40137444e-02 7.95807532e-03 9.95539093e-01 6.23885587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.980371743 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:101.69, Y:60.47, Z:6.24 [[ 7.03046750e-01 -7.07529114e-01 7.16087948e-02 1.01693385e+02] [ 7.04980823e-01 7.06639638e-01 6.05182698e-02 6.04718268e+01] [-9.34200507e-02 7.93565414e-03 9.95595158e-01 6.23621240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.010371743 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:101.72, Y:60.49, Z:6.23 [[ 7.03108261e-01 -7.07467573e-01 7.16128894e-02 1.01718259e+02] [ 7.04919455e-01 7.06701271e-01 6.05134241e-02 6.04927650e+01] [-9.34202053e-02 7.93383059e-03 9.95595159e-01 6.23273596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.040371743 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:101.74, Y:60.52, Z:6.23 [[ 7.02991678e-01 -7.07593502e-01 7.15132005e-02 1.01741085e+02] [ 7.05054155e-01 7.06575034e-01 6.04182096e-02 6.05153962e+01] [-9.32809746e-02 7.94718064e-03 9.95608107e-01 6.22978426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.070371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:101.76, Y:60.54, Z:6.23 [[ 7.02816738e-01 -7.07755528e-01 7.16292170e-02 1.01764984e+02] [ 7.05209496e-01 7.06412283e-01 6.05082805e-02 6.05385012e+01] [-9.34248288e-02 7.98737168e-03 9.95594297e-01 6.22637075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.100371743 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:101.79, Y:60.56, Z:6.22 [[ 7.01717154e-01 -7.08795174e-01 7.21279236e-02 1.01787185e+02] [ 7.06219896e-01 7.05366800e-01 6.09190928e-02 6.05626661e+01] [-9.40558016e-02 8.19020232e-03 9.95533237e-01 6.22279880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130371743 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:101.82, Y:60.61, Z:6.22 [[ 7.08194850e-01 -6.94984960e-01 1.24321999e-01 1.01818410e+02] [ 6.98170154e-01 7.15561195e-01 2.30350304e-02 6.06058670e+01] [-1.04968998e-01 7.04846191e-02 9.91974510e-01 6.21566698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.160371743 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:101.85, Y:60.61, Z:6.19 [[ 7.06005771e-01 -7.02626825e-01 8.87208888e-02 1.01854378e+02] [ 6.99680635e-01 7.11391633e-01 6.60980591e-02 6.06120719e+01] [-1.09557567e-01 1.54106766e-02 9.93860982e-01 6.19422778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190371743 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:101.88, Y:60.62, Z:6.19 [[ 7.05309170e-01 -7.05380901e-01 7.05461449e-02 1.01875614e+02] [ 7.00294421e-01 7.08747503e-01 8.52332184e-02 6.06215583e+01] [-1.10121288e-01 -1.07126989e-02 9.93860423e-01 6.18950160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.220371743 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:101.89, Y:60.65, Z:6.20 [[ 7.00477323e-01 -7.10334984e-01 6.89618084e-02 1.01893027e+02] [ 7.06757669e-01 7.03862848e-01 7.12087626e-02 6.06512703e+01] [-9.91217301e-02 -1.14083643e-03 9.95074661e-01 6.19980718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250371743 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:101.91, Y:60.69, Z:6.20 [[ 7.01553662e-01 -7.05535889e-01 1.00207628e-01 1.01908936e+02] [ 7.05060543e-01 7.07641282e-01 4.61892462e-02 6.06862141e+01] [-1.03499225e-01 3.82482097e-02 9.93893850e-01 6.20055077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.280371743 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:101.94, Y:60.69, Z:6.19 [[ 6.98023753e-01 -7.13460989e-01 6.11249311e-02 1.01937584e+02] [ 7.08753764e-01 7.00540621e-01 8.31320662e-02 6.06911408e+01] [-1.02131983e-01 -1.47056319e-02 9.94662155e-01 6.18953899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:101.95, Y:60.72, Z:6.20 [[ 6.96630794e-01 -7.13731234e-01 7.27548143e-02 1.01953900e+02] [ 7.10863209e-01 7.00385403e-01 6.42945256e-02 6.07213053e+01] [-9.68454211e-02 6.92917432e-03 9.95275314e-01 6.19651501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.340371743 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:101.98, Y:60.75, Z:6.20 [[ 6.95977420e-01 -7.13711189e-01 7.89415542e-02 1.01975178e+02] [ 7.11670039e-01 7.00237382e-01 5.65098658e-02 6.07477252e+01] [-9.56095508e-02 1.68507483e-02 9.95276276e-01 6.19532108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370371743 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:102.00, Y:60.77, Z:6.19 [[ 6.95566625e-01 -7.14617080e-01 7.42260034e-02 1.01998647e+02] [ 7.12063771e-01 6.99440471e-01 6.12226560e-02 6.07674486e+01] [-9.56674264e-02 1.02692117e-02 9.95360380e-01 6.19061926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.400371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:102.02, Y:60.79, Z:6.19 [[ 6.94896648e-01 -7.15425032e-01 7.27026254e-02 1.02020351e+02] [ 7.12904684e-01 6.98623468e-01 6.07631625e-02 6.07910073e+01] [-9.42632478e-02 9.60592422e-03 9.95500963e-01 6.18825731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430371743 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:102.04, Y:60.81, Z:6.19 [[ 6.95272211e-01 -7.15303992e-01 7.02620220e-02 1.02040083e+02] [ 7.12533498e-01 6.98786556e-01 6.31930640e-02 6.08111295e+01] [-9.43004073e-02 6.12766301e-03 9.95524929e-01 6.18512277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.460371743 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:102.06, Y:60.84, Z:6.18 [[ 6.95214711e-01 -7.14534908e-01 7.82072339e-02 1.02062025e+02] [ 7.12736636e-01 6.99360554e-01 5.38637437e-02 6.08382430e+01] [-9.31825795e-02 1.82942938e-02 9.95480952e-01 6.18480409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490371743 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:102.09, Y:60.86, Z:6.18 [[ 6.94586348e-01 -7.16280951e-01 6.70179450e-02 1.02087200e+02] [ 7.13487584e-01 6.97801445e-01 6.33135988e-02 6.08552910e+01] [-9.21155436e-02 3.83971031e-03 9.95740922e-01 6.17960540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.520371743 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:102.11, Y:60.88, Z:6.18 [[ 6.95624345e-01 -7.14726698e-01 7.26121042e-02 1.02107028e+02] [ 7.12355838e-01 6.99323564e-01 5.91245584e-02 6.08807345e+01] [-9.30372559e-02 1.05971741e-02 9.95606232e-01 6.17814342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550371743 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:102.13, Y:60.90, Z:6.17 [[ 6.96040593e-01 -7.14518950e-01 7.06410779e-02 1.02128760e+02] [ 7.11964552e-01 6.99571277e-01 6.08810788e-02 6.09009857e+01] [-9.29191536e-02 7.91824114e-03 9.95642171e-01 6.17494349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.580371743 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:102.15, Y:60.93, Z:6.17 [[ 6.96662404e-01 -7.13579853e-01 7.39275880e-02 1.02150994e+02] [ 7.11425646e-01 7.00454127e-01 5.68996163e-02 6.09263325e+01] [-9.23853039e-02 1.29541586e-02 9.95639064e-01 6.17216202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61037174300003 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:102.17, Y:60.94, Z:6.17 [[ 6.99309687e-01 -7.11613275e-01 6.76203341e-02 1.02171738e+02] [ 7.08805137e-01 7.02561700e-01 6.32640111e-02 6.09439286e+01] [-9.25269670e-02 3.68850443e-03 9.95703347e-01 6.16672312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.640371743 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:102.20, Y:60.97, Z:6.17 [[ 6.97533450e-01 -7.12582171e-01 7.53241969e-02 1.02195699e+02] [ 7.10782040e-01 7.01396493e-01 5.32151352e-02 6.09723391e+01] [-9.07522842e-02 1.64197495e-02 9.95738126e-01 6.16677985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67037174300003 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:102.22, Y:60.99, Z:6.16 [[ 6.97668793e-01 -7.13040444e-01 6.95095734e-02 1.02220205e+02] [ 7.10636450e-01 7.01075143e-01 5.90718263e-02 6.09912965e+01] [-9.08520354e-02 8.18346670e-03 9.95830778e-01 6.16144536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.700371743 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:102.24, Y:61.01, Z:6.16 [[ 6.96774569e-01 -7.14711179e-01 6.07711308e-02 1.02241544e+02] [ 7.11826530e-01 6.99418206e-01 6.41651240e-02 6.10119798e+01] [-8.83639667e-02 -1.45012343e-03 9.96087198e-01 6.15925957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.730371743 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:102.26, Y:61.04, Z:6.16 [[ 6.98393123e-01 -7.11683616e-01 7.58516714e-02 1.02262621e+02] [ 7.10051595e-01 7.02270612e-01 5.14074038e-02 6.10390850e+01] [-8.98542067e-02 1.79560230e-02 9.95793052e-01 6.16015371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.760371743 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:102.28, Y:61.06, Z:6.16 [[ 6.95901201e-01 -7.15504044e-01 6.14449447e-02 1.02277814e+02] [ 7.12665044e-01 6.98608395e-01 6.36776757e-02 6.10552060e+01] [-8.84875886e-02 -5.23706814e-04 9.96077142e-01 6.15602735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.790371743 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:102.30, Y:61.08, Z:6.16 [[ 6.96767827e-01 -7.14121469e-01 6.74175175e-02 1.02299823e+02] [ 7.11830646e-01 6.99978373e-01 5.76837017e-02 6.10798009e+01] [-8.83839741e-02 7.79770749e-03 9.96055957e-01 6.15594950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.820371743 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:102.32, Y:61.10, Z:6.15 [[ 6.97628890e-01 -7.13264622e-01 6.75833684e-02 1.02324756e+02] [ 7.10961244e-01 7.00852219e-01 5.77951258e-02 6.11019638e+01] [-8.85891722e-02 7.72960627e-03 9.96038258e-01 6.15256394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.850371743 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:102.36, Y:61.13, Z:6.15 [[ 7.01741763e-01 -7.08158864e-01 7.79071367e-02 1.02355063e+02] [ 7.06465781e-01 7.05814406e-01 5.22697318e-02 6.11278990e+01] [-9.20032533e-02 1.83588724e-02 9.95589450e-01 6.14746785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:102.38, Y:61.15, Z:6.14 [[ 7.02737826e-01 -7.07351315e-01 7.62473913e-02 1.02380810e+02] [ 7.05269171e-01 7.06716464e-01 5.61002343e-02 6.11483608e+01] [-9.35678613e-02 1.43511777e-02 9.95509467e-01 6.14060765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.910371743 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:102.40, Y:61.17, Z:6.14 [[ 7.03883349e-01 -7.06212214e-01 7.62400110e-02 1.02404560e+02] [ 7.04059029e-01 7.07867505e-01 5.67844969e-02 6.11714717e+01] [-9.40697316e-02 1.37078063e-02 9.95471236e-01 6.13669951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940371743 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:102.43, Y:61.19, Z:6.13 [[ 7.05500672e-01 -7.04263919e-01 7.92536016e-02 1.02428973e+02] [ 7.02275432e-01 7.09745082e-01 5.54178371e-02 6.11943747e+01] [-9.52786371e-02 1.65605360e-02 9.95312880e-01 6.13307955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.970371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:102.45, Y:61.21, Z:6.13 [[ 7.06594817e-01 -7.04096371e-01 7.05128747e-02 1.02453002e+02] [ 7.01063436e-01 7.10096997e-01 6.53629358e-02 6.12109939e+01] [-9.60927864e-02 3.24888654e-03 9.95367079e-01 6.12739648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000371743 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:102.48, Y:61.23, Z:6.13 [[ 7.06997240e-01 -7.03404036e-01 7.33325631e-02 1.02476597e+02] [ 7.00855530e-01 7.10737479e-01 6.04463526e-02 6.12348739e+01] [-9.46384094e-02 8.66012796e-03 9.95474045e-01 6.12714727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.030371743 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:102.50, Y:61.26, Z:6.12 [[ 7.07913752e-01 -7.02201241e-01 7.59706318e-02 1.02498783e+02] [ 6.99919227e-01 7.11873855e-01 5.78678622e-02 6.12562772e+01] [-9.47163912e-02 1.22078504e-02 9.95429442e-01 6.12429975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060371743 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:102.52, Y:61.28, Z:6.12 [[ 7.10836687e-01 -6.99862576e-01 7.00255598e-02 1.02522509e+02] [ 6.97117725e-01 7.14262230e-01 6.20994654e-02 6.12752847e+01] [-9.34777043e-02 4.67348064e-03 9.95610404e-01 6.11964114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.090371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:102.55, Y:61.30, Z:6.12 [[ 7.12704741e-01 -6.96942710e-01 7.95161099e-02 1.02545217e+02] [ 6.95273774e-01 7.16888395e-01 5.16275920e-02 6.13024966e+01] [-9.29856503e-02 1.84902363e-02 9.95495746e-01 6.11951467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:102.57, Y:61.33, Z:6.11 [[ 7.18617482e-01 -6.89684357e-01 8.90191174e-02 1.02570354e+02] [ 6.88784916e-01 7.23541944e-01 4.54136018e-02 6.13293035e+01] [-9.57301160e-02 2.86800171e-02 9.94994071e-01 6.11410707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.150371743 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:102.60, Y:61.33, Z:6.10 [[ 7.18662007e-01 -6.93340344e-01 5.29536289e-02 1.02598433e+02] [ 6.89296027e-01 7.20361434e-01 7.71387819e-02 6.13336112e+01] [-9.16291816e-02 -1.89359858e-02 9.95613139e-01 6.10347624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180371743 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:102.61, Y:61.37, Z:6.11 [[ 7.24603741e-01 -6.84336886e-01 8.14398248e-02 1.02613295e+02] [ 6.82746003e-01 7.28916066e-01 5.03911085e-02 6.13687107e+01] [-9.38472910e-02 1.90891292e-02 9.95403582e-01 6.11180123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.210371743 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:102.63, Y:61.37, Z:6.10 [[ 7.23890128e-01 -6.88718455e-01 4.06198520e-02 1.02632576e+02] [ 6.84486056e-01 7.24319454e-01 8.27053088e-02 6.13719317e+01] [-8.63824216e-02 -3.20658343e-02 9.95745881e-01 6.10480937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240371743 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:102.65, Y:61.41, Z:6.12 [[ 7.25834706e-01 -6.84875100e-01 6.41098817e-02 1.02647341e+02] [ 6.82664761e-01 7.28650749e-01 5.51081672e-02 6.14050005e+01] [-8.44559249e-02 3.76613673e-03 9.96420099e-01 6.11531442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.270371743 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:102.67, Y:61.43, Z:6.11 [[ 7.27130864e-01 -6.83516036e-01 6.39260145e-02 1.02671899e+02] [ 6.81314677e-01 7.29926564e-01 5.49319763e-02 6.14270365e+01] [-8.42081828e-02 3.61099654e-03 9.96441640e-01 6.11154283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300371743 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:102.70, Y:61.45, Z:6.11 [[ 7.28252556e-01 -6.82388245e-01 6.32020382e-02 1.02696768e+02] [ 6.80234858e-01 7.30981730e-01 5.42793559e-02 6.14491090e+01] [-8.32391296e-02 3.46314974e-03 9.96523584e-01 6.10783273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.330371743 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:102.72, Y:61.47, Z:6.10 [[ 7.29011327e-01 -6.81698249e-01 6.18868592e-02 1.02720019e+02] [ 6.79633623e-01 7.31625843e-01 5.31202748e-02 6.14706038e+01] [-8.14900239e-02 3.33510832e-03 9.96668577e-01 6.10382631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36037174300003 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:102.75, Y:61.51, Z:6.10 [[ 7.33655680e-01 -6.71516630e-01 1.03994036e-01 1.02748803e+02] [ 6.73335642e-01 7.39016049e-01 2.17805591e-02 6.15090186e+01] [-9.14792690e-02 5.40434599e-02 9.94339403e-01 6.10143811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.390371743 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:102.78, Y:61.50, Z:6.08 [[ 7.26824293e-01 -6.86211433e-01 2.89882100e-02 1.02778247e+02] [ 6.81871817e-01 7.26000221e-01 8.93000811e-02 6.14960106e+01] [-8.23241834e-02 -4.51392249e-02 9.95582834e-01 6.07941462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42037174300003 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:102.79, Y:61.54, Z:6.10 [[ 7.32437151e-01 -6.74355650e-01 9.37031346e-02 1.02793185e+02] [ 6.75223189e-01 7.37121646e-01 2.69318402e-02 6.15442853e+01] [-8.72322474e-02 4.35446491e-02 9.95235851e-01 6.09562822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.450371743 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:102.82, Y:61.54, Z:6.08 [[ 7.24453539e-01 -6.88421268e-01 3.52594364e-02 1.02823798e+02] [ 6.84388117e-01 7.24434961e-01 8.25038944e-02 6.15411750e+01] [-8.23406040e-02 -3.56390990e-02 9.95966806e-01 6.07869255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.480371743 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:102.85, Y:61.58, Z:6.09 [[ 7.27260348e-01 -6.82460904e-01 7.30718830e-02 1.02846330e+02] [ 6.81062986e-01 7.30747828e-01 4.64846290e-02 6.15795380e+01] [-8.51210617e-02 1.59601273e-02 9.96242781e-01 6.08899363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.510371743 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:102.87, Y:61.60, Z:6.08 [[ 7.25215441e-01 -6.83341764e-01 8.43006432e-02 1.02871268e+02] [ 6.82675516e-01 7.29569211e-01 4.10232479e-02 6.16043210e+01] [-8.95360523e-02 2.77992922e-02 9.95595548e-01 6.08459782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.540371743 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:102.90, Y:61.61, Z:6.07 [[ 7.23353546e-01 -6.87589169e-01 6.30934384e-02 1.02900044e+02] [ 6.84691943e-01 7.26095831e-01 6.31014058e-02 6.16139434e+01] [-8.91997258e-02 -2.44505673e-03 9.96010758e-01 6.07286376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.570371743 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:102.92, Y:61.64, Z:6.07 [[ 7.20766861e-01 -6.89699186e-01 6.93553566e-02 1.02921990e+02] [ 6.87386288e-01 7.24064921e-01 5.68338070e-02 6.16379659e+01] [-8.94160112e-02 6.70999649e-03 9.95971763e-01 6.07370017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.600371743 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:102.95, Y:61.66, Z:6.07 [[ 7.18755987e-01 -6.91599637e-01 7.12725291e-02 1.02946061e+02] [ 6.89604626e-01 7.22202528e-01 5.35627505e-02 6.16608498e+01] [-8.85171795e-02 1.06513182e-02 9.96017700e-01 6.07227503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630371743 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:102.97, Y:61.68, Z:6.07 [[ 7.16314902e-01 -6.94226097e-01 7.03071026e-02 1.02970622e+02] [ 6.91989591e-01 7.19708856e-01 5.62989166e-02 6.16806753e+01] [-8.96848215e-02 8.32403033e-03 9.95935411e-01 6.06885571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.660371743 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:103.00, Y:61.70, Z:6.07 [[ 7.14869229e-01 -6.95993315e-01 6.74928953e-02 1.02995655e+02] [ 6.93617894e-01 7.18026803e-01 5.77211205e-02 6.17012237e+01] [-8.86352219e-02 5.55122700e-03 9.96048684e-01 6.06603481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690371743 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:103.02, Y:61.72, Z:6.06 [[ 7.12506628e-01 -6.98137632e-01 7.02719809e-02 1.03019918e+02] [ 6.96162224e-01 7.15882859e-01 5.35713500e-02 6.17233335e+01] [-8.77066820e-02 1.07507565e-02 9.96088329e-01 6.06424903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.720371743 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:103.04, Y:61.74, Z:6.06 [[ 7.12184476e-01 -6.98307016e-01 7.18372070e-02 1.03044340e+02] [ 6.96320161e-01 7.15703908e-01 5.39087097e-02 6.17436889e+01] [-8.90590000e-02 1.16287494e-02 9.95958466e-01 6.05977108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750371743 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:103.07, Y:61.77, Z:6.06 [[ 7.09605800e-01 -7.01143571e-01 6.96943385e-02 1.03068458e+02] [ 6.99229733e-01 7.12932881e-01 5.29574179e-02 6.17650267e+01] [-8.68181387e-02 1.11534628e-02 9.96161739e-01 6.05741943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.780371743 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:103.09, Y:61.79, Z:6.05 [[ 7.09058936e-01 -7.01677470e-01 6.98867127e-02 1.03093628e+02] [ 6.99711251e-01 7.12411521e-01 5.36095989e-02 6.17860241e+01] [-8.74047471e-02 1.08881540e-02 9.96113376e-01 6.05390052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810371743 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:103.11, Y:61.79, Z:6.05 [[ 7.02711397e-01 -7.10656874e-01 3.41101311e-02 1.03108694e+02] [ 7.07125902e-01 7.02905644e-01 7.67894152e-02 6.17913073e+01] [-7.85471294e-02 -2.98406400e-02 9.96463690e-01 6.05169171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.840371743 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:103.13, Y:61.84, Z:6.06 [[ 7.08502926e-01 -6.99197044e-01 9.56404544e-02 1.03131178e+02] [ 7.00551820e-01 7.13190056e-01 2.42299588e-02 6.18385914e+01] [-8.51513366e-02 4.98340977e-02 9.95121004e-01 6.06328897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:103.17, Y:61.85, Z:6.04 [[ 7.08135574e-01 -7.02950975e-01 6.63621592e-02 1.03166457e+02] [ 7.00714530e-01 7.11208103e-01 5.64108262e-02 6.18464964e+01] [-8.68513507e-02 6.55441640e-03 9.96199720e-01 6.04369289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.900371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:103.19, Y:61.87, Z:6.04 [[ 7.07801683e-01 -7.03199552e-01 6.72842247e-02 1.03190395e+02] [ 7.01166257e-01 7.10937573e-01 5.41631548e-02 6.18689059e+01] [-8.59223896e-02 8.84065591e-03 9.96262609e-01 6.04213641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:103.21, Y:61.89, Z:6.04 [[ 7.08543418e-01 -7.02319813e-01 6.86520627e-02 1.03212059e+02] [ 7.00285744e-01 7.11796539e-01 5.42730596e-02 6.18902193e+01] [-8.69833456e-02 9.62124165e-03 9.96163305e-01 6.03950366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.960371743 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:103.24, Y:61.91, Z:6.04 [[ 7.07486896e-01 -7.03649228e-01 6.58791015e-02 1.03236179e+02] [ 7.01706433e-01 7.10493686e-01 5.29792877e-02 6.19132536e+01] [-8.40855205e-02 8.74563753e-03 9.96420162e-01 6.03834605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990371743 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:103.26, Y:61.93, Z:6.04 [[ 7.06841310e-01 -7.04872418e-01 5.94158040e-02 1.03258922e+02] [ 7.02543191e-01 7.09332984e-01 5.72693792e-02 6.19312060e+01] [-8.25131953e-02 1.26180556e-03 9.96589173e-01 6.03508450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.020371743 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:103.28, Y:61.96, Z:6.04 [[ 7.06154768e-01 -7.05193477e-01 6.36207832e-02 1.03281622e+02] [ 7.03438552e-01 7.08956973e-01 5.05392316e-02 6.19554320e+01] [-8.07443343e-02 9.06479227e-03 9.96693625e-01 6.03540951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050371743 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:103.30, Y:61.97, Z:6.03 [[ 7.04298221e-01 -7.07403420e-01 5.95350151e-02 1.03304757e+02] [ 7.05383532e-01 7.06797225e-01 5.35887557e-02 6.19737354e+01] [-7.99880525e-02 4.25255393e-03 9.96786751e-01 6.03188230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.080371743 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:103.33, Y:62.00, Z:6.03 [[ 7.02184808e-01 -7.09770941e-01 5.62290469e-02 1.03328768e+02] [ 7.07833842e-01 7.04426384e-01 5.24854464e-02 6.19956982e+01] [-7.68618689e-02 2.94633912e-03 9.97037398e-01 6.03165179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11037174300003 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:103.35, Y:62.02, Z:6.03 [[ 6.99597142e-01 -7.12100288e-01 5.89662493e-02 1.03351920e+02] [ 7.10498172e-01 7.02031866e-01 4.84108125e-02 6.20186789e+01] [-7.58695395e-02 8.02734623e-03 9.97085440e-01 6.03155711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.140371743 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:103.38, Y:62.04, Z:6.03 [[ 6.98947793e-01 -7.12318281e-01 6.38329811e-02 1.03375902e+02] [ 7.11104000e-01 7.01704820e-01 4.40618500e-02 6.20421830e+01] [-7.61779718e-02 1.45949553e-02 9.96987414e-01 6.02897417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17037174300003 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:103.40, Y:62.06, Z:6.02 [[ 6.96471070e-01 -7.16079399e-01 4.64579714e-02 1.03402217e+02] [ 7.13794860e-01 6.97984364e-01 5.75736445e-02 6.20556134e+01] [-7.36542384e-02 -6.93691654e-03 9.97259712e-01 6.02367888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.200371743 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:103.42, Y:62.08, Z:6.03 [[ 6.96747861e-01 -7.14806447e-01 5.99513228e-02 1.03421448e+02] [ 7.13589347e-01 6.99211334e-01 4.35172806e-02 6.20832363e+01] [-7.30250772e-02 1.24600531e-02 9.97252268e-01 6.02738992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.230371743 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:103.45, Y:62.11, Z:6.02 [[ 6.97445869e-01 -7.14153697e-01 5.96133958e-02 1.03445825e+02] [ 7.12852425e-01 6.99895989e-01 4.45760514e-02 6.21054040e+01] [-7.35573286e-02 1.14061709e-02 9.97225761e-01 6.02351376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.260371743 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:103.47, Y:62.13, Z:6.02 [[ 6.97984792e-01 -7.13942649e-01 5.57056873e-02 1.03468615e+02] [ 7.12367577e-01 7.00175763e-01 4.78156553e-02 6.21264632e+01] [-7.31414077e-02 6.30832520e-03 9.97301629e-01 6.02046761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.290371743 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:103.48, Y:62.14, Z:6.02 [[ 6.94468920e-01 -7.18734793e-01 3.36633009e-02 1.03482476e+02] [ 7.16380928e-01 6.95046735e-01 6.08966488e-02 6.21386424e+01] [-6.71661076e-02 -1.81750832e-02 9.97576253e-01 6.01949944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.320371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:103.51, Y:62.18, Z:6.03 [[ 6.99723971e-01 -7.10298594e-01 7.65654668e-02 1.03506475e+02] [ 7.10773196e-01 7.02954191e-01 2.56294449e-02 6.21778331e+01] [-7.20265745e-02 3.64871446e-02 9.96735101e-01 6.02686846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.350371743 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:103.54, Y:62.19, Z:6.01 [[ 7.00013929e-01 -7.12247808e-01 5.18030802e-02 1.03536685e+02] [ 7.10320840e-01 7.01928087e-01 5.23570880e-02 6.21866003e+01] [-7.36532581e-02 1.46116561e-04 9.97283900e-01 6.01113114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:103.56, Y:62.21, Z:6.01 [[ 7.00448211e-01 -7.11679386e-01 5.37099212e-02 1.03556598e+02] [ 7.10120177e-01 7.02486784e-01 4.73461011e-02 6.22110562e+01] [-7.14257539e-02 4.97700692e-03 9.97433502e-01 6.01176156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.410371743 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:103.58, Y:62.23, Z:6.01 [[ 7.02000023e-01 -7.10052169e-01 5.49716737e-02 1.03579681e+02] [ 7.07727735e-01 7.04147668e-01 5.74239952e-02 6.22286925e+01] [-7.94822082e-02 -1.40666786e-03 9.96835292e-01 6.00590376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440371743 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:103.59, Y:62.25, Z:6.01 [[ 6.96718659e-01 -7.16304914e-01 3.86054427e-02 1.03592384e+02] [ 7.14583443e-01 6.97748474e-01 5.01753920e-02 6.22540436e+01] [-6.28777686e-02 -7.37132168e-03 9.97994013e-01 6.01244693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.470371743 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:103.62, Y:62.29, Z:6.02 [[ 7.00808531e-01 -7.09926768e-01 6.97953201e-02 1.03618130e+02] [ 7.10091575e-01 7.03601042e-01 2.67493561e-02 6.22878698e+01] [-6.80981439e-02 3.08148919e-02 9.97202630e-01 6.01535052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500371743 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:103.64, Y:62.29, Z:6.00 [[ 6.96280688e-01 -7.17098895e-01 3.10222252e-02 1.03639951e+02] [ 7.14863775e-01 6.96698990e-01 5.98356145e-02 6.22928381e+01] [-6.45212060e-02 -1.94857179e-02 9.97726075e-01 6.00226516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.530371743 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:103.66, Y:62.33, Z:6.01 [[ 6.99521529e-01 -7.11715340e-01 6.42721199e-02 1.03663700e+02] [ 7.11396504e-01 7.02074006e-01 3.17349113e-02 6.23287534e+01] [-6.77100079e-02 2.35237077e-02 9.97427687e-01 6.00908305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560371743 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:103.69, Y:62.35, Z:6.00 [[ 6.99181658e-01 -7.12903626e-01 5.39761796e-02 1.03690468e+02] [ 7.11578263e-01 7.01221152e-01 4.41052330e-02 6.23471847e+01] [-6.92920193e-02 7.57070618e-03 9.97567692e-01 6.00021596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.590371743 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:103.71, Y:62.37, Z:6.00 [[ 6.98739827e-01 -7.13449318e-01 5.24664132e-02 1.03713365e+02] [ 7.11966573e-01 7.00688720e-01 4.62484195e-02 6.23678894e+01] [-6.97585273e-02 5.03871978e-03 9.97551181e-01 5.99754974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620371743 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:103.74, Y:62.39, Z:6.00 [[ 6.97785269e-01 -7.14647017e-01 4.87376667e-02 1.03737165e+02] [ 7.13009081e-01 6.99484554e-01 4.83674509e-02 6.23892812e+01] [-6.86568995e-02 1.00030423e-03 9.97639830e-01 5.99550311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.650371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:103.76, Y:62.41, Z:6.00 [[ 6.96536653e-01 -7.15496108e-01 5.38703109e-02 1.03758497e+02] [ 7.14212843e-01 6.98569646e-01 4.35943293e-02 6.24131834e+01] [-6.88237370e-02 8.10981963e-03 9.97595872e-01 5.99510321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:103.78, Y:62.43, Z:5.99 [[ 6.95514183e-01 -7.16730655e-01 5.05686571e-02 1.03782497e+02] [ 7.15267443e-01 6.97337459e-01 4.59668711e-02 6.24336682e+01] [-6.82092845e-02 4.19950321e-03 9.97662196e-01 5.99207802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.710371743 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:103.81, Y:62.45, Z:5.99 [[ 6.93771381e-01 -7.19458676e-01 3.25650770e-02 1.03808198e+02] [ 7.17281710e-01 6.94321145e-01 5.85243153e-02 6.24491243e+01] [-6.47164480e-02 -1.72441609e-02 9.97754689e-01 5.98788753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740371743 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:103.82, Y:62.48, Z:6.00 [[ 6.94118316e-01 -7.16875794e-01 6.54893896e-02 1.03822569e+02] [ 7.16822257e-01 6.96672257e-01 2.85239976e-02 6.24844970e+01] [-6.60728043e-02 2.71452229e-02 9.97445498e-01 5.99802124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.770371743 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:103.85, Y:62.50, Z:5.99 [[ 6.94247428e-01 -7.17808688e-01 5.26421518e-02 1.03849931e+02] [ 7.16571519e-01 6.96194903e-01 4.28709104e-02 6.25012428e+01] [-6.74223097e-02 7.95884744e-03 9.97692783e-01 5.98638525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800371743 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:103.87, Y:62.52, Z:5.98 [[ 6.91503910e-01 -7.21163324e-01 4.17828175e-02 1.03865361e+02] [ 7.19578602e-01 6.92758401e-01 4.78793655e-02 6.25201741e+01] [-6.34742402e-02 -3.04274707e-03 9.97978839e-01 5.98496781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.830371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:103.90, Y:62.54, Z:5.98 [[ 6.96610089e-01 -7.15877393e-01 4.74757028e-02 1.03896651e+02] [ 7.13742397e-01 6.98209907e-01 5.54501251e-02 6.25400291e+01] [-7.28434971e-02 -4.74169462e-03 9.97332112e-01 5.97768847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86037174300003 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:103.92, Y:62.57, Z:5.99 [[ 6.96020544e-01 -7.15847182e-01 5.58409831e-02 1.03915459e+02] [ 7.15339799e-01 6.98036170e-01 3.21632914e-02 6.25717889e+01] [-6.20030275e-02 1.75589661e-02 9.97921494e-01 5.98546087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.890371743 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:103.94, Y:62.59, Z:5.98 [[ 6.97511882e-01 -7.14881563e-01 4.92090031e-02 1.03940018e+02] [ 7.13804696e-01 6.99207482e-01 3.98967797e-02 6.25908719e+01] [-6.29287754e-02 7.29713959e-03 9.97991343e-01 5.97832496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92037174300003 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:103.96, Y:62.62, Z:5.98 [[ 6.98774270e-01 -7.13059570e-01 5.71014039e-02 1.03963111e+02] [ 7.12431936e-01 7.00903772e-01 3.42730032e-02 6.26167774e+01] [-6.44612823e-02 1.67317710e-02 9.97779931e-01 5.97675083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.950371743 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:103.99, Y:62.64, Z:5.97 [[ 7.00303409e-01 -7.11899290e-01 5.26738656e-02 1.03987904e+02] [ 7.10752572e-01 7.02229777e-01 4.12810172e-02 6.26379435e+01] [-6.63770837e-02 8.52884839e-03 9.97758158e-01 5.97074681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.980371743 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:104.01, Y:62.66, Z:5.97 [[ 7.00399974e-01 -7.11651612e-01 5.46978882e-02 1.04011115e+02] [ 7.10603515e-01 7.02449677e-01 4.00886039e-02 6.26610503e+01] [-6.69516334e-02 1.07904545e-02 9.97697873e-01 5.96837648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.010371743 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:104.04, Y:62.67, Z:5.96 [[ 7.01712153e-01 -7.11106159e-01 4.39099649e-02 1.04037005e+02] [ 7.08533009e-01 7.02979704e-01 6.16482864e-02 6.26722129e+01] [-7.47062903e-02 -1.21476922e-02 9.97131588e-01 5.95735081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.040371743 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:104.05, Y:62.70, Z:5.96 [[ 7.03471055e-01 -7.08024398e-01 6.18864053e-02 1.04054370e+02] [ 7.06611353e-01 7.06097712e-01 4.61130945e-02 6.27014528e+01] [-7.63470451e-02 1.12904093e-02 9.97017380e-01 5.96373617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.070371743 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:104.08, Y:62.73, Z:5.97 [[ 7.03168583e-01 -7.07661726e-01 6.90566804e-02 1.04078527e+02] [ 7.07735817e-01 7.05937189e-01 2.76169937e-02 6.27329691e+01] [-6.82931683e-02 2.94544838e-02 9.97230403e-01 5.96680399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.100371743 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:104.11, Y:62.75, Z:5.95 [[ 7.02820484e-01 -7.09598729e-01 5.01299447e-02 1.04108924e+02] [ 7.08088518e-01 7.04600003e-01 4.63625463e-02 6.27464646e+01] [-6.82203631e-02 2.91189106e-03 9.97666028e-01 5.95375837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130371743 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:104.13, Y:62.77, Z:5.95 [[ 7.02575576e-01 -7.09752166e-01 5.13753176e-02 1.04132152e+02] [ 7.08465024e-01 7.04425244e-01 4.31553594e-02 6.27691063e+01] [-6.68196804e-02 6.07771411e-03 9.97746557e-01 5.95296387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.160371743 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:104.16, Y:62.78, Z:5.94 [[ 7.03824532e-01 -7.08722826e-01 4.84043864e-02 1.04155247e+02] [ 7.06245700e-01 7.05443382e-01 5.97214066e-02 6.27809835e+01] [-7.64724782e-02 -7.84800132e-03 9.97040806e-01 5.94437372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190371743 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:104.18, Y:62.81, Z:5.95 [[ 7.04555923e-01 -7.07206462e-01 5.88215182e-02 1.04175610e+02] [ 7.05713806e-01 7.06954857e-01 4.67210176e-02 6.28068873e+01] [-7.46255636e-02 8.59358775e-03 9.97174596e-01 5.94801207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.220371743 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:104.20, Y:62.84, Z:5.95 [[ 7.02950485e-01 -7.08513998e-01 6.21975121e-02 1.04199570e+02] [ 7.08276094e-01 7.05314116e-01 2.96137256e-02 6.28359973e+01] [-6.48505224e-02 2.32360281e-02 9.97624427e-01 5.95147200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250371743 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:104.23, Y:62.85, Z:5.94 [[ 7.02432972e-01 -7.10053845e-01 4.91065857e-02 1.04228742e+02] [ 7.08758156e-01 7.04132873e-01 4.31134852e-02 6.28520626e+01] [-6.51904572e-02 4.52035962e-03 9.97862601e-01 5.94136932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.280371743 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:104.25, Y:62.86, Z:5.93 [[ 7.03122291e-01 -7.10035183e-01 3.83286189e-02 1.04253442e+02] [ 7.07237587e-01 7.03905112e-01 6.58224046e-02 6.28606243e+01] [-7.37159339e-02 -1.91737600e-02 9.97094944e-01 5.93144485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310371743 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:104.27, Y:62.90, Z:5.95 [[ 7.02329052e-01 -7.08791611e-01 6.59420502e-02 1.04269556e+02] [ 7.08937275e-01 7.04820259e-01 2.52258273e-02 6.29004838e+01] [-6.43571477e-02 2.90319460e-02 9.97504538e-01 5.94962984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.340371743 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:104.30, Y:62.92, Z:5.94 [[ 7.02148214e-01 -7.10193191e-01 5.11225710e-02 1.04299816e+02] [ 7.09058672e-01 7.03966074e-01 4.08358340e-02 6.29157676e+01] [-6.49898869e-02 7.57609443e-03 9.97857163e-01 5.93790076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370371743 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:104.32, Y:62.94, Z:5.93 [[ 7.03020906e-01 -7.09361370e-01 5.06759527e-02 1.04323778e+02] [ 7.08127284e-01 7.04818029e-01 4.22764130e-02 6.29359773e+01] [-6.57065794e-02 6.16382260e-03 9.97819950e-01 5.93439699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.400371743 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:104.35, Y:62.96, Z:5.93 [[ 7.04554658e-01 -7.07384368e-01 5.66576617e-02 1.04347049e+02] [ 7.06651098e-01 7.06669752e-01 3.55258815e-02 6.29609688e+01] [-6.51687089e-02 1.50072736e-02 9.97761405e-01 5.93409763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430371743 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:104.37, Y:62.98, Z:5.93 [[ 7.04358856e-01 -7.08353665e-01 4.59748542e-02 1.04373385e+02] [ 7.06921219e-01 7.05857262e-01 4.50323932e-02 6.29776936e+01] [-6.43505455e-02 7.81635030e-04 9.97927050e-01 5.92783717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.460371743 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:104.40, Y:63.00, Z:5.93 [[ 7.06082307e-01 -7.06144990e-01 5.29813994e-02 1.04395825e+02] [ 7.05174395e-01 7.07993138e-01 3.84029836e-02 6.30017559e+01] [-6.46285417e-02 1.02454590e-02 9.97856794e-01 5.92854737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490371743 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:104.42, Y:63.02, Z:5.92 [[ 7.07034342e-01 -7.05459325e-01 4.92907585e-02 1.04420653e+02] [ 7.04213026e-01 7.08733635e-01 4.21977267e-02 6.30207965e+01] [-6.47027983e-02 4.87595225e-03 9.97892666e-01 5.92466794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.520371743 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:104.44, Y:63.05, Z:5.92 [[ 7.07384754e-01 -7.04650791e-01 5.54443192e-02 1.04444377e+02] [ 7.03894886e-01 7.09417527e-01 3.54790328e-02 6.30457471e+01] [-6.43335003e-02 1.39296459e-02 9.97831231e-01 5.92499241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550371743 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:104.47, Y:63.07, Z:5.92 [[ 7.07688053e-01 -7.04460396e-01 5.39737959e-02 1.04470614e+02] [ 7.03573470e-01 7.09647789e-01 3.72073673e-02 6.30663613e+01] [-6.45135016e-02 1.16433215e-02 9.97848907e-01 5.92031914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.580371743 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:104.50, Y:63.08, Z:5.91 [[ 7.07551469e-01 -7.05079009e-01 4.72706064e-02 1.04495535e+02] [ 7.03671684e-01 7.09126633e-01 4.45598340e-02 6.30827347e+01] [-6.49390495e-02 1.73461122e-03 9.97887725e-01 5.91485637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61037174300003 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:104.52, Y:63.10, Z:5.91 [[ 7.07760043e-01 -7.04661142e-01 5.02831643e-02 1.04518565e+02] [ 7.03436721e-01 7.09521040e-01 4.19126943e-02 6.31037486e+01] [-6.52112100e-02 5.70689388e-03 9.97855165e-01 5.91426140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.640371743 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:104.54, Y:63.12, Z:5.91 [[ 7.06702983e-01 -7.06070032e-01 4.51220914e-02 1.04542730e+02] [ 7.04743829e-01 7.08140964e-01 4.32725254e-02 6.31231261e+01] [-6.25062347e-02 1.21869272e-03 9.98043829e-01 5.91280378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67037174300003 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:104.56, Y:63.13, Z:5.91 [[ 7.00105475e-01 -7.13981125e-01 9.12564398e-03 1.04555578e+02] [ 7.12181507e-01 6.99148123e-01 6.31617319e-02 6.31302588e+01] [-5.14764613e-02 -3.77207594e-02 9.97961582e-01 5.91212219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.700371743 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:104.58, Y:63.19, Z:5.93 [[ 7.07072058e-01 -7.00664946e-01 9.54868505e-02 1.04578555e+02] [ 7.04401892e-01 7.09756579e-01 -7.97324336e-03 6.31855372e+01] [-6.21858483e-02 7.28987757e-02 9.95398759e-01 5.93175746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.730371743 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:104.62, Y:63.18, Z:5.90 [[ 7.05132441e-01 -7.07787063e-01 4.27283838e-02 1.04621717e+02] [ 7.06251604e-01 7.06420546e-01 4.66763779e-02 6.31828946e+01] [-6.32211446e-02 -2.73603870e-03 9.97995792e-01 5.89985578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.760371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:104.65, Y:63.21, Z:5.90 [[ 7.02483870e-01 -7.10115379e-01 4.74611590e-02 1.04645488e+02] [ 7.09183706e-01 7.04044669e-01 3.71426369e-02 6.32071000e+01] [-5.97903336e-02 7.56657731e-03 9.98182279e-01 5.90344393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.790371743 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:104.67, Y:63.22, Z:5.90 [[ 7.01721346e-01 -7.11472064e-01 3.73450697e-02 1.04669676e+02] [ 7.09911547e-01 7.02680616e-01 4.75977635e-02 6.32201537e+01] [-6.01061357e-02 -6.88867049e-03 9.98168222e-01 5.89848155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.820371743 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:104.69, Y:63.25, Z:5.90 [[ 7.01383029e-01 -7.11337936e-01 4.53892779e-02 1.04690378e+02] [ 7.10384292e-01 7.02823948e-01 3.73182891e-02 6.32465780e+01] [-5.84465863e-02 6.06941544e-03 9.98272087e-01 5.90238199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.850371743 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:104.72, Y:63.27, Z:5.90 [[ 6.99965026e-01 -7.12781647e-01 4.46238281e-02 1.04717414e+02] [ 7.11780160e-01 7.01367568e-01 3.81121899e-02 6.32653738e+01] [-5.84633752e-02 5.08515553e-03 9.98276602e-01 5.90020526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880371743 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:104.74, Y:63.29, Z:5.90 [[ 6.99585096e-01 -7.12793489e-01 5.00613211e-02 1.04740849e+02] [ 7.12076269e-01 7.01274585e-01 3.40784774e-02 6.32873605e+01] [-5.93976490e-02 1.18066839e-02 9.98164576e-01 5.89917715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.910371743 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:104.76, Y:63.29, Z:5.90 [[ 6.92876909e-01 -7.21054398e-01 -1.46433273e-03 1.04757445e+02] [ 7.19337551e-01 6.91084184e-01 7.03998447e-02 6.32852495e+01] [-4.97501405e-02 -4.98317763e-02 9.97517778e-01 5.89504498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940371743 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:104.77, Y:63.32, Z:5.92 [[ 6.94600821e-01 -7.18586662e-01 3.41014596e-02 1.04769180e+02] [ 7.17934506e-01 6.95430457e-01 3.07656413e-02 6.33236695e+01] [-4.58229731e-02 3.11277481e-03 9.98944726e-01 5.91576108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.970371743 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:104.79, Y:63.34, Z:5.91 [[ 6.95949785e-01 -7.17268180e-01 3.43548389e-02 1.04793614e+02] [ 7.16605549e-01 6.96790490e-01 3.09757917e-02 6.33443106e+01] [-4.61560748e-02 3.06127267e-03 9.98929550e-01 5.91395764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:104.82, Y:63.39, Z:5.92 [[ 7.06956975e-01 -6.99410306e-01 1.05057409e-01 1.04824676e+02] [ 7.04576642e-01 7.09383868e-01 -1.86087178e-02 6.33926564e+01] [-6.15109019e-02 8.71765591e-02 9.94292038e-01 5.91868816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.030371743 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:104.86, Y:63.36, Z:5.88 [[ 7.00457648e-01 -7.13372890e-01 -2.14056833e-02 1.04863251e+02] [ 7.11894207e-01 6.96248257e-01 9.18966970e-02 6.33568947e+01] [-5.06529426e-02 -7.96083262e-02 9.95538444e-01 5.87816915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060371743 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:104.87, Y:63.43, Z:5.92 [[ 7.10802005e-01 -6.95226128e-01 1.06869738e-01 1.04871986e+02] [ 7.00719377e-01 7.13112872e-01 -2.15031716e-02 6.34334649e+01] [-6.12606192e-02 9.01701940e-02 9.94040478e-01 5.91549632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.090371743 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:104.92, Y:63.41, Z:5.87 [[ 7.09423037e-01 -7.04715226e-01 9.76754115e-03 1.04923985e+02] [ 7.02030684e-01 7.07808408e-01 7.84867867e-02 6.34081733e+01] [-6.22243814e-02 -4.88232210e-02 9.96867303e-01 5.87134045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120371743 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:104.93, Y:63.45, Z:5.89 [[ 7.11855055e-01 -7.00357269e-01 5.25554615e-02 1.04930564e+02] [ 6.99765406e-01 7.13655322e-01 3.20071676e-02 6.34473075e+01] [-5.99229373e-02 1.39920298e-02 9.98104937e-01 5.89238772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.150371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:104.96, Y:63.48, Z:5.89 [[ 7.11660347e-01 -7.00504104e-01 5.32311014e-02 1.04956412e+02] [ 7.00593510e-01 7.13277755e-01 2.00892678e-02 6.34754693e+01] [-5.20411750e-02 2.29966289e-02 9.98380124e-01 5.89205270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180371743 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:104.99, Y:63.49, Z:5.88 [[ 7.11566949e-01 -7.01579888e-01 3.81855714e-02 1.04985685e+02] [ 7.00752203e-01 7.12586585e-01 3.41571234e-02 6.34909017e+01] [-5.11744767e-02 2.45354313e-03 9.98686714e-01 5.88254683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.210371743 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:105.01, Y:63.50, Z:5.88 [[ 7.11866658e-01 -7.01622734e-01 3.11673060e-02 1.05009645e+02] [ 7.00060618e-01 7.12435512e-01 4.84847566e-02 6.35046169e+01] [-5.62227031e-02 -1.26956781e-02 9.98337532e-01 5.87788400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240371743 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:105.03, Y:63.53, Z:5.88 [[ 7.12101989e-01 -7.00559605e-01 4.61193789e-02 1.05027980e+02] [ 6.99820432e-01 7.13542470e-01 3.32942264e-02 6.35319328e+01] [-5.62327256e-02 8.56639887e-03 9.98380938e-01 5.88314942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.270371743 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:105.05, Y:63.55, Z:5.88 [[ 7.11561353e-01 -7.01348223e-01 4.23215315e-02 1.05051474e+02] [ 7.00338398e-01 7.12813341e-01 3.77262428e-02 6.35491391e+01] [-5.66265856e-02 2.79485715e-03 9.98391516e-01 5.87858204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300371743 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:105.08, Y:63.57, Z:5.88 [[ 7.08749461e-01 -7.04179984e-01 4.24823743e-02 1.05076869e+02] [ 7.03289111e-01 7.10006793e-01 3.57040674e-02 6.35716649e+01] [-5.53048639e-02 4.57215270e-03 9.98459046e-01 5.87813589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.330371743 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:105.10, Y:63.60, Z:5.88 [[ 7.06019479e-01 -7.06741579e-01 4.53082443e-02 1.05100657e+02] [ 7.06633209e-01 7.07264904e-01 2.11154847e-02 6.36002002e+01] [-4.69681221e-02 1.71083665e-02 9.98749868e-01 5.88142075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36037174300003 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:105.13, Y:63.61, Z:5.87 [[ 7.07272307e-01 -7.06171047e-01 3.29899354e-02 1.05126091e+02] [ 7.04647307e-01 7.07965566e-01 4.75071583e-02 6.36063761e+01] [-5.69039180e-02 -1.03542283e-02 9.98325966e-01 5.86836329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.390371743 meters Centerline goodness : 0.991843 Centerline is valid? [True, True] Translation: X:105.15, Y:63.63, Z:5.87 [[ 7.03838672e-01 -7.09601324e-01 3.28189765e-02 1.05146747e+02] [ 7.08254746e-01 7.04557713e-01 4.44257121e-02 6.36278357e+01] [-5.46474072e-02 -8.02433831e-03 9.98473470e-01 5.87150388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42037174300003 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:105.17, Y:63.66, Z:5.88 [[ 7.01823625e-01 -7.10462391e-01 5.18342505e-02 1.05167278e+02] [ 7.10434466e-01 7.03413910e-01 2.21752224e-02 6.36610920e+01] [-5.22155943e-02 2.12617431e-02 9.98409470e-01 5.87968931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.450371743 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:105.20, Y:63.67, Z:5.87 [[ 7.00228032e-01 -7.13183517e-01 3.24032893e-02 1.05195626e+02] [ 7.11922267e-01 7.00942189e-01 4.29736437e-02 6.36689896e+01] [-5.33609269e-02 -7.02272677e-03 9.98550596e-01 5.86805794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.480371743 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:105.22, Y:63.70, Z:5.88 [[ 6.97222367e-01 -7.15289328e-01 4.73513249e-02 1.05216546e+02] [ 7.15487883e-01 6.98450359e-01 1.56264391e-02 6.37040984e+01] [-4.42499750e-02 2.29841963e-02 9.98756060e-01 5.87722797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.510371743 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:105.25, Y:63.71, Z:5.86 [[ 6.96404796e-01 -7.17299903e-01 2.23877021e-02 1.05247951e+02] [ 7.15899446e-01 6.96545829e-01 4.80821253e-02 6.37075891e+01] [-5.00833643e-02 -1.74572791e-02 9.98592459e-01 5.86160654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.540371743 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:105.26, Y:63.73, Z:5.87 [[ 6.94845993e-01 -7.18482836e-01 3.11682618e-02 1.05263641e+02] [ 7.17470530e-01 6.95531413e-01 3.83678525e-02 6.37314790e+01] [-4.92451487e-02 -4.29743925e-03 9.98777476e-01 5.87058403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.570371743 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:105.29, Y:63.76, Z:5.87 [[ 6.93276823e-01 -7.19454877e-01 4.18560263e-02 1.05286135e+02] [ 7.18963489e-01 6.94462492e-01 2.85192693e-02 6.37577162e+01] [-4.95857677e-02 1.03212063e-02 9.98716539e-01 5.87283787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.600371743 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:105.31, Y:63.78, Z:5.87 [[ 6.93236359e-01 -7.19762364e-01 3.69525436e-02 1.05311585e+02] [ 7.18933518e-01 6.94215800e-01 3.46268604e-02 6.37752693e+01] [-5.05761506e-02 2.56182356e-03 9.98716922e-01 5.86806370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630371743 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:105.33, Y:63.80, Z:5.87 [[ 6.91813054e-01 -7.20961532e-01 4.01144353e-02 1.05333780e+02] [ 7.20895900e-01 6.92790872e-01 1.87058520e-02 6.38038360e+01] [-4.12771143e-02 1.59773793e-02 9.99019981e-01 5.87258904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.660371743 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:105.36, Y:63.82, Z:5.86 [[ 6.93662707e-01 -7.19729664e-01 2.86576489e-02 1.05359848e+02] [ 7.18868289e-01 6.94243065e-01 3.54252742e-02 6.38159075e+01] [-4.53919947e-02 -3.97211663e-03 9.98961355e-01 5.86269600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690371743 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:105.38, Y:63.84, Z:5.87 [[ 6.92756357e-01 -7.20371457e-01 3.39645830e-02 1.05379956e+02] [ 7.20112321e-01 6.93522949e-01 2.15444711e-02 6.38445837e+01] [-3.90752398e-02 9.53324535e-03 9.99190794e-01 5.86886698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.720371743 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:105.41, Y:63.85, Z:5.86 [[ 6.95338364e-01 -7.18354564e-01 2.17090028e-02 1.05405661e+02] [ 7.17228274e-01 6.95535347e-01 4.25932413e-02 6.38542098e+01] [-4.56964281e-02 -1.40464041e-02 9.98856614e-01 5.85877390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750371743 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:105.42, Y:63.89, Z:5.87 [[ 6.95684193e-01 -7.16666048e-01 4.91251443e-02 1.05422366e+02] [ 7.17080257e-01 6.96891586e-01 1.17483347e-02 6.38918312e+01] [-4.26545323e-02 2.70535404e-02 9.98723534e-01 5.86974362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.780371743 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:105.45, Y:63.90, Z:5.86 [[ 6.95610704e-01 -7.18107294e-01 2.11580517e-02 1.05453035e+02] [ 7.17265727e-01 6.95860889e-01 3.61593849e-02 6.39001787e+01] [-4.06893787e-02 -9.97690981e-03 9.99122032e-01 5.85860018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810371743 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:105.47, Y:63.92, Z:5.86 [[ 6.98006833e-01 -7.15503981e-01 2.89916187e-02 1.05473977e+02] [ 7.14614106e-01 6.98594994e-01 3.59404226e-02 6.39214122e+01] [-4.59689151e-02 -4.36884088e-03 9.98933317e-01 5.85988143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.840371743 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:105.50, Y:63.94, Z:5.86 [[ 6.99191763e-01 -7.14395153e-01 2.77568648e-02 1.05495823e+02] [ 7.13585664e-01 6.99730248e-01 3.42502499e-02 6.39427345e+01] [-4.38905304e-02 -4.14059184e-03 9.99027766e-01 5.86105889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870371743 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:105.52, Y:63.97, Z:5.86 [[ 6.99891752e-01 -7.13401454e-01 3.47836274e-02 1.05516194e+02] [ 7.13018027e-01 7.00714436e-01 2.45880644e-02 6.39687227e+01] [-4.19145508e-02 7.59236989e-03 9.99092351e-01 5.86472948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.900371743 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:105.54, Y:64.00, Z:5.87 [[ 6.97968008e-01 -7.15339117e-01 3.36245027e-02 1.05543148e+02] [ 7.15294104e-01 6.98651959e-01 1.54849806e-02 6.39971653e+01] [-3.45688370e-02 1.32433874e-02 9.99314569e-01 5.86513151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930371743 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:105.57, Y:64.01, Z:5.86 [[ 6.97046149e-01 -7.16712025e-01 2.12259026e-02 1.05570979e+02] [ 7.16266171e-01 6.97364765e-01 2.53999530e-02 6.40138737e+01] [-3.30066484e-02 -2.50154348e-03 9.99452002e-01 5.85974961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.960371743 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:105.59, Y:64.04, Z:5.86 [[ 6.96545244e-01 -7.17109929e-01 2.40431596e-02 1.05594954e+02] [ 7.16770855e-01 6.96957695e-01 2.21249191e-02 6.40374006e+01] [-3.26230642e-02 1.82242891e-03 9.99466065e-01 5.86050246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990371743 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:105.62, Y:64.05, Z:5.86 [[ 6.96859658e-01 -7.16809660e-01 2.38857574e-02 1.05620002e+02] [ 7.16224751e-01 6.97261599e-01 2.91267685e-02 6.40549991e+01] [-3.75329704e-02 -3.18969928e-03 9.99290299e-01 5.85701891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.020371743 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:105.64, Y:64.08, Z:5.86 [[ 6.92176256e-01 -7.21528949e-01 1.69707507e-02 1.05639055e+02] [ 7.21065342e-01 6.92356821e-01 2.65858146e-02 6.40774873e+01] [-3.09322499e-02 -6.16504943e-03 9.99502470e-01 5.85992255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050371743 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:105.66, Y:64.11, Z:5.86 [[ 6.97832085e-01 -7.14565155e-01 4.92647958e-02 1.05661299e+02] [ 7.14925157e-01 6.99080082e-01 1.30022818e-02 6.41064017e+01] [-4.37310150e-02 2.61472324e-02 9.98701117e-01 5.86051344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.080371743 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:105.69, Y:64.12, Z:5.85 [[ 6.97311682e-01 -7.15825535e-01 3.67453678e-02 1.05689479e+02] [ 7.15346186e-01 6.98240789e-01 2.71962051e-02 6.41211833e+01] [-4.51248527e-02 7.32142716e-03 9.98954526e-01 5.84985915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11037174300003 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:105.71, Y:64.12, Z:5.84 [[ 6.90720183e-01 -7.23120087e-01 1.72302717e-03 1.05706359e+02] [ 7.22039141e-01 6.89814112e-01 5.30657038e-02 6.41230622e+01] [-3.95614448e-02 -3.54094596e-02 9.98589536e-01 5.84404848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.140371743 meters Centerline goodness : 0.984075 Centerline is valid? [True, True] Translation: X:105.71, Y:64.15, Z:5.85 [[ 6.85615554e-01 -7.27797046e-01 1.55811288e-02 1.05713879e+02] [ 7.27291705e-01 6.85745161e-01 2.82904589e-02 6.41522632e+01] [-3.12743960e-02 -8.06435294e-03 9.99478303e-01 5.85486138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17037174300003 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:105.74, Y:64.17, Z:5.86 [[ 6.88077979e-01 -7.24903043e-01 3.26231847e-02 1.05736299e+02] [ 7.24661886e-01 6.88788416e-01 2.08726647e-02 6.41743629e+01] [-3.76011299e-02 9.27875765e-03 9.99249748e-01 5.85780826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.200371743 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:105.76, Y:64.20, Z:5.86 [[ 6.89706339e-01 -7.22852060e-01 4.23091669e-02 1.05761887e+02] [ 7.23069234e-01 6.90658353e-01 1.27248551e-02 6.41996565e+01] [-3.84193672e-02 2.18160437e-02 9.99023530e-01 5.85902842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.230371743 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:105.78, Y:64.21, Z:5.85 [[ 6.80294930e-01 -7.32925952e-01 4.28438154e-03 1.05780856e+02] [ 7.32485561e-01 6.80068399e-01 3.11749174e-02 6.42111517e+01] [-2.57625785e-02 -1.80698907e-02 9.99504762e-01 5.85430600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.260371743 meters Centerline goodness : 0.984273 Centerline is valid? [True, True] Translation: X:105.79, Y:64.23, Z:5.85 [[ 6.81721943e-01 -7.31117319e-01 2.68823241e-02 1.05791750e+02] [ 7.30723340e-01 6.82244520e-01 2.42036104e-02 6.42283037e+01] [-3.60359971e-02 3.14340935e-03 9.99345549e-01 5.85406008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.290371743 meters Centerline goodness : 0.984020 Centerline is valid? [True, True] Translation: X:105.82, Y:64.25, Z:5.85 [[ 6.77135196e-01 -7.35722744e-01 1.41410588e-02 1.05817295e+02] [ 7.35212253e-01 6.77220759e-01 2.88961321e-02 6.42482402e+01] [-3.08361602e-02 -9.16990840e-03 9.99482388e-01 5.85098964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.320371743 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:105.84, Y:64.27, Z:5.85 [[ 6.81423048e-01 -7.31362969e-01 2.77639400e-02 1.05840449e+02] [ 7.30947480e-01 6.81980224e-01 2.48747769e-02 6.42667102e+01] [-3.71269487e-02 3.34373566e-03 9.99304963e-01 5.85177449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.350371743 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:105.86, Y:64.29, Z:5.86 [[ 6.84087257e-01 -7.28214631e-01 4.15701358e-02 1.05863003e+02] [ 7.28425512e-01 6.85008034e-01 1.26596251e-02 6.42921408e+01] [-3.76948012e-02 2.16204593e-02 9.99055383e-01 5.85582022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380371743 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:105.89, Y:64.31, Z:5.85 [[ 6.82557938e-01 -7.30297616e-01 2.79294297e-02 1.05888539e+02] [ 7.30097492e-01 6.83086654e-01 1.87156301e-02 6.43108163e+01] [-3.27462008e-02 7.61670471e-03 9.99434676e-01 5.85074866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.410371743 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:105.91, Y:64.32, Z:5.84 [[ 6.78580789e-01 -7.34435175e-01 1.15363300e-02 1.05907488e+02] [ 7.33442794e-01 6.78349272e-01 4.36340836e-02 6.43205737e+01] [-3.98720669e-02 -2.11480128e-02 9.98980971e-01 5.83934785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440371743 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:105.92, Y:64.35, Z:5.85 [[ 6.82268622e-01 -7.29683378e-01 4.55158827e-02 1.05923991e+02] [ 7.30109111e-01 6.83263580e-01 9.56897559e-03 6.43548038e+01] [-3.80816674e-02 2.67029489e-02 9.98917784e-01 5.85309847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.470371743 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:105.95, Y:64.37, Z:5.84 [[ 6.80546732e-01 -7.32486759e-01 1.78687934e-02 1.05954573e+02] [ 7.31854170e-01 6.80729303e-01 3.15767256e-02 6.43673523e+01] [-3.52933447e-02 -8.41208639e-03 9.99341592e-01 5.84400870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500371743 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:105.98, Y:64.40, Z:5.85 [[ 6.80715385e-01 -7.32001435e-01 2.82924625e-02 1.05975886e+02] [ 7.31711594e-01 6.81275937e-01 2.14765320e-02 6.43954026e+01] [-3.49958261e-02 6.08251702e-03 9.99368948e-01 5.84789553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.530371743 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:106.00, Y:64.42, Z:5.85 [[ 6.80901774e-01 -7.31912933e-01 2.60044604e-02 1.05998216e+02] [ 7.31537533e-01 6.81391827e-01 2.36223636e-02 6.44150608e+01] [-3.50087402e-02 2.93872947e-03 9.99382685e-01 5.84560251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560371743 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:106.02, Y:64.45, Z:5.85 [[ 6.78545312e-01 -7.33846689e-01 3.23310497e-02 1.06023078e+02] [ 7.33972361e-01 6.79104804e-01 1.00617458e-02 6.44458240e+01] [-2.93399500e-02 1.69027464e-02 9.99426568e-01 5.84812920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.590371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:106.05, Y:64.46, Z:5.84 [[ 6.78707030e-01 -7.34144693e-01 1.97062657e-02 1.06048907e+02] [ 7.33765846e-01 6.78991214e-01 2.36350290e-02 6.44619985e+01] [-3.07319124e-02 -1.58147558e-03 9.99526412e-01 5.84119171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620371743 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:106.07, Y:64.49, Z:5.84 [[ 6.79546133e-01 -7.33408087e-01 1.81557596e-02 1.06069744e+02] [ 7.33115973e-01 6.79788198e-01 2.07117281e-02 6.44860921e+01] [-2.75322200e-02 -7.64297325e-04 9.99620624e-01 5.84369581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.650371743 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:106.09, Y:64.51, Z:5.84 [[ 6.80106689e-01 -7.32874781e-01 1.86935057e-02 1.06091651e+02] [ 7.32618611e-01 6.80363353e-01 1.93824079e-02 6.45097704e+01] [-2.69232542e-02 5.13104904e-04 9.99637372e-01 5.84426735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680371743 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:106.11, Y:64.53, Z:5.84 [[ 6.80858643e-01 -7.32150556e-01 1.96741382e-02 1.06113922e+02] [ 7.31938042e-01 6.81138988e-01 1.77871363e-02 6.45335781e+01] [-2.64236843e-02 2.28972475e-03 9.99648211e-01 5.84441355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.710371743 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:106.14, Y:64.56, Z:5.84 [[ 6.80632217e-01 -7.32363776e-01 1.95725231e-02 1.06137557e+02] [ 7.32157373e-01 6.80909398e-01 1.75491847e-02 6.45560835e+01] [-2.61795021e-02 2.38562660e-03 9.99654412e-01 5.84348991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740371743 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:106.16, Y:64.58, Z:5.84 [[ 6.83538207e-01 -7.29638161e-01 2.00916207e-02 1.06158738e+02] [ 7.29462383e-01 6.83824687e-01 1.63838285e-02 6.45787752e+01] [-2.56934127e-02 3.45710875e-03 9.99663892e-01 5.84293582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.770371743 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:106.18, Y:64.60, Z:5.84 [[ 6.84713364e-01 -7.28606130e-01 1.73411761e-02 1.06182009e+02] [ 7.28391042e-01 6.84932736e-01 1.77098353e-02 6.46006453e+01] [-2.47810338e-02 5.04996447e-04 9.99692776e-01 5.84185864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800371743 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:106.19, Y:64.62, Z:5.84 [[ 6.84949087e-01 -7.28559988e-01 6.71515346e-03 1.06193603e+02] [ 7.28280896e-01 6.84897387e-01 2.28583868e-02 6.46197044e+01] [-2.12528971e-02 -1.07663132e-02 9.99716160e-01 5.84243298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.830371743 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:106.22, Y:64.65, Z:5.85 [[ 6.91851791e-01 -7.21430504e-01 2.96500977e-02 1.06222204e+02] [ 7.21632523e-01 6.92257167e-01 5.14950495e-03 6.46516710e+01] [-2.42405026e-02 1.78337806e-02 9.99547075e-01 5.84687259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86037174300003 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:106.24, Y:64.66, Z:5.84 [[ 6.92436279e-01 -7.21472843e-01 2.98939702e-03 1.06238884e+02] [ 7.21197428e-01 6.92275821e-01 2.50690396e-02 6.46646575e+01] [-2.01561185e-02 -1.52027670e-02 9.99681253e-01 5.83974111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.890371743 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:106.26, Y:64.69, Z:5.85 [[ 6.95184431e-01 -7.18697253e-01 1.38876165e-02 1.06256662e+02] [ 7.18579130e-01 6.95322550e-01 1.30608255e-02 6.46913679e+01] [-1.90431523e-02 8.99668875e-04 9.99818258e-01 5.84524781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92037174300003 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:106.28, Y:64.71, Z:5.84 [[ 6.99541642e-01 -7.14451865e-01 1.41429841e-02 1.06277861e+02] [ 7.14328589e-01 6.99684136e-01 1.32957482e-02 6.47125273e+01] [-1.93947937e-02 8.01808361e-04 9.99811582e-01 5.84468862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.950371743 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:106.30, Y:64.73, Z:5.84 [[ 7.01435734e-01 -7.12588527e-01 1.43353522e-02 1.06298406e+02] [ 7.12461552e-01 7.01581791e-01 1.34732235e-02 6.47324438e+01] [-1.96582866e-02 7.62786872e-04 9.99806466e-01 5.84391339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.980371743 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:106.33, Y:64.76, Z:5.84 [[ 7.08500201e-01 -7.05129171e-01 2.86411715e-02 1.06328296e+02] [ 7.05317343e-01 7.08876686e-01 4.61400207e-03 6.47593191e+01] [-2.35565262e-02 1.69320936e-02 9.99579109e-01 5.84412594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.010371743 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:106.36, Y:64.78, Z:5.84 [[ 7.10204712e-01 -7.03536458e-01 2.54110136e-02 1.06355157e+02] [ 7.03540869e-01 7.10580451e-01 1.02795304e-02 6.47801214e+01] [-2.52885939e-02 1.05771156e-02 9.99624235e-01 5.83758586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.040371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:106.38, Y:64.80, Z:5.83 [[ 7.10626709e-01 -7.03385650e-01 1.60719827e-02 1.06379965e+02] [ 7.03153481e-01 7.10806654e-01 1.81406566e-02 6.47978659e+01] [-2.41839497e-02 -1.59016449e-03 9.99706261e-01 5.83314598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.070371743 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:106.40, Y:64.81, Z:5.83 [[ 7.06868430e-01 -7.07339212e-01 -2.87422644e-03 1.06396487e+02] [ 7.07107552e-01 7.06519967e-01 2.87827493e-02 6.48128598e+01] [-1.83284689e-02 -2.23780041e-02 9.99581559e-01 5.83160843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.100371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:106.42, Y:64.85, Z:5.84 [[ 7.12134164e-01 -7.00774113e-01 4.21968638e-02 1.06421418e+02] [ 7.01621408e-01 7.12503053e-01 -8.17311500e-03 6.48514898e+01] [-2.43378868e-02 3.54265774e-02 9.99075885e-01 5.84092864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130371743 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:106.45, Y:64.85, Z:5.83 [[ 7.05918481e-01 -7.08189535e-01 -1.21111840e-02 1.06446169e+02] [ 7.08082178e-01 7.05187851e-01 3.64653846e-02 6.48506181e+01] [-1.72837439e-02 -3.43173025e-02 9.99261525e-01 5.82527424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.160371743 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:106.47, Y:64.89, Z:5.84 [[ 7.10404228e-01 -7.02998571e-01 3.34490984e-02 1.06469296e+02] [ 7.03478592e-01 7.10706008e-01 -3.85236584e-03 6.48917467e+01] [-2.10642675e-02 2.62674616e-02 9.99432998e-01 5.83901460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190371743 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:106.50, Y:64.91, Z:5.83 [[ 7.08474968e-01 -7.05470177e-01 1.93661614e-02 1.06500101e+02] [ 7.05403894e-01 7.08716636e-01 1.12283231e-02 6.49072519e+01] [-2.16463679e-02 5.70597980e-03 9.99749407e-01 5.82876149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.220371743 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:106.52, Y:64.92, Z:5.83 [[ 7.01370592e-01 -7.12714117e-01 -1.08572835e-02 1.06515789e+02] [ 7.12648759e-01 7.00833128e-01 3.10591972e-02 6.49176629e+01] [-1.45271843e-02 -2.95214372e-02 9.99458576e-01 5.82708151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250371743 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:106.54, Y:64.96, Z:5.84 [[ 7.06017028e-01 -7.06880456e-01 4.31274546e-02 1.06541843e+02] [ 7.07800685e-01 7.06345963e-01 -9.67319720e-03 6.49587055e+01] [-2.36251094e-02 3.73550838e-02 9.99022748e-01 5.83874344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.280371743 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:106.57, Y:64.97, Z:5.82 [[ 7.03906480e-01 -7.10164761e-01 1.34788513e-02 1.06574639e+02] [ 7.09869759e-01 7.04015441e-01 2.11467504e-02 6.49659589e+01] [-2.45069964e-02 -5.31710568e-03 9.99685518e-01 5.82389461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:106.59, Y:64.98, Z:5.83 [[ 6.96535958e-01 -7.17464276e-01 -9.09234861e-03 1.06586218e+02] [ 7.17309631e-01 6.95965797e-01 3.31436674e-02 6.49784704e+01] [-1.74514337e-02 -2.96077853e-02 9.99409239e-01 5.82725505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.340371743 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:106.61, Y:65.02, Z:5.84 [[ 6.99426661e-01 -7.13841697e-01 3.51052396e-02 1.06612046e+02] [ 7.14336005e-01 6.99799189e-01 -2.27335213e-03 6.50161671e+01] [-2.29438046e-02 2.66669797e-02 9.99381035e-01 5.83867448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370371743 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:106.64, Y:65.03, Z:5.83 [[ 6.98081547e-01 -7.15649147e-01 2.29880808e-02 1.06640313e+02] [ 7.15584729e-01 6.98416284e-01 1.23769692e-02 6.50311785e+01] [-2.49128174e-02 7.80978581e-03 9.99659121e-01 5.82879506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.400371743 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:106.67, Y:65.05, Z:5.83 [[ 6.94637299e-01 -7.19145554e-01 1.75697384e-02 1.06667899e+02] [ 7.18973522e-01 6.94857512e-01 1.58149609e-02 6.50500552e+01] [-2.35817236e-02 1.64651495e-03 9.99720557e-01 5.82634415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430371743 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:106.69, Y:65.07, Z:5.83 [[ 6.92614260e-01 -7.21079757e-01 1.81513215e-02 1.06691966e+02] [ 7.20947378e-01 6.92844420e-01 1.41946289e-02 6.50717904e+01] [-2.28115014e-02 3.25474525e-03 9.99734486e-01 5.82594124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.460371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:106.72, Y:65.09, Z:5.82 [[ 6.88873837e-01 -7.24840690e-01 7.66878407e-03 1.06716579e+02] [ 7.24601308e-01 6.88863252e-01 2.05028008e-02 6.50859871e+01] [-2.01440078e-02 -8.56703210e-03 9.99760384e-01 5.82408538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:106.74, Y:65.11, Z:5.83 [[ 6.87472869e-01 -7.26023429e-01 1.64631656e-02 1.06737798e+02] [ 7.25965102e-01 6.87653127e-01 1.03850019e-02 6.51121436e+01] [-1.88607020e-02 4.81227669e-03 9.99810540e-01 5.82740769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.520371743 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:106.76, Y:65.13, Z:5.83 [[ 6.85859012e-01 -7.27628581e-01 1.24122754e-02 1.06762650e+02] [ 7.27530012e-01 6.85970853e-01 1.20029169e-02 6.51330953e+01] [-1.72481245e-02 7.97994138e-04 9.99850922e-01 5.82630323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550371743 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:106.79, Y:65.15, Z:5.82 [[ 6.84429498e-01 -7.29032335e-01 8.25332373e-03 1.06786399e+02] [ 7.28890754e-01 6.84466151e-01 1.49785439e-02 6.51516898e+01] [-1.65689636e-02 -4.23598592e-03 9.99853752e-01 5.82469126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.580371743 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:106.81, Y:65.18, Z:5.83 [[ 6.84402686e-01 -7.28932420e-01 1.58268695e-02 1.06808427e+02] [ 7.28919298e-01 6.84556745e-01 7.66287830e-03 6.51769907e+01] [-1.64201107e-02 6.29201612e-03 9.99845383e-01 5.82656329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61037174300003 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:106.83, Y:65.20, Z:5.83 [[ 6.85351756e-01 -7.28113678e-01 1.19767493e-02 1.06834228e+02] [ 7.28013783e-01 6.85456251e-01 1.20689886e-02 6.51986444e+01] [-1.69971334e-02 4.47735999e-04 9.99855438e-01 5.82519950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.640371743 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:106.86, Y:65.22, Z:5.83 [[ 6.86699018e-01 -7.26834431e-01 1.24967823e-02 1.06856464e+02] [ 7.26722767e-01 6.86812639e-01 1.27443805e-02 6.52210686e+01] [-1.78460025e-02 3.30142663e-04 9.99840693e-01 5.82539068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67037174300003 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:106.88, Y:65.25, Z:5.83 [[ 6.88050925e-01 -7.25521991e-01 1.42746346e-02 1.06879453e+02] [ 7.25446799e-01 6.88192885e-01 1.08395338e-02 6.52456067e+01] [-1.76880221e-02 2.89733670e-03 9.99839357e-01 5.82651890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.700371743 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:106.90, Y:65.27, Z:5.83 [[ 6.91427847e-01 -7.22366042e-01 1.07160402e-02 1.06901984e+02] [ 7.22215879e-01 6.91505988e-01 1.49563321e-02 6.52667080e+01] [-1.82141524e-02 -2.60193015e-03 9.99830723e-01 5.82586728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.730371743 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:106.92, Y:65.29, Z:5.83 [[ 6.94561689e-01 -7.19084169e-01 2.24057816e-02 1.06922582e+02] [ 7.19115245e-01 6.94843748e-01 8.08898565e-03 6.52927104e+01] [-2.13851788e-02 1.04940396e-02 9.99716234e-01 5.82626919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.760371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:106.94, Y:65.30, Z:5.82 [[ 6.91665105e-01 -7.22089246e-01 -1.36566274e-02 1.06941034e+02] [ 7.22087950e-01 6.91057201e-01 3.20770396e-02 6.53025236e+01] [-1.37249746e-02 -3.20478550e-02 9.99392095e-01 5.82298898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.790371743 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:106.96, Y:65.35, Z:5.84 [[ 6.98742778e-01 -7.14080541e-01 4.29826707e-02 1.06962273e+02] [ 7.15091186e-01 6.98891952e-01 -1.39511768e-02 6.53473097e+01] [-2.00779787e-02 4.04848130e-02 9.98978406e-01 5.83572937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.820371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:106.99, Y:65.34, Z:5.82 [[ 6.94126126e-01 -7.19578776e-01 -1.98823304e-02 1.06988246e+02] [ 7.19749481e-01 6.93291841e-01 3.61539457e-02 6.53435644e+01] [-1.22313546e-02 -3.94056953e-02 9.99148430e-01 5.81876940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.850371743 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:107.01, Y:65.39, Z:5.83 [[ 7.00218595e-01 -7.13028876e-01 3.58293419e-02 1.07008031e+02] [ 7.13735032e-01 7.00315025e-01 -1.18815065e-02 6.53876669e+01] [-1.66199692e-02 3.38923083e-02 9.99287290e-01 5.83283118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880371743 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:107.04, Y:65.40, Z:5.82 [[ 7.01048813e-01 -7.12990684e-01 1.32229617e-02 1.07040452e+02] [ 7.12901278e-01 7.01172013e-01 1.13831531e-02 6.53998775e+01] [-1.73876528e-02 1.44652036e-03 9.99847777e-01 5.81869953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.910371743 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:107.06, Y:65.41, Z:5.82 [[ 6.95852827e-01 -7.17971894e-01 -1.74700438e-02 1.07055212e+02] [ 7.18116410e-01 6.95246329e-01 3.06816570e-02 6.54098924e+01] [-9.88258356e-03 -3.38954429e-02 9.99376522e-01 5.81916937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940371743 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:107.08, Y:65.45, Z:5.83 [[ 7.02416434e-01 -7.11022980e-01 3.25188535e-02 1.07077155e+02] [ 7.11594566e-01 7.02517068e-01 -1.01460602e-02 6.54511825e+01] [-1.56309677e-02 3.02669989e-02 9.99419622e-01 5.83145169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.970371743 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:107.11, Y:65.46, Z:5.82 [[ 7.03433055e-01 -7.10702000e-01 9.19805906e-03 1.07109896e+02] [ 7.10579744e-01 7.03486925e-01 1.35120017e-02 6.54639032e+01] [-1.60737209e-02 -2.96883421e-03 9.99866402e-01 5.82005907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000371743 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:107.12, Y:65.48, Z:5.82 [[ 6.98450748e-01 -7.15573408e-01 -1.10114242e-02 1.07122622e+02] [ 7.15592219e-01 6.98094941e-01 2.43152079e-02 6.54782066e+01] [-9.71229667e-03 -2.48626647e-02 9.99643696e-01 5.82240495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.030371743 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:107.14, Y:65.51, Z:5.83 [[ 7.01586976e-01 -7.12552476e-01 6.68457025e-03 1.07140092e+02] [ 7.12523939e-01 7.01618763e-01 6.38339099e-03 6.55084735e+01] [-9.23852096e-03 2.84412338e-04 9.99957284e-01 5.83248238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:107.17, Y:65.54, Z:5.83 [[ 7.08293896e-01 -7.05342397e-01 2.84931635e-02 1.07171421e+02] [ 7.05750192e-01 7.08427961e-01 -6.81836187e-03 6.55390997e+01] [-1.53760740e-02 2.49384597e-02 9.99570733e-01 5.83234287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.090371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:107.19, Y:65.55, Z:5.82 [[ 7.04335241e-01 -7.09787697e-01 -1.06439501e-02 1.07192223e+02] [ 7.09803337e-01 7.03990806e-01 2.40034993e-02 6.55459298e+01] [-9.54414547e-03 -2.44616217e-02 9.99655210e-01 5.82325534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120371743 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:107.22, Y:65.58, Z:5.83 [[ 7.12370899e-01 -7.01192704e-01 2.92659336e-02 1.07218844e+02] [ 7.01623093e-01 7.12513234e-01 -7.06596009e-03 6.55831105e+01] [-1.58977654e-02 2.55672392e-02 9.99546686e-01 5.83174122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.150371743 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:107.25, Y:65.60, Z:5.82 [[ 7.13291105e-01 -7.00776996e-01 1.12872682e-02 1.07248335e+02] [ 7.00661227e-01 7.13379365e-01 1.27955804e-02 6.55960695e+01] [-1.70189526e-02 -1.21842244e-03 9.99854425e-01 5.82076199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180371743 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:107.27, Y:65.62, Z:5.82 [[ 7.12939863e-01 -7.01090636e-01 1.37357410e-02 1.07272005e+02] [ 7.01041637e-01 7.13064648e-01 8.91245207e-03 6.56189854e+01] [-1.60429080e-02 3.27528396e-03 9.99865940e-01 5.82212820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.210371743 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:107.29, Y:65.63, Z:5.82 [[ 7.06702514e-01 -7.07406489e-01 -1.21497747e-02 1.07286572e+02] [ 7.07454294e-01 7.06324788e-01 2.47732928e-02 6.56301959e+01] [-8.94310106e-03 -2.61027586e-02 9.99619261e-01 5.82120631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240371743 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:107.31, Y:65.67, Z:5.83 [[ 7.11061518e-01 -7.02403496e-01 3.19506816e-02 1.07311531e+02] [ 7.02963965e-01 7.11146347e-01 -1.06083500e-02 6.56684378e+01] [-1.52702684e-02 3.00033673e-02 9.99433148e-01 5.83083220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.270371743 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:107.34, Y:65.67, Z:5.82 [[ 7.01273026e-01 -7.12728770e-01 -1.52919243e-02 1.07335683e+02] [ 7.12843937e-01 7.00812478e-01 2.67468186e-02 6.56687051e+01] [-8.34645574e-03 -2.96575780e-02 9.99525270e-01 5.81835918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300371743 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:107.36, Y:65.70, Z:5.83 [[ 7.03399183e-01 -7.10566781e-01 1.80121987e-02 1.07363039e+02] [ 7.10710105e-01 7.03481013e-01 -2.36885330e-03 6.57027150e+01] [-1.09880114e-02 1.44677011e-02 9.99834961e-01 5.82814994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.330371743 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:107.39, Y:65.72, Z:5.82 [[ 6.97440552e-01 -7.16575776e-01 9.78948741e-03 1.07392230e+02] [ 7.16559097e-01 6.97502756e-01 5.74151056e-03 6.57191711e+01] [-1.09424218e-02 3.01038397e-03 9.99935598e-01 5.82327533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36037174300003 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:107.42, Y:65.74, Z:5.82 [[ 6.94971807e-01 -7.18985406e-01 8.61247017e-03 1.07417884e+02] [ 7.18951012e-01 6.95024081e-01 7.13930509e-03 6.57402773e+01] [-1.11189303e-02 1.23032839e-03 9.99937426e-01 5.82262835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.390371743 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:107.44, Y:65.76, Z:5.82 [[ 6.92828240e-01 -7.21086619e-01 4.80814513e-03 1.07441931e+02] [ 7.21016994e-01 6.92833313e-01 1.07933056e-02 6.57583542e+01] [-1.11141514e-02 -4.01115258e-03 9.99930191e-01 5.82182243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42037174300003 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:107.47, Y:65.78, Z:5.82 [[ 6.88845297e-01 -7.24772657e-01 1.40268329e-02 1.07465028e+02] [ 7.24800118e-01 6.88947875e-01 3.95161831e-03 6.57809598e+01] [-1.25277816e-02 7.44459648e-03 9.99893811e-01 5.82356912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.450371743 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:107.49, Y:65.80, Z:5.82 [[ 6.86747350e-01 -7.26817328e-01 1.07074426e-02 1.07491465e+02] [ 7.26779270e-01 6.86826582e-01 7.81915557e-03 6.58004869e+01] [-1.30372539e-02 2.41216292e-03 9.99912102e-01 5.82037018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.480371743 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:107.52, Y:65.82, Z:5.82 [[ 6.83169179e-01 -7.30122981e-01 1.41529132e-02 1.07517827e+02] [ 7.30147753e-01 6.83275750e-01 4.30203818e-03 6.58229081e+01] [-1.28113593e-02 7.39469790e-03 9.99890588e-01 5.81950198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.510371743 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:107.54, Y:65.84, Z:5.82 [[ 6.82575203e-01 -7.30620578e-01 1.68719737e-02 1.07540406e+02] [ 7.30643502e-01 6.82733450e-01 5.92526199e-03 6.58428156e+01] [-1.58481791e-02 8.28296104e-03 9.99840101e-01 5.81581559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.540371743 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:107.57, Y:65.86, Z:5.81 [[ 6.80212208e-01 -7.32929223e-01 1.12297202e-02 1.07566759e+02] [ 7.32893354e-01 6.80298655e-01 7.81481345e-03 6.58640356e+01] [-1.33672687e-02 2.91445581e-03 9.99906407e-01 5.81457013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.570371743 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:107.59, Y:65.88, Z:5.81 [[ 6.78083428e-01 -7.34884825e-01 1.21308728e-02 1.07591790e+02] [ 7.34872714e-01 6.78175956e-01 6.28225418e-03 6.58849411e+01] [-1.28435995e-02 4.65475497e-03 9.99906683e-01 5.81216370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.600371743 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:107.62, Y:65.90, Z:5.81 [[ 6.75467372e-01 -7.37377094e-01 -4.34187577e-03 1.07617784e+02] [ 7.37317816e-01 6.75307338e-01 1.79565729e-02 6.58992579e+01] [-1.03086650e-02 -1.53304215e-02 9.99829340e-01 5.80992475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630371743 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:107.64, Y:65.93, Z:5.82 [[ 6.73783483e-01 -7.38846422e-01 1.10355203e-02 1.07637086e+02] [ 7.38884162e-01 6.73831823e-01 9.32234618e-04 6.59275458e+01] [-8.12486294e-03 7.52584685e-03 9.99938672e-01 5.81542596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.660371743 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:107.66, Y:65.95, Z:5.81 [[ 6.73574054e-01 -7.39098457e-01 5.60927702e-03 1.07663119e+02] [ 7.39076487e-01 6.73597342e-01 5.70670223e-03 6.59490309e+01] [-7.99620891e-03 3.01798201e-04 9.99967984e-01 5.81284287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690371743 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:107.68, Y:65.96, Z:5.81 [[ 6.67638648e-01 -7.44158058e-01 -2.20775964e-02 1.07678837e+02] [ 7.44483745e-01 6.67279356e-01 2.19594050e-02 6.59597503e+01] [-1.60934385e-03 -3.10973591e-02 9.99515065e-01 5.81372873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.720371743 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:107.70, Y:66.00, Z:5.82 [[ 6.71878768e-01 -7.40219555e-01 2.55720915e-02 1.07698875e+02] [ 7.40641309e-01 6.71712856e-01 -1.58836734e-02 6.59982974e+01] [-5.41969702e-03 2.96116502e-02 9.99546786e-01 5.82296755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750371743 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:107.73, Y:66.01, Z:5.81 [[ 6.70425955e-01 -7.41958882e-01 5.10451530e-03 1.07731759e+02] [ 7.41949268e-01 6.70444415e-01 3.94586015e-03 6.60140105e+01] [-6.34995976e-03 1.14188433e-03 9.99979187e-01 5.81362045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.780371743 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:107.76, Y:66.04, Z:5.81 [[ 6.70218894e-01 -7.42140411e-01 5.85181257e-03 1.07755590e+02] [ 7.42135933e-01 6.70241119e-01 3.33147641e-03 6.60370057e+01] [-6.39454867e-03 2.11002194e-03 9.99977329e-01 5.81309765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810371743 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:107.78, Y:66.05, Z:5.81 [[ 6.69964488e-01 -7.42390044e-01 -2.14622662e-03 1.07778663e+02] [ 7.42357576e-01 6.69901288e-01 1.17257824e-02 6.60539574e+01] [-7.26734416e-03 -9.44912542e-03 9.99928947e-01 5.81085269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.840371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:107.80, Y:66.08, Z:5.82 [[ 6.69566291e-01 -7.42664936e-01 1.13918724e-02 1.07798559e+02] [ 7.42733281e-01 6.69580153e-01 -3.11325481e-03 6.60840488e+01] [-5.31566648e-03 1.05456532e-02 9.99930264e-01 5.81639422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870371743 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:107.82, Y:66.11, Z:5.81 [[ 6.70835290e-01 -7.41388461e-01 1.79767463e-02 1.07821842e+02] [ 7.41562825e-01 6.70861483e-01 -5.42648037e-03 6.61087801e+01] [-8.03677674e-03 1.69711613e-02 9.99823679e-01 5.81348920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.900371743 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:107.85, Y:66.12, Z:5.81 [[ 6.69260203e-01 -7.42919945e-01 -1.26781961e-02 1.07851053e+02] [ 7.43009983e-01 6.69027238e-01 1.84043512e-02 6.61194276e+01] [-5.19090105e-03 -2.17373261e-02 9.99750240e-01 5.80738396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:107.87, Y:66.15, Z:5.82 [[ 6.69598248e-01 -7.42675027e-01 8.48479114e-03 1.07866789e+02] [ 7.42710585e-01 6.69610268e-01 -1.75400376e-03 6.61510211e+01] [-4.37884848e-03 7.47622203e-03 9.99962465e-01 5.81539912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.960371743 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:107.89, Y:66.17, Z:5.81 [[ 6.69853057e-01 -7.42484033e-01 3.78714190e-03 1.07891384e+02] [ 7.42480809e-01 6.69862767e-01 2.47408123e-03 6.61737163e+01] [-4.37383116e-03 1.15460931e-03 9.99989768e-01 5.81297842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990371743 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:107.91, Y:66.20, Z:5.81 [[ 6.69833776e-01 -7.42508886e-01 1.80714150e-03 1.07913576e+02] [ 7.42499167e-01 6.69834831e-01 4.03561884e-03 6.61952941e+01] [-4.20696917e-03 -1.36139275e-03 9.99990224e-01 5.81228591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.020371743 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:107.94, Y:66.22, Z:5.81 [[ 6.69359764e-01 -7.42931917e-01 3.11037079e-03 1.07936279e+02] [ 7.42934419e-01 6.69364038e-01 4.82457354e-04 6.62198178e+01] [-2.44040332e-03 1.98786398e-03 9.99995046e-01 5.81355859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050371743 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:107.96, Y:66.24, Z:5.81 [[ 6.68400784e-01 -7.43800539e-01 1.07276225e-03 1.07958982e+02] [ 7.43799608e-01 6.68401645e-01 1.17691108e-03 6.62427500e+01] [-1.59242315e-03 1.12718569e-05 9.99998732e-01 5.81310723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.080371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:107.98, Y:66.26, Z:5.81 [[ 6.69226146e-01 -7.43046790e-01 -4.22309630e-03 1.07979746e+02] [ 7.43056988e-01 6.69201198e-01 6.00574591e-03 6.62604291e+01] [-1.63644912e-03 -7.15720341e-03 9.99973048e-01 5.81145915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11037174300003 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:108.00, Y:66.29, Z:5.82 [[ 6.67088014e-01 -7.44973888e-01 2.73650531e-03 1.08000877e+02] [ 7.44978346e-01 6.67078472e-01 -3.68443475e-03 6.62902147e+01] [ 9.19343896e-04 4.49647947e-03 9.99989468e-01 5.81594129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.140371743 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:108.02, Y:66.31, Z:5.81 [[ 6.67297546e-01 -7.44789929e-01 1.39534566e-03 1.08022836e+02] [ 7.44791221e-01 6.67296739e-01 -1.04869756e-03 6.63121701e+01] [-1.50050224e-04 1.73903451e-03 9.99998477e-01 5.81424771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17037174300003 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:108.04, Y:66.34, Z:5.82 [[ 6.68368537e-01 -7.43652577e-01 1.62586240e-02 1.08041865e+02] [ 7.43827639e-01 6.68264819e-01 -1.19405149e-02 6.63434819e+01] [-1.98547176e-03 2.00742784e-02 9.99796520e-01 5.81613122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.200371743 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:108.07, Y:66.35, Z:5.81 [[ 6.66604500e-01 -7.45206537e-01 -1.74830663e-02 1.08072058e+02] [ 7.45411582e-01 6.66417395e-01 1.57933379e-02 6.63533094e+01] [-1.18279135e-04 -2.35599902e-02 9.99722418e-01 5.80850729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.230371743 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:108.08, Y:66.37, Z:5.82 [[ 6.60902663e-01 -7.49944785e-01 -2.81156438e-02 1.08078010e+02] [ 7.50429537e-01 6.60798448e-01 1.41746569e-02 6.63720428e+01] [ 7.94856381e-03 -3.04668781e-02 9.99504172e-01 5.81819407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.260371743 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:108.10, Y:66.41, Z:5.83 [[ 6.66360906e-01 -7.45377467e-01 1.93797685e-02 1.08098800e+02] [ 7.45623015e-01 6.66022894e-01 -2.14435026e-02 6.64145226e+01] [ 3.07613412e-03 2.87391132e-02 9.99582213e-01 5.82870721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.290371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:108.13, Y:66.43, Z:5.82 [[ 6.65637911e-01 -7.46254570e-01 -5.50348596e-03 1.08127831e+02] [ 7.46273049e-01 6.65634453e-01 2.70391541e-03 6.64273118e+01] [ 1.64550064e-03 -5.90693186e-03 9.99981200e-01 5.81873721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.320371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:108.15, Y:66.45, Z:5.82 [[ 6.64663613e-01 -7.47142581e-01 -4.95320827e-04 1.08147337e+02] [ 7.47138568e-01 6.64661968e-01 -2.90316379e-03 6.64549901e+01] [ 2.49829820e-03 1.55955404e-03 9.99995663e-01 5.82229459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.350371743 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:108.17, Y:66.48, Z:5.82 [[ 6.64318792e-01 -7.47449247e-01 -4.05958967e-04 1.08168207e+02] [ 7.47447006e-01 6.64317966e-01 -2.14784374e-03 6.64779368e+01] [ 1.87509002e-03 1.12342015e-03 9.99997611e-01 5.82180619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:108.19, Y:66.50, Z:5.82 [[ 6.63209105e-01 -7.48428322e-01 -2.95454862e-03 1.08189964e+02] [ 7.48427869e-01 6.63214546e-01 -1.47995344e-03 6.65007925e+01] [ 3.06713870e-03 -1.22974793e-03 9.99994540e-01 5.82191085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.410371743 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:108.21, Y:66.53, Z:5.82 [[ 6.62462666e-01 -7.49088234e-01 3.16761816e-03 1.08210423e+02] [ 7.49089287e-01 6.62435337e-01 -6.68312338e-03 6.65280083e+01] [ 2.90790689e-03 6.80014856e-03 9.99972651e-01 5.82220048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:108.23, Y:66.55, Z:5.82 [[ 6.61861335e-01 -7.49615406e-01 -4.03942995e-03 1.08233294e+02] [ 7.49620701e-01 6.61867598e-01 -2.94569792e-04 6.65487632e+01] [ 2.89438185e-03 -2.83307596e-03 9.99991798e-01 5.81893014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.470371743 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:108.25, Y:66.57, Z:5.82 [[ 6.62505730e-01 -7.49014788e-01 -7.93761254e-03 1.08251187e+02] [ 7.49049492e-01 6.62508983e-01 2.58957438e-03 6.65672504e+01] [ 3.31911011e-03 -7.66127250e-03 9.99965144e-01 5.81898210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500371743 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:108.27, Y:66.60, Z:5.82 [[ 6.61326803e-01 -7.50075100e-01 5.84843129e-03 1.08271819e+02] [ 7.50079522e-01 6.61235919e-01 -1.21560801e-02 6.66004562e+01] [ 5.25078014e-03 1.24259301e-02 9.99909009e-01 5.82488801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.530371743 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:108.30, Y:66.62, Z:5.82 [[ 6.61804005e-01 -7.49674934e-01 -1.71830680e-03 1.08295459e+02] [ 7.49663364e-01 6.61804089e-01 -4.49307861e-03 6.66229110e+01] [ 4.50553088e-03 1.68538577e-03 9.99988430e-01 5.82025347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560371743 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:108.32, Y:66.65, Z:5.82 [[ 6.61694847e-01 -7.49765613e-01 -3.38444072e-03 1.08317240e+02] [ 7.49750979e-01 6.61703243e-01 -4.72109140e-03 6.66464153e+01] [ 5.77920739e-03 5.86434109e-04 9.99983128e-01 5.82040980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.590371743 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:108.34, Y:66.67, Z:5.82 [[ 6.62841839e-01 -7.48758872e-01 -9.21222524e-04 1.08337848e+02] [ 7.48740330e-01 6.62833212e-01 -6.32859997e-03 6.66731596e+01] [ 5.34921226e-03 3.50510439e-03 9.99979550e-01 5.82124357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620371743 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:108.36, Y:66.70, Z:5.82 [[ 6.62767446e-01 -7.48793514e-01 -6.89832280e-03 1.08361229e+02] [ 7.48801539e-01 6.62791672e-01 -1.85877097e-03 6.66953377e+01] [ 5.96398655e-03 -3.93354184e-03 9.99974479e-01 5.82035880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.650371743 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:108.38, Y:66.72, Z:5.82 [[ 6.63392234e-01 -7.48271209e-01 -9.71033075e-04 1.08380401e+02] [ 7.48251778e-01 6.63383392e-01 -6.46160361e-03 6.67228686e+01] [ 5.47919916e-03 3.56000043e-03 9.99978652e-01 5.82243571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:108.40, Y:66.75, Z:5.82 [[ 6.63022681e-01 -7.48566028e-01 -7.05877007e-03 1.08403567e+02] [ 7.48571410e-01 6.63049903e-01 -2.38119655e-03 6.67452818e+01] [ 6.46279966e-03 -3.70520614e-03 9.99972251e-01 5.82130461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.710371743 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:108.42, Y:66.77, Z:5.82 [[ 6.62914317e-01 -7.48648376e-01 -8.37958196e-03 1.08422914e+02] [ 7.48666940e-01 6.62945078e-01 -1.27953619e-03 6.67666292e+01] [ 6.51312531e-03 -5.42529313e-03 9.99964072e-01 5.82201550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740371743 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:108.44, Y:66.79, Z:5.83 [[ 6.61682010e-01 -7.49776259e-01 -3.53248058e-03 1.08441751e+02] [ 7.49733614e-01 6.61684621e-01 -8.54225797e-03 6.67949170e+01] [ 8.74217030e-03 3.00383899e-03 9.99957275e-01 5.82562496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.770371743 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:108.47, Y:66.82, Z:5.82 [[ 6.60890043e-01 -7.50405781e-01 -1.07478387e-02 1.08465715e+02] [ 7.50420663e-01 6.60951805e-01 -3.39711042e-03 6.68165484e+01] [ 9.65301471e-03 -5.82028382e-03 9.99936470e-01 5.82422560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800371743 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:108.48, Y:66.83, Z:5.83 [[ 6.53075505e-01 -7.56058864e-01 -4.32131783e-02 1.08476718e+02] [ 7.57063559e-01 6.53217951e-01 1.26915778e-02 6.68288527e+01] [ 1.86320439e-02 -4.10036812e-02 9.98985258e-01 5.82572025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.830371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:108.50, Y:66.87, Z:5.84 [[ 6.58595109e-01 -7.52400591e-01 1.20761404e-02 1.08495714e+02] [ 7.52340665e-01 6.58045425e-01 -3.09797103e-02 6.68731602e+01] [ 1.53625034e-02 2.94884571e-02 9.99447059e-01 5.84266020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86037174300003 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:108.53, Y:66.89, Z:5.83 [[ 6.57571304e-01 -7.53297406e-01 -1.19582193e-02 1.08525156e+02] [ 7.53261286e-01 6.57670132e-01 -8.21178060e-03 6.68872797e+01] [ 1.40504767e-02 -3.60783234e-03 9.99894778e-01 5.83035739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.890371743 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:108.54, Y:66.91, Z:5.83 [[ 6.58397223e-01 -7.52600971e-01 -1.02408419e-02 1.08543058e+02] [ 7.52562043e-01 6.58472411e-01 -8.02833691e-03 6.69092382e+01] [ 1.27854460e-02 -2.42103420e-03 9.99915332e-01 5.83013081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92037174300003 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:108.57, Y:66.94, Z:5.83 [[ 6.55561983e-01 -7.55050854e-01 -1.16916803e-02 1.08567116e+02] [ 7.54972309e-01 6.55664256e-01 -1.10089136e-02 6.69359023e+01] [ 1.59781065e-02 -1.60986961e-03 9.99871046e-01 5.83335823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.950371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:108.59, Y:66.96, Z:5.83 [[ 6.55469526e-01 -7.55170431e-01 -8.79324970e-03 1.08588359e+02] [ 7.55064128e-01 6.55526185e-01 -1.27899812e-02 6.69618603e+01] [ 1.54228210e-02 1.74397547e-03 9.99879540e-01 5.83416661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.980371743 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:108.61, Y:66.99, Z:5.83 [[ 6.56072032e-01 -7.54661920e-01 -7.40772831e-03 1.08610591e+02] [ 7.54564741e-01 6.56108986e-01 -1.23713499e-02 6.69859024e+01] [ 1.41964637e-02 2.52688605e-03 9.99896032e-01 5.83376435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.010371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:108.63, Y:67.00, Z:5.83 [[ 6.55248706e-01 -7.54844325e-01 -2.93117392e-02 1.08633046e+02] [ 7.55222862e-01 6.55461291e-01 2.98743412e-03 6.70001848e+01] [ 1.69576627e-02 -2.40944079e-02 9.99565854e-01 5.83061073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.040371743 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:108.64, Y:67.04, Z:5.84 [[ 6.58081938e-01 -7.52938189e-01 3.49953535e-03 1.08644523e+02] [ 7.52796460e-01 6.57851125e-01 -2.30084059e-02 6.70376470e+01] [ 1.50217342e-02 1.77758542e-02 9.99729147e-01 5.84333662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.070371743 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:108.67, Y:67.06, Z:5.84 [[ 6.59628553e-01 -7.51547529e-01 -8.15373466e-03 1.08671449e+02] [ 7.51476731e-01 6.59678582e-01 -1.03388458e-02 6.70577878e+01] [ 1.31489781e-02 6.92456039e-04 9.99913309e-01 5.83628190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.100371743 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:108.69, Y:67.08, Z:5.84 [[ 6.61504807e-01 -7.49912189e-01 -6.56503059e-03 1.08692138e+02] [ 7.49791053e-01 6.61522271e-01 -1.42007983e-02 6.70844157e+01] [ 1.49922657e-02 4.47149513e-03 9.99877611e-01 5.83749262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130371743 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:108.72, Y:67.10, Z:5.83 [[ 6.62557082e-01 -7.48854774e-01 -1.53179907e-02 1.08715556e+02] [ 7.48853277e-01 6.62698884e-01 -6.99702923e-03 6.71044549e+01] [ 1.53909740e-02 -6.83499624e-03 9.99858190e-01 5.83411423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.160371743 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:108.73, Y:67.13, Z:5.84 [[ 6.63072136e-01 -7.48466629e-01 -1.15345947e-02 1.08734982e+02] [ 7.48358733e-01 6.63172423e-01 -1.27099658e-02 6.71301440e+01] [ 1.71624104e-02 -2.04390520e-04 9.99852694e-01 5.83768321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:108.76, Y:67.16, Z:5.84 [[ 6.65087884e-01 -7.46736824e-01 -6.49788506e-03 1.08755109e+02] [ 7.46580111e-01 6.65091625e-01 -1.64701940e-02 6.71575136e+01] [ 1.66205893e-02 6.10293471e-03 9.99843243e-01 5.83844172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.220371743 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:108.78, Y:67.18, Z:5.84 [[ 6.65129339e-01 -7.46626978e-01 -1.22929914e-02 1.08779003e+02] [ 7.46539237e-01 6.65241240e-01 -1.15438155e-02 6.71799839e+01] [ 1.67967290e-02 -1.49907005e-03 9.99857801e-01 5.83589162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250371743 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:108.80, Y:67.20, Z:5.83 [[ 6.64828651e-01 -7.46743908e-01 -1.94010739e-02 1.08798510e+02] [ 7.46775425e-01 6.65039195e-01 -7.02381313e-03 6.71997650e+01] [ 1.81474642e-02 -9.81861298e-03 9.99787110e-01 5.83465159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.280371743 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:108.82, Y:67.23, Z:5.84 [[ 6.63440423e-01 -7.48022834e-01 -1.75682781e-02 1.08818375e+02] [ 7.47934686e-01 6.63655154e-01 -1.24716089e-02 6.72252402e+01] [ 2.09883266e-02 -4.86575502e-03 9.99767880e-01 5.83900457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310371743 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:108.84, Y:67.25, Z:5.84 [[ 6.62782342e-01 -7.48673730e-01 -1.43948744e-02 1.08839856e+02] [ 7.48498710e-01 6.62938642e-01 -1.61875745e-02 6.72508620e+01] [ 2.16621303e-02 -4.57063663e-05 9.99765348e-01 5.84122789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.340371743 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:108.86, Y:67.28, Z:5.84 [[ 6.60557437e-01 -7.50630317e-01 -1.47647940e-02 1.08861099e+02] [ 7.50443118e-01 6.60722428e-01 -1.67630428e-02 6.72752340e+01] [ 2.23382787e-02 -7.18545527e-06 9.99750470e-01 5.84221966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370371743 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:108.88, Y:67.29, Z:5.84 [[ 6.59451228e-01 -7.51448901e-01 -2.11808079e-02 1.08883344e+02] [ 7.51437520e-01 6.59726587e-01 -1.01234751e-02 6.72947520e+01] [ 2.15808164e-02 -9.24011564e-03 9.99724406e-01 5.84044770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.400371743 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:108.90, Y:67.32, Z:5.85 [[ 6.56137324e-01 -7.54488492e-01 -1.51962725e-02 1.08903234e+02] [ 7.54273517e-01 6.56313178e-01 -1.80131427e-02 6.73218605e+01] [ 2.35642228e-02 3.56949333e-04 9.99722261e-01 5.84648530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430371743 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:108.93, Y:67.34, Z:5.84 [[ 6.55819543e-01 -7.54727631e-01 -1.69389878e-02 1.08925761e+02] [ 7.54598910e-01 6.56029574e-01 -1.43416773e-02 6.73428889e+01] [ 2.19365371e-02 -3.37658945e-03 9.99753663e-01 5.84444549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.460371743 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:108.95, Y:67.36, Z:5.85 [[ 6.53901926e-01 -7.56237495e-01 -2.27403389e-02 1.08948550e+02] [ 7.56197120e-01 6.54231566e-01 -1.21232496e-02 6.73646418e+01] [ 2.40455034e-02 -9.26876256e-03 9.99667897e-01 5.84530393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490371743 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:108.97, Y:67.39, Z:5.85 [[ 6.52615971e-01 -7.57612127e-01 -1.07823736e-02 1.08967383e+02] [ 7.57251202e-01 6.52656575e-01 -2.46984183e-02 6.73932930e+01] [ 2.57490082e-02 7.95361686e-03 9.99636798e-01 5.85034392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.520371743 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:108.99, Y:67.41, Z:5.85 [[ 6.52356511e-01 -7.57669769e-01 -1.91703765e-02 1.08994049e+02] [ 7.57476027e-01 6.52630493e-01 -1.74214806e-02 6.74144374e+01] [ 2.57109014e-02 -3.15608431e-03 9.99664438e-01 5.84670927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:109.02, Y:67.44, Z:5.85 [[ 6.51527590e-01 -7.58311209e-01 -2.18153754e-02 1.09016177e+02] [ 7.58143125e-01 6.51869251e-01 -1.68962196e-02 6.74371485e+01] [ 2.70333652e-02 -5.53082368e-03 9.99619231e-01 5.84710447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.580371743 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:109.04, Y:67.47, Z:5.85 [[ 6.51776488e-01 -7.58263384e-01 -1.49683096e-02 1.09036758e+02] [ 7.57872207e-01 6.51930382e-01 -2.48293027e-02 6.74651251e+01] [ 2.85854469e-02 4.83908988e-03 9.99579639e-01 5.84994908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61037174300003 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:109.06, Y:67.48, Z:5.85 [[ 6.51457195e-01 -7.58207649e-01 -2.69199805e-02 1.09061502e+02] [ 7.58087771e-01 6.51942210e-01 -1.65615903e-02 6.74847491e+01] [ 3.01073960e-02 -9.61854082e-03 9.99500389e-01 5.84665631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.640371743 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:109.08, Y:67.51, Z:5.85 [[ 6.53182737e-01 -7.56926924e-01 -2.03455958e-02 1.09080191e+02] [ 7.56592800e-01 6.53499154e-01 -2.24986576e-02 6.75100866e+01] [ 3.03256693e-02 -6.97596571e-04 9.99539828e-01 5.85016098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67037174300003 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:109.10, Y:67.53, Z:5.85 [[ 6.58157920e-01 -7.52523839e-01 -2.31522027e-02 1.09100303e+02] [ 7.52269925e-01 6.58551290e-01 -2.00039579e-02 6.75338339e+01] [ 3.03003681e-02 -4.25094241e-03 9.99531799e-01 5.84974128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.700371743 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:109.12, Y:67.56, Z:5.86 [[ 6.64678130e-01 -7.46998100e-01 -1.40293701e-02 1.09117356e+02] [ 7.46508003e-01 6.64773785e-01 -2.83128108e-02 6.75649730e+01] [ 3.04759733e-02 8.34586903e-03 9.99500656e-01 5.85575975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.730371743 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:109.14, Y:67.59, Z:5.85 [[ 6.71423878e-01 -7.41062150e-01 -4.10694375e-03 1.09139386e+02] [ 7.40641778e-01 6.71211545e-01 -3.04108273e-02 6.75923900e+01] [ 2.52929411e-02 1.73767814e-02 9.99529046e-01 5.85489804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.760371743 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:109.17, Y:67.60, Z:5.84 [[ 6.72642771e-01 -7.38822315e-01 -4.11495999e-02 1.09165639e+02] [ 7.39444001e-01 6.73218049e-01 -1.66616584e-04 6.76009633e+01] [ 2.78257535e-02 -3.03157514e-02 9.99152983e-01 5.84345663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.790371743 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:109.18, Y:67.63, Z:5.86 [[ 6.76843374e-01 -7.35925855e-01 -1.72099843e-02 1.09177059e+02] [ 7.35630224e-01 6.77060490e-01 -2.09109126e-02 6.76325462e+01] [ 2.70410816e-02 1.49322800e-03 9.99633208e-01 5.85712049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.820371743 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:109.20, Y:67.66, Z:5.86 [[ 6.83009530e-01 -7.30186940e-01 -1.80281624e-02 1.09197671e+02] [ 7.29948237e-01 6.83247297e-01 -1.86735745e-02 6.76573415e+01] [ 2.59528935e-02 -4.05396067e-04 9.99663085e-01 5.85717787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.850371743 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:109.22, Y:67.68, Z:5.86 [[ 6.83174391e-01 -7.29893081e-01 -2.29965645e-02 1.09218507e+02] [ 7.29640384e-01 6.83552627e-01 -1.95119584e-02 6.76810246e+01] [ 2.99610055e-02 -3.44915184e-03 9.99545117e-01 5.86007366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880371743 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:109.24, Y:67.70, Z:5.86 [[ 6.83997857e-01 -7.28158335e-01 -4.39587267e-02 1.09240252e+02] [ 7.28634437e-01 6.84867129e-01 -6.99098678e-03 6.76979426e+01] [ 3.51964322e-02 -2.72480220e-02 9.99008887e-01 5.85785321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.910371743 meters Centerline goodness : 0.992811 Centerline is valid? [True, True] Translation: X:109.25, Y:67.73, Z:5.87 [[ 6.87921750e-01 -7.25745982e-01 -7.51234308e-03 1.09252117e+02] [ 7.25243581e-01 6.87771559e-01 -3.14965256e-02 6.77306896e+01] [ 2.80252528e-02 1.62188664e-02 9.99475629e-01 5.87075734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940371743 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:109.28, Y:67.74, Z:5.86 [[ 6.85723109e-01 -7.26498682e-01 -4.45363111e-02 1.09280785e+02] [ 7.27094152e-01 6.86526473e-01 -3.93646479e-03 6.77407494e+01] [ 3.34351931e-02 -2.96827665e-02 9.99000011e-01 5.86050020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.970371743 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:109.29, Y:67.77, Z:5.88 [[ 6.80586647e-01 -7.31698301e-01 -3.76750963e-02 1.09286923e+02] [ 7.31483018e-01 6.81510239e-01 -2.18263445e-02 6.77687898e+01] [ 4.16462631e-02 -1.27039745e-02 9.99051649e-01 5.87845182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000371743 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:109.31, Y:67.79, Z:5.89 [[ 6.80523337e-01 -7.32133146e-01 -2.94795543e-02 1.09307291e+02] [ 7.31515138e-01 6.81160686e-01 -3.00952304e-02 6.77949906e+01] [ 4.21140292e-02 -1.08423361e-03 9.99112222e-01 5.88503212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.030371743 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:109.34, Y:67.82, Z:5.89 [[ 6.84181194e-01 -7.29261864e-01 -8.55731520e-03 1.09337088e+02] [ 7.28453614e-01 6.83897950e-01 -4.04836545e-02 6.78232502e+01] [ 3.53755157e-02 2.14645479e-02 9.99143556e-01 5.88605462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060371743 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:109.37, Y:67.84, Z:5.88 [[ 6.83978148e-01 -7.29346063e-01 -1.51067499e-02 1.09366807e+02] [ 7.28774229e-01 6.84073889e-01 -3.05129052e-02 6.78431821e+01] [ 3.25886004e-02 9.86075038e-03 9.99420206e-01 5.87770164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.090371743 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:109.39, Y:67.85, Z:5.87 [[ 6.75728407e-01 -7.35069559e-01 -5.53521745e-02 1.09387587e+02] [ 7.35965814e-01 6.76993364e-01 -5.85715196e-03 6.78500371e+01] [ 4.17784689e-02 -3.67794642e-02 9.98449714e-01 5.87092415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120371743 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:109.40, Y:67.88, Z:5.89 [[ 6.75541505e-01 -7.36708588e-01 -3.00687742e-02 1.09400607e+02] [ 7.36068195e-01 6.76208985e-01 -3.07411984e-02 6.78808403e+01] [ 4.29800801e-02 -1.36571291e-03 9.99074996e-01 5.88815784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.150371743 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:109.43, Y:67.92, Z:5.89 [[ 6.82104078e-01 -7.31067019e-01 1.65843667e-02 1.09429299e+02] [ 7.30629996e-01 6.80408142e-01 -5.67852932e-02 6.79187273e+01] [ 3.02297169e-02 5.08505158e-02 9.98248661e-01 5.89298349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180371743 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:109.47, Y:67.93, Z:5.87 [[ 6.82445526e-01 -7.30400299e-01 -2.79911881e-02 1.09470513e+02] [ 7.30326552e-01 6.82939986e-01 -1.47004184e-02 6.79252067e+01] [ 2.98534917e-02 -1.04104731e-02 9.99500071e-01 5.86853386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.210371743 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:109.49, Y:67.95, Z:5.88 [[ 6.82928677e-01 -7.30235667e-01 -1.90864674e-02 1.09490486e+02] [ 7.29868102e-01 6.83192567e-01 -2.32479989e-02 6.79510537e+01] [ 3.00162506e-02 1.94612138e-03 9.99547516e-01 5.87528654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240371743 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:109.52, Y:67.97, Z:5.88 [[ 6.84506633e-01 -7.28795245e-01 -1.75544981e-02 1.09515338e+02] [ 7.28457025e-01 6.84727110e-01 -2.23416289e-02 6.79728163e+01] [ 2.83025136e-02 2.50529576e-03 9.99596264e-01 5.87565791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.270371743 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:109.54, Y:68.00, Z:5.88 [[ 6.84859301e-01 -7.28522009e-01 -1.49472199e-02 1.09539988e+02] [ 7.28130881e-01 6.84996411e-01 -2.46035820e-02 6.79971212e+01] [ 2.81630429e-02 5.96645958e-03 9.99585536e-01 5.87745045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300371743 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:109.56, Y:68.00, Z:5.87 [[ 6.77049307e-01 -7.32290762e-01 -7.31742800e-02 1.09558634e+02] [ 7.34708420e-01 6.78313406e-01 9.71906030e-03 6.79971041e+01] [ 4.25179170e-02 -6.03420427e-02 9.97271811e-01 5.87050849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.330371743 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:109.57, Y:68.05, Z:5.90 [[ 6.84938576e-01 -7.28307137e-01 2.06848166e-02 1.09573263e+02] [ 7.27982522e-01 6.82912161e-01 -6.06005620e-02 6.80499438e+01] [ 3.00099090e-02 5.65658476e-02 9.97947749e-01 5.90205474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36037174300003 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:109.62, Y:68.05, Z:5.87 [[ 6.84824766e-01 -7.28107399e-01 -2.95745628e-02 1.09615393e+02] [ 7.28083664e-01 6.85353845e-01 -1.35751890e-02 6.80529313e+01] [ 3.01532358e-02 -1.22361304e-02 9.99470390e-01 5.87404707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.390371743 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:109.64, Y:68.08, Z:5.88 [[ 6.82190759e-01 -7.30793895e-01 -2.35807264e-02 1.09637593e+02] [ 7.30370410e-01 6.82598139e-01 -2.48765962e-02 6.80769386e+01] [ 3.42758246e-02 -2.52080729e-04 9.99412380e-01 5.88185305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42037174300003 meters Centerline goodness : 0.992318 Centerline is valid? [True, True] Translation: X:109.66, Y:68.10, Z:5.88 [[ 6.81160701e-01 -7.31929384e-01 -1.73053991e-02 1.09661541e+02] [ 7.31361212e-01 6.81337363e-01 -2.98358015e-02 6.81020214e+01] [ 3.36285148e-02 7.66647780e-03 9.99404997e-01 5.88374580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.450371743 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:109.69, Y:68.12, Z:5.88 [[ 6.81164249e-01 -7.31648110e-01 -2.65764573e-02 1.09687763e+02] [ 7.31449941e-01 6.81647388e-01 -1.83799372e-02 6.81175378e+01] [ 3.15634190e-02 -6.91959204e-03 9.99477799e-01 5.87811059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.480371743 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:109.71, Y:68.14, Z:5.88 [[ 6.76900605e-01 -7.35615228e-01 -2.59963010e-02 1.09711332e+02] [ 7.35154274e-01 6.77398043e-01 -2.60784391e-02 6.81404587e+01] [ 3.67935403e-02 -1.45878055e-03 9.99321824e-01 5.88432220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.510371743 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:109.74, Y:68.16, Z:5.88 [[ 6.76936729e-01 -7.35634331e-01 -2.44703065e-02 1.09735346e+02] [ 7.35247944e-01 6.77376457e-01 -2.39080770e-02 6.81610788e+01] [ 3.41632117e-02 -1.80748710e-03 9.99414633e-01 5.88356771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.540371743 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:109.76, Y:68.18, Z:5.88 [[ 6.73812672e-01 -7.38327868e-01 -2.91280421e-02 1.09759542e+02] [ 7.38070938e-01 6.74400833e-01 -2.08520377e-02 6.81787586e+01] [ 3.50396164e-02 -7.44819410e-03 9.99358169e-01 5.88424037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.570371743 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:109.78, Y:68.21, Z:5.89 [[ 6.70862285e-01 -7.41227155e-01 -2.29368518e-02 1.09781050e+02] [ 7.40615707e-01 6.71246020e-01 -3.02845699e-02 6.82056126e+01] [ 3.78440161e-02 3.32938303e-03 9.99278112e-01 5.89125405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.600371743 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:109.81, Y:68.23, Z:5.89 [[ 6.68550971e-01 -7.42932181e-01 -3.30359432e-02 1.09806937e+02] [ 7.42621768e-01 6.69306543e-01 -2.32736244e-02 6.82252030e+01] [ 3.94018975e-02 -8.97360634e-03 9.99183149e-01 5.89013687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630371743 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:109.83, Y:68.24, Z:5.89 [[ 6.64749724e-01 -7.46131549e-01 -3.73566087e-02 1.09828722e+02] [ 7.46133897e-01 6.65586944e-01 -1.66801937e-02 6.82403798e+01] [ 3.73096898e-02 -1.67848779e-02 9.99162777e-01 5.88980436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.660371743 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:109.85, Y:68.27, Z:5.90 [[ 6.60145230e-01 -7.50789184e-01 -2.28883370e-02 1.09846553e+02] [ 7.49905887e-01 6.60500935e-01 -3.71439695e-02 6.82714673e+01] [ 4.30050585e-02 7.35631559e-03 9.99047771e-01 5.90213087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690371743 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:109.87, Y:68.29, Z:5.90 [[ 6.56414110e-01 -7.53556322e-01 -3.56845402e-02 1.09873631e+02] [ 7.53264266e-01 6.57287022e-01 -2.38057803e-02 6.82860939e+01] [ 4.13939814e-02 -1.12534389e-02 9.99079526e-01 5.89700238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.720371743 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:109.89, Y:68.30, Z:5.90 [[ 6.47886333e-01 -7.58642398e-01 -6.85930829e-02 1.09886526e+02] [ 7.60032186e-01 6.49831341e-01 -8.38481317e-03 6.82971157e+01] [ 5.09350098e-02 -4.67005449e-02 9.97609485e-01 5.90020676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:109.90, Y:68.33, Z:5.92 [[ 6.47018588e-01 -7.61571736e-01 -3.70868776e-02 1.09896283e+02] [ 7.60598885e-01 6.48072608e-01 -3.86164700e-02 6.83306518e+01] [ 5.34442016e-02 -3.22266381e-03 9.98565637e-01 5.91934604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.780371743 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:109.92, Y:68.36, Z:5.92 [[ 6.52905198e-01 -7.57373161e-01 -1.00348521e-02 1.09920606e+02] [ 7.55975140e-01 6.52409078e-01 -5.35161872e-02 6.83563250e+01] [ 4.70785525e-02 2.73548981e-02 9.98516559e-01 5.92128712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810371743 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:109.95, Y:68.37, Z:5.91 [[ 6.45062841e-01 -7.61796510e-01 -5.96658045e-02 1.09946820e+02] [ 7.62289171e-01 6.46960515e-01 -1.89026900e-02 6.83666143e+01] [ 5.30014229e-02 -3.32891738e-02 9.98039418e-01 5.91062206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.840371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:109.96, Y:68.40, Z:5.92 [[ 6.45736401e-01 -7.62632179e-01 -3.76385443e-02 1.09960076e+02] [ 7.61629004e-01 6.46823859e-01 -3.92448153e-02 6.83977222e+01] [ 5.42748675e-02 -3.32480124e-03 9.98520498e-01 5.92476179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:109.98, Y:68.42, Z:5.93 [[ 6.45916125e-01 -7.62490303e-01 -3.74285703e-02 1.09983025e+02] [ 7.61498443e-01 6.46991233e-01 -3.90187988e-02 6.84215546e+01] [ 5.39674126e-02 -3.29892668e-03 9.98537248e-01 5.92651361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.900371743 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:110.01, Y:68.45, Z:5.93 [[ 6.50899663e-01 -7.59097144e-01 -1.00575835e-02 1.10011784e+02] [ 7.57704272e-01 6.50412393e-01 -5.33662423e-02 6.84543296e+01] [ 4.70517391e-02 2.71153952e-02 9.98524356e-01 5.92926768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930371743 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:110.04, Y:68.48, Z:5.92 [[ 6.51169255e-01 -7.58695220e-01 -1.89780047e-02 1.10041209e+02] [ 7.57680382e-01 6.51327465e-01 -4.11457522e-02 6.84763650e+01] [ 4.35779812e-02 1.24135870e-02 9.98972904e-01 5.92096433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.960371743 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:110.07, Y:68.48, Z:5.91 [[ 6.52136044e-01 -7.56043332e-01 -5.58306450e-02 1.10069622e+02] [ 7.57237370e-01 6.53139678e-01 3.56166060e-04 6.84794108e+01] [ 3.61959325e-02 -4.25093195e-02 9.98440190e-01 5.90783920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990371743 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:110.08, Y:68.52, Z:5.93 [[ 6.49114303e-01 -7.60541563e-01 -1.50715724e-02 1.10076434e+02] [ 7.59167435e-01 6.48940454e-01 -5.04092622e-02 6.85247113e+01] [ 4.81188921e-02 2.12795261e-02 9.98614918e-01 5.93239998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.020371743 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:110.11, Y:68.54, Z:5.92 [[ 6.49136456e-01 -7.59967073e-01 -3.27400188e-02 1.10105934e+02] [ 7.59186417e-01 6.49956975e-01 -3.45241130e-02 6.85431995e+01] [ 4.75167926e-02 -2.44491720e-03 9.98867447e-01 5.92362699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:110.13, Y:68.57, Z:5.92 [[ 6.48597840e-01 -7.60196307e-01 -3.77149289e-02 1.10127838e+02] [ 7.59543462e-01 6.49648688e-01 -3.24085098e-02 6.85654327e+01] [ 4.91382835e-02 -7.62603818e-03 9.98762871e-01 5.92420878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.080371743 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:110.15, Y:68.59, Z:5.93 [[ 6.49262622e-01 -7.59976496e-01 -2.98960484e-02 1.10146637e+02] [ 7.58832871e-01 6.49934752e-01 -4.19224430e-02 6.85938775e+01] [ 5.12905522e-02 4.53257100e-03 9.98673488e-01 5.92869873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11037174300003 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:110.17, Y:68.61, Z:5.93 [[ 6.49185119e-01 -7.59504833e-01 -4.13653155e-02 1.10171124e+02] [ 7.58794716e-01 6.50435988e-01 -3.41116397e-02 6.86145005e+01] [ 5.28134451e-02 -9.24301397e-03 9.98561619e-01 5.92641452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.140371743 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:110.19, Y:68.64, Z:5.93 [[ 6.50265257e-01 -7.58993600e-01 -3.29212952e-02 1.10189147e+02] [ 7.57770545e-01 6.51090539e-01 -4.31846266e-02 6.86440739e+01] [ 5.42115990e-02 3.13467452e-03 9.98524550e-01 5.93270500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17037174300003 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:110.21, Y:68.66, Z:5.93 [[ 6.51296313e-01 -7.57607268e-01 -4.29457812e-02 1.10212088e+02] [ 7.56924102e-01 6.52626631e-01 -3.38287523e-02 6.86625636e+01] [ 5.36564691e-02 -1.04741552e-02 9.98504520e-01 5.92967385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.200371743 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:110.23, Y:68.70, Z:5.94 [[ 6.53900235e-01 -7.56308769e-01 -2.02861862e-02 1.10230525e+02] [ 7.54883312e-01 6.53993672e-01 -4.94313876e-02 6.86954262e+01] [ 5.06524293e-02 1.70094925e-02 9.98571484e-01 5.93641206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.230371743 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:110.26, Y:68.71, Z:5.93 [[ 6.54546711e-01 -7.54291089e-01 -5.11229615e-02 1.10258406e+02] [ 7.54252801e-01 6.56143510e-01 -2.40501004e-02 6.87073275e+01] [ 5.16847757e-02 -2.28177228e-02 9.98402742e-01 5.92687889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.260371743 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:110.27, Y:68.74, Z:5.94 [[ 6.54413198e-01 -7.55304909e-01 -3.54663284e-02 1.10273501e+02] [ 7.54157209e-01 6.55373368e-01 -4.16251511e-02 6.87386543e+01] [ 5.46833680e-02 4.92861047e-04 9.98503624e-01 5.93956249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.290371743 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:110.29, Y:68.77, Z:5.94 [[ 6.57654332e-01 -7.52835747e-01 -2.70021931e-02 1.10294056e+02] [ 7.51551300e-01 6.58143452e-01 -4.49203773e-02 6.87666435e+01] [ 5.15889824e-02 9.24854740e-03 9.98625576e-01 5.94153714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.320371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:110.32, Y:68.78, Z:5.93 [[ 6.60349640e-01 -7.50070233e-01 -3.65102521e-02 1.10319495e+02] [ 7.49476914e-01 6.61319918e-01 -3.06646609e-02 6.87845442e+01] [ 4.71456063e-02 -7.11419334e-03 9.98862693e-01 5.93486045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.350371743 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:110.34, Y:68.81, Z:5.94 [[ 6.60232406e-01 -7.49812982e-01 -4.32858150e-02 1.10340225e+02] [ 7.49387961e-01 6.61511494e-01 -2.86396234e-02 6.88064427e+01] [ 5.01084255e-02 -1.35290612e-02 9.98652147e-01 5.93809242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380371743 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:110.36, Y:68.84, Z:5.95 [[ 6.62305159e-01 -7.48934597e-01 -2.11859834e-02 1.10356600e+02] [ 7.47663856e-01 6.62482547e-01 -4.59960072e-02 6.88387659e+01] [ 4.84833454e-02 1.46233988e-02 9.98716938e-01 5.94580401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.410371743 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:110.38, Y:68.86, Z:5.94 [[ 6.60984815e-01 -7.49491941e-01 -3.68904475e-02 1.10383123e+02] [ 7.48570320e-01 6.62006777e-01 -3.72760373e-02 6.88589271e+01] [ 5.23598158e-02 -2.97619951e-03 9.98623849e-01 5.94216807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440371743 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:110.40, Y:68.88, Z:5.94 [[ 6.59882069e-01 -7.49752803e-01 -4.92584047e-02 1.10404282e+02] [ 7.49331172e-01 6.61501781e-01 -3.03016368e-02 6.88777875e+01] [ 5.53032596e-02 -1.69153514e-02 9.98326310e-01 5.94141579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.470371743 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:110.42, Y:68.91, Z:5.95 [[ 6.59312768e-01 -7.50776903e-01 -4.05057481e-02 1.10422409e+02] [ 7.49725310e-01 6.60543486e-01 -3.99282312e-02 6.89051488e+01] [ 5.67330018e-02 -4.04299192e-03 9.98381200e-01 5.94951154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500371743 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:110.44, Y:68.93, Z:5.95 [[ 6.57881348e-01 -7.51670220e-01 -4.67334177e-02 1.10444354e+02] [ 7.50792471e-01 6.59459322e-01 -3.77368394e-02 6.89269269e+01] [ 5.91844463e-02 -1.02607354e-02 9.98194329e-01 5.95132064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.530371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:110.46, Y:68.95, Z:5.95 [[ 6.56971166e-01 -7.52493772e-01 -4.62818555e-02 1.10463535e+02] [ 7.51523331e-01 6.58537917e-01 -3.92491263e-02 6.89500588e+01] [ 6.00130798e-02 -8.99634998e-03 9.98157050e-01 5.95434299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560371743 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:110.48, Y:68.97, Z:5.96 [[ 6.54254138e-01 -7.54372225e-01 -5.36103537e-02 1.10483672e+02] [ 7.53488236e-01 6.56283290e-01 -3.93410864e-02 6.89727365e+01] [ 6.48614022e-02 -1.46557023e-02 9.97786655e-01 5.95815490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.590371743 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:110.50, Y:69.00, Z:5.96 [[ 6.55185787e-01 -7.54132005e-01 -4.49054967e-02 1.10500881e+02] [ 7.52788082e-01 6.56709484e-01 -4.51968645e-02 6.89974671e+01] [ 6.35742676e-02 -4.19197953e-03 9.97968306e-01 5.96396101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620371743 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:110.52, Y:69.01, Z:5.96 [[ 6.49746798e-01 -7.56442558e-01 -7.49917087e-02 1.10516044e+02] [ 7.56840238e-01 6.52958446e-01 -2.89503409e-02 6.90106973e+01] [ 7.08657394e-02 -3.79463514e-02 9.96763824e-01 5.96397585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.650371743 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:110.53, Y:69.05, Z:5.98 [[ 6.55711193e-01 -7.54602684e-01 -2.48519957e-02 1.10534280e+02] [ 7.52163121e-01 6.55739851e-01 -6.52371616e-02 6.90513269e+01] [ 6.55245812e-02 2.40839823e-02 9.97560269e-01 5.98268727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680371743 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:110.56, Y:69.06, Z:5.97 [[ 6.51208664e-01 -7.55671236e-01 -6.99160881e-02 1.10556320e+02] [ 7.55637962e-01 6.54184192e-01 -3.24701903e-02 6.90595679e+01] [ 7.02747884e-02 -3.16863811e-02 9.97024286e-01 5.97196802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.710371743 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:110.57, Y:69.09, Z:5.99 [[ 6.51556659e-01 -7.57015105e-01 -4.90107220e-02 1.10569355e+02] [ 7.55214565e-01 6.53390670e-01 -5.22646447e-02 6.90900434e+01] [ 7.15882740e-02 -2.96023380e-03 9.97429875e-01 5.98655671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:110.60, Y:69.12, Z:5.99 [[ 6.56295146e-01 -7.54021339e-01 -2.69907739e-02 1.10598860e+02] [ 7.51655003e-01 6.56504222e-01 -6.33795209e-02 6.91196373e+01] [ 6.55090682e-02 2.13079217e-02 9.97624446e-01 5.98880474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.770371743 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:110.63, Y:69.14, Z:5.98 [[ 6.57151540e-01 -7.52602584e-01 -4.17277352e-02 1.10629929e+02] [ 7.51156858e-01 6.58474646e-01 -4.66316959e-02 6.91379184e+01] [ 6.25717906e-02 -6.99983720e-04 9.98040220e-01 5.97855629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800371743 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:110.65, Y:69.16, Z:5.98 [[ 6.55566482e-01 -7.53711789e-01 -4.63802403e-02 1.10653325e+02] [ 7.52418212e-01 6.57180212e-01 -4.45084678e-02 6.91598182e+01] [ 6.40267330e-02 -5.71907788e-03 9.97931796e-01 5.97926593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.830371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:110.68, Y:69.18, Z:5.98 [[ 6.51698386e-01 -7.56331868e-01 -5.70203395e-02 1.10676480e+02] [ 7.55423217e-01 6.53977307e-01 -4.06133650e-02 6.91785061e+01] [ 6.80071903e-02 -1.66068239e-02 9.97546608e-01 5.98063671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86037174300003 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:110.70, Y:69.21, Z:5.99 [[ 6.49241194e-01 -7.59288947e-01 -4.43414851e-02 1.10696884e+02] [ 7.57378841e-01 6.50752188e-01 -5.38412587e-02 6.92074176e+01] [ 6.97363911e-02 1.37266047e-03 9.97564510e-01 5.98926399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.890371743 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:110.71, Y:69.22, Z:5.99 [[ 6.41427655e-01 -7.64071510e-01 -6.90310852e-02 1.10711137e+02] [ 7.63470658e-01 6.44575866e-01 -4.04290512e-02 6.92191111e+01] [ 7.53864577e-02 -2.67708965e-02 9.96794964e-01 5.98718329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92037174300003 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:110.74, Y:69.25, Z:6.00 [[ 6.44379901e-01 -7.63623806e-01 -4.06598781e-02 1.10735870e+02] [ 7.61172010e-01 6.45600610e-01 -6.17820643e-02 6.92521912e+01] [ 7.34282972e-02 8.86195930e-03 9.97261125e-01 5.99858672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.950371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:110.75, Y:69.27, Z:6.00 [[ 6.36882588e-01 -7.68273953e-01 -6.43094349e-02 1.10754052e+02] [ 7.67037379e-01 6.39837871e-01 -4.75516437e-02 6.92652210e+01] [ 7.76803011e-02 -1.90429265e-02 9.96796438e-01 5.99506932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.980371743 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:110.77, Y:69.29, Z:6.00 [[ 6.35890092e-01 -7.69894336e-01 -5.39119858e-02 1.10771337e+02] [ 7.67755520e-01 6.38153351e-01 -5.75479160e-02 6.92906831e+01] [ 7.87099290e-02 -4.79707507e-03 9.96886019e-01 6.00339150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.010371743 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:110.80, Y:69.31, Z:6.01 [[ 6.34785070e-01 -7.70834879e-01 -5.34930295e-02 1.10795309e+02] [ 7.68733095e-01 6.37016308e-01 -5.70933581e-02 6.93137301e+01] [ 7.80854839e-02 -4.87985079e-03 9.96934724e-01 6.00575604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.040371743 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:110.82, Y:69.34, Z:6.01 [[ 6.34465105e-01 -7.71106180e-01 -5.33787455e-02 1.10817849e+02] [ 7.69016712e-01 6.36687547e-01 -5.69408818e-02 6.93368962e+01] [ 7.78930483e-02 -4.92214480e-03 9.96949570e-01 6.00827691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.070371743 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:110.85, Y:69.37, Z:6.01 [[ 6.39372683e-01 -7.68059546e-01 -3.58762563e-02 1.10847946e+02] [ 7.65427357e-01 6.40221930e-01 -6.50910322e-02 6.93669013e+01] [ 7.29625547e-02 1.41567598e-02 9.97234201e-01 6.01186982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.100371743 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:110.88, Y:69.38, Z:6.00 [[ 6.39177272e-01 -7.67045520e-01 -5.56200104e-02 1.10876069e+02] [ 7.65725317e-01 6.41466757e-01 -4.67454638e-02 6.93815120e+01] [ 7.15342863e-02 -1.27110121e-02 9.97357146e-01 6.00395331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130371743 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:110.90, Y:69.41, Z:6.01 [[ 6.38708134e-01 -7.67587143e-01 -5.34967055e-02 1.10896536e+02] [ 7.66000886e-01 6.40881961e-01 -5.01293796e-02 6.94050359e+01] [ 7.27637407e-02 -8.96048135e-03 9.97308953e-01 6.00859384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.160371743 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:110.92, Y:69.43, Z:6.01 [[ 6.37854763e-01 -7.68546454e-01 -4.97759985e-02 1.10918595e+02] [ 7.66664176e-01 6.39782775e-01 -5.38891624e-02 6.94295182e+01] [ 7.32621511e-02 -3.78801596e-03 9.97305524e-01 6.01207649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190371743 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:110.94, Y:69.45, Z:6.01 [[ 6.37459036e-01 -7.69220204e-01 -4.41163785e-02 1.10940433e+02] [ 7.67078277e-01 6.38977784e-01 -5.74309038e-02 6.94547478e+01] [ 7.23663973e-02 2.76913302e-03 9.97374271e-01 6.01444048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.220371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:110.97, Y:69.47, Z:6.01 [[ 6.37112694e-01 -7.69072004e-01 -5.11436001e-02 1.10965454e+02] [ 7.67459712e-01 6.39121495e-01 -5.02922032e-02 6.94746515e+01] [ 7.13652996e-02 -7.20885155e-03 9.97424196e-01 6.01211135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250371743 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:110.98, Y:69.49, Z:6.01 [[ 6.30480665e-01 -7.73012807e-01 -7.03230522e-02 1.10981806e+02] [ 7.72228420e-01 6.33830015e-01 -4.38495012e-02 6.94911100e+01] [ 7.84690872e-02 -2.66591968e-02 9.96560028e-01 6.01376676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.280371743 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:111.00, Y:69.53, Z:6.03 [[ 6.34441277e-01 -7.72770361e-01 -1.76134970e-02 1.11001082e+02] [ 7.69415779e-01 6.33542181e-01 -8.13858911e-02 6.95321737e+01] [ 7.40514977e-02 3.80824662e-02 9.96527020e-01 6.02957877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310371743 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:111.04, Y:69.54, Z:6.01 [[ 6.32145415e-01 -7.72418028e-01 -6.13397375e-02 1.11039618e+02] [ 7.71326556e-01 6.34836804e-01 -4.51395287e-02 6.95410348e+01] [ 7.38073087e-02 -1.87782224e-02 9.97095712e-01 6.01132983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.340371743 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:111.06, Y:69.57, Z:6.02 [[ 6.31390703e-01 -7.74135705e-01 -4.53838007e-02 1.11057138e+02] [ 7.71935732e-01 6.33017095e-01 -5.83488108e-02 6.95697316e+01] [ 7.38986195e-02 1.80751934e-03 9.97264121e-01 6.01970231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370371743 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:111.08, Y:69.59, Z:6.02 [[ 6.29036686e-01 -7.75286928e-01 -5.69475844e-02 1.11083196e+02] [ 7.73751845e-01 6.31487246e-01 -5.03183899e-02 6.95882608e+01] [ 7.49728632e-02 -1.24111852e-02 9.97108335e-01 6.01784801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.400371743 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:111.10, Y:69.61, Z:6.02 [[ 6.27698828e-01 -7.76381345e-01 -5.67995526e-02 1.11103950e+02] [ 7.74719659e-01 6.30161242e-01 -5.20217147e-02 6.96107265e+01] [ 7.61815654e-02 -1.13497607e-02 9.97029364e-01 6.02154875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430371743 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:111.13, Y:69.63, Z:6.02 [[ 6.26394592e-01 -7.77164551e-01 -6.03744646e-02 1.11125677e+02] [ 7.75662107e-01 6.29115631e-01 -5.06144126e-02 6.96299499e+01] [ 7.73182466e-02 -1.51255901e-02 9.96891722e-01 6.02328279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.460371743 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:111.15, Y:69.65, Z:6.03 [[ 6.25956728e-01 -7.77126623e-01 -6.52103247e-02 1.11145567e+02] [ 7.75793712e-01 6.29039470e-01 -4.95324320e-02 6.96484225e+01] [ 7.95128397e-02 -1.95846008e-02 9.96641436e-01 6.02612641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490371743 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:111.16, Y:69.68, Z:6.04 [[ 6.26275180e-01 -7.78557824e-01 -4.03374868e-02 1.11160366e+02] [ 7.75655006e-01 6.27469740e-01 -6.81251569e-02 6.96794942e+01] [ 7.83499263e-02 1.13771214e-02 9.96860998e-01 6.03610603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.520371743 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:111.19, Y:69.69, Z:6.03 [[ 6.27051164e-01 -7.77219823e-01 -5.23085443e-02 1.11185954e+02] [ 7.75316691e-01 6.29198160e-01 -5.47147495e-02 6.96946219e+01] [ 7.54378278e-02 -6.24674016e-03 9.97130940e-01 6.03020747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550371743 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:111.21, Y:69.72, Z:6.03 [[ 6.26997204e-01 -7.77347311e-01 -5.10457132e-02 1.11207800e+02] [ 7.75159846e-01 6.29064596e-01 -5.83519339e-02 6.97197699e+01] [ 7.74707698e-02 -2.98208778e-03 9.96990164e-01 6.03423478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.580371743 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:111.23, Y:69.74, Z:6.03 [[ 6.30005330e-01 -7.74729300e-01 -5.37382237e-02 1.11232469e+02] [ 7.72926637e-01 6.32243830e-01 -5.34055493e-02 6.97400484e+01] [ 7.53505042e-02 -7.88992380e-03 9.97125895e-01 6.03299470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61037174300003 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:111.25, Y:69.76, Z:6.04 [[ 6.30689072e-01 -7.74195252e-01 -5.34135385e-02 1.11254665e+02] [ 7.72188334e-01 6.32919227e-01 -5.60216882e-02 6.97649030e+01] [ 7.71781805e-02 -5.91304478e-03 9.96999782e-01 6.03711933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.640371743 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:111.28, Y:69.78, Z:6.04 [[ 6.31580379e-01 -7.72807245e-01 -6.22510001e-02 1.11276811e+02] [ 7.71410079e-01 6.34417872e-01 -4.94009439e-02 6.97835392e+01] [ 7.76705544e-02 -1.68203820e-02 9.96837178e-01 6.03757447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67037174300003 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:111.29, Y:69.81, Z:6.04 [[ 6.33409240e-01 -7.71820397e-01 -5.55518718e-02 1.11293606e+02] [ 7.69816985e-01 6.35799112e-01 -5.60472897e-02 6.98069927e+01] [ 7.85782722e-02 -7.26390328e-03 9.96881483e-01 6.04368048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.700371743 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:111.31, Y:69.82, Z:6.05 [[ 6.29799907e-01 -7.72536155e-01 -8.08700578e-02 1.11307884e+02] [ 7.72027406e-01 6.34035118e-01 -4.44201900e-02 6.98198450e+01] [ 8.55906594e-02 -3.44580694e-02 9.95734342e-01 6.04600640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.730371743 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:111.32, Y:69.86, Z:6.06 [[ 6.35698682e-01 -7.71200712e-01 -3.37142016e-02 1.11324279e+02] [ 7.67654074e-01 6.36162671e-01 -7.74872836e-02 6.98568117e+01] [ 8.12059648e-02 2.33777198e-02 9.96423140e-01 6.06000006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.760371743 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:111.35, Y:69.86, Z:6.05 [[ 6.31154512e-01 -7.71243663e-01 -8.26268335e-02 1.11349041e+02] [ 7.70815645e-01 6.35529581e-01 -4.41066099e-02 6.98631324e+01] [ 8.65287403e-02 -3.58519701e-02 9.95604044e-01 6.05021396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.790371743 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:111.37, Y:69.90, Z:6.07 [[ 6.38642334e-01 -7.68476816e-01 -3.97410783e-02 1.11369198e+02] [ 7.65069089e-01 6.39651068e-01 -7.42684345e-02 6.99021318e+01] [ 8.24939932e-02 1.70262957e-02 9.96446108e-01 6.06502900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.820371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:111.40, Y:69.92, Z:6.06 [[ 6.39166594e-01 -7.67038387e-01 -5.58406527e-02 1.11397538e+02] [ 7.64793504e-01 6.41581064e-01 -5.88611475e-02 6.99203189e+01] [ 8.09750650e-02 -5.08448928e-03 9.96703159e-01 6.05822135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.850371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:111.42, Y:69.94, Z:6.06 [[ 6.40613852e-01 -7.65787055e-01 -5.64276553e-02 1.11420313e+02] [ 7.63656976e-01 6.43063326e-01 -5.74245673e-02 6.99448185e+01] [ 8.02615459e-02 -6.30439937e-03 9.96753901e-01 6.06110272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880371743 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:111.44, Y:69.97, Z:6.06 [[ 6.40942545e-01 -7.65811313e-01 -5.22081209e-02 1.11441728e+02] [ 7.63422412e-01 6.43064382e-01 -6.04518141e-02 6.99698680e+01] [ 7.98678661e-02 -1.11071007e-03 9.96804841e-01 6.06457339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.910371743 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:111.46, Y:69.99, Z:6.07 [[ 6.41166244e-01 -7.65483304e-01 -5.42324492e-02 1.11464448e+02] [ 7.63297627e-01 6.43441830e-01 -5.79598530e-02 6.99920169e+01] [ 7.92627261e-02 -4.23359850e-03 9.96844771e-01 6.06539715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940371743 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:111.49, Y:70.02, Z:6.07 [[ 6.40744204e-01 -7.65969296e-01 -5.23249735e-02 1.11487141e+02] [ 7.63593687e-01 6.42875797e-01 -6.02942008e-02 7.00164987e+01] [ 7.98219656e-02 -1.32185975e-03 9.96808260e-01 6.06848364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.970371743 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:111.51, Y:70.04, Z:6.07 [[ 6.40775312e-01 -7.65986206e-01 -5.16926728e-02 1.11509726e+02] [ 7.63702842e-01 6.42855031e-01 -5.91217199e-02 7.00397836e+01] [ 7.85173167e-02 -1.59410260e-03 9.96911475e-01 6.06934959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000371743 meters Centerline goodness : 0.995955 Centerline is valid? [True, True] Translation: X:111.53, Y:70.05, Z:6.07 [[ 6.32607650e-01 -7.68670860e-01 -9.46185472e-02 1.11525334e+02] [ 7.69554277e-01 6.37628135e-01 -3.48794598e-02 7.00457763e+01] [ 8.71422721e-02 -5.07490946e-02 9.94902384e-01 6.06727043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.030371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:111.54, Y:70.10, Z:6.09 [[ 6.39627273e-01 -7.68536176e-01 -1.51360098e-02 1.11538028e+02] [ 7.64576257e-01 6.38118077e-01 -9.07108975e-02 7.00968272e+01] [ 7.93731677e-02 4.64485302e-02 9.95762238e-01 6.09222206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060371743 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:111.58, Y:70.11, Z:6.07 [[ 6.39377932e-01 -7.67331804e-01 -4.89669673e-02 1.11576574e+02] [ 7.65081228e-01 6.41250260e-01 -5.87266389e-02 7.01100431e+01] [ 7.64628983e-02 8.48094135e-05 9.97072424e-01 6.07403265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.090371743 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:111.60, Y:70.13, Z:6.07 [[ 6.36837172e-01 -7.68652997e-01 -6.00914894e-02 1.11601222e+02] [ 7.67079060e-01 6.39521222e-01 -5.10129637e-02 7.01301312e+01] [ 7.76410502e-02 -1.36079717e-02 9.96888505e-01 6.07307469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120371743 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:111.62, Y:70.16, Z:6.08 [[ 6.35090058e-01 -7.70302910e-01 -5.73937722e-02 1.11620751e+02] [ 7.68296263e-01 6.37622753e-01 -5.61967651e-02 7.01557113e+01] [ 7.98841068e-02 -8.40541393e-03 9.96768719e-01 6.07934715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.150371743 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:111.63, Y:70.16, Z:6.08 [[ 6.24648635e-01 -7.74113833e-01 -1.02770894e-01 1.11634285e+02] [ 7.75581357e-01 6.30335732e-01 -3.39179078e-02 7.01617847e+01] [ 9.10364880e-02 -5.85204142e-02 9.94126611e-01 6.07912164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:111.64, Y:70.20, Z:6.10 [[ 6.23722222e-01 -7.79014469e-01 -6.40862372e-02 1.11638019e+02] [ 7.75908145e-01 6.26975246e-01 -6.97752895e-02 7.01975046e+01] [ 9.45364444e-02 -6.20463484e-03 9.95502066e-01 6.10245280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.210371743 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:111.67, Y:70.23, Z:6.10 [[ 6.27677443e-01 -7.76582971e-01 -5.42210052e-02 1.11669903e+02] [ 7.73112063e-01 6.30001056e-01 -7.34602504e-02 7.02255262e+01] [ 9.12072700e-02 4.19042897e-03 9.95823114e-01 6.10415700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240371743 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:111.69, Y:70.25, Z:6.10 [[ 6.24805574e-01 -7.78135251e-01 -6.42146912e-02 1.11694421e+02] [ 7.75609991e-01 6.28014618e-01 -6.34569280e-02 7.02457321e+01] [ 8.97058374e-02 -1.01573137e-02 9.95916508e-01 6.10177162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.270371743 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:111.71, Y:70.27, Z:6.11 [[ 6.21975218e-01 -7.80432672e-01 -6.38096556e-02 1.11714827e+02] [ 7.77948491e-01 6.25153260e-01 -6.30836513e-02 7.02701090e+01] [ 8.91233567e-02 -1.04041575e-02 9.95966255e-01 6.10632216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300371743 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:111.72, Y:70.29, Z:6.11 [[ 6.16040449e-01 -7.84696804e-01 -6.88846247e-02 1.11723249e+02] [ 7.82352287e-01 6.19689188e-01 -6.25316710e-02 7.02903349e+01] [ 9.17554595e-02 -1.53700049e-02 9.95662944e-01 6.11115667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.330371743 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:111.74, Y:70.31, Z:6.12 [[ 6.15850088e-01 -7.85368040e-01 -6.26554842e-02 1.11739678e+02] [ 7.82427740e-01 6.18989656e-01 -6.82542068e-02 7.03132451e+01] [ 9.23877692e-02 -6.98902961e-03 9.95698576e-01 6.11697118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36037174300003 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:111.76, Y:70.33, Z:6.12 [[ 6.14818255e-01 -7.86184031e-01 -6.25554381e-02 1.11757940e+02] [ 7.83253869e-01 6.17951925e-01 -6.81820680e-02 7.03342604e+01] [ 9.22599064e-02 -7.07720889e-03 9.95709809e-01 6.11966285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.390371743 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:111.78, Y:70.35, Z:6.12 [[ 6.13845836e-01 -7.86932218e-01 -6.26974737e-02 1.11775174e+02] [ 7.83989023e-01 6.16997646e-01 -6.83748252e-02 7.03549036e+01] [ 9.24905466e-02 -7.18252941e-03 9.95687657e-01 6.12233581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42037174300003 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:111.79, Y:70.38, Z:6.13 [[ 6.13000038e-01 -7.87579871e-01 -6.28402834e-02 1.11794732e+02] [ 7.84624389e-01 6.16169550e-01 -6.85540183e-02 7.03787472e+01] [ 9.27120340e-02 -7.28240317e-03 9.95666332e-01 6.12500792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.450371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:111.81, Y:70.40, Z:6.13 [[ 6.12419954e-01 -7.88039032e-01 -6.27398160e-02 1.11811694e+02] [ 7.85095679e-01 6.15581497e-01 -6.84411836e-02 7.04002287e+01] [ 9.25557940e-02 -7.34201192e-03 9.95680431e-01 6.12665820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.480371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:111.84, Y:70.44, Z:6.13 [[ 6.18678053e-01 -7.85005011e-01 -3.16954179e-02 1.11839881e+02] [ 7.80957322e-01 6.18886561e-01 -8.41729520e-02 7.04358118e+01] [ 8.56920574e-02 2.73231894e-02 9.95946944e-01 6.13192011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.510371743 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:111.86, Y:70.44, Z:6.12 [[ 6.11543740e-01 -7.85988876e-01 -9.07509850e-02 1.11864556e+02] [ 7.85991191e-01 6.16653077e-01 -4.42360671e-02 7.04395340e+01] [ 9.07309309e-02 -4.42771849e-02 9.94890662e-01 6.11727150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.540371743 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:111.87, Y:70.49, Z:6.14 [[ 6.19145342e-01 -7.85169274e-01 -1.29713618e-02 1.11873728e+02] [ 7.80703705e-01 6.17236044e-01 -9.75776165e-02 7.04886427e+01] [ 8.46213383e-02 5.02879365e-02 9.95143383e-01 6.14047191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.570371743 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:111.91, Y:70.50, Z:6.12 [[ 6.20241205e-01 -7.82702904e-01 -5.17398454e-02 1.11911100e+02] [ 7.80390196e-01 6.22388091e-01 -6.02013830e-02 7.04984642e+01] [ 7.93220609e-02 -3.03788975e-03 9.96844412e-01 6.11902714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.600371743 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:111.93, Y:70.52, Z:6.12 [[ 6.18042649e-01 -7.83105151e-01 -6.90623399e-02 1.11933373e+02] [ 7.81615606e-01 6.21522586e-01 -5.27893911e-02 7.05199717e+01] [ 8.42634482e-02 -2.13541075e-02 9.96214672e-01 6.12083331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630371743 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:111.95, Y:70.54, Z:6.12 [[ 6.22001933e-01 -7.80144579e-01 -6.69927777e-02 1.11949775e+02] [ 7.79317668e-01 6.25099757e-01 -4.37523399e-02 7.05379417e+01] [ 7.60103198e-02 -2.49946152e-02 9.96793710e-01 6.12165661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.660371743 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:111.96, Y:70.58, Z:6.14 [[ 6.19988956e-01 -7.83659594e-01 -3.86177986e-02 1.11961096e+02] [ 7.80007915e-01 6.20928374e-01 -7.76891640e-02 7.05775847e+01] [ 8.48607456e-02 1.80442351e-02 9.96229421e-01 6.13963716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690371743 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:111.99, Y:70.60, Z:6.13 [[ 6.21583132e-01 -7.80931415e-01 -6.14860575e-02 1.11990208e+02] [ 7.78634942e-01 6.24534384e-01 -6.06995120e-02 7.05979688e+01] [ 8.58023129e-02 -1.01454000e-02 9.96260525e-01 6.13144821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.720371743 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:112.01, Y:70.61, Z:6.13 [[ 6.25419770e-01 -7.77222212e-01 -6.91067608e-02 1.12011345e+02] [ 7.76295242e-01 6.28722666e-01 -4.55357685e-02 7.06142926e+01] [ 7.88403976e-02 -2.51682798e-02 9.96569491e-01 6.12852539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750371743 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:112.02, Y:70.63, Z:6.14 [[ 6.17273911e-01 -7.80545124e-01 -9.86013657e-02 1.12015564e+02] [ 7.80538212e-01 6.23288736e-01 -4.76576489e-02 7.06333753e+01] [ 9.86560661e-02 -4.75443104e-02 9.93985171e-01 6.14067262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.780371743 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:112.02, Y:70.68, Z:6.17 [[ 6.27635933e-01 -7.78413848e-01 -1.20422825e-02 1.12024368e+02] [ 7.73329719e-01 6.25168372e-01 -1.05478207e-01 7.06849459e+01] [ 8.96341513e-02 5.68892581e-02 9.94348697e-01 6.16705452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810371743 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:112.07, Y:70.69, Z:6.14 [[ 6.27603332e-01 -7.74329990e-01 -8.07906215e-02 1.12067848e+02] [ 7.73343501e-01 6.32015997e-01 -4.99560761e-02 7.06870065e+01] [ 8.97434530e-02 -3.11263023e-02 9.95478411e-01 6.13948142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.840371743 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:112.08, Y:70.72, Z:6.16 [[ 6.31694834e-01 -7.73691619e-01 -4.86098263e-02 1.12076808e+02] [ 7.69900508e-01 6.33459160e-01 -7.73479241e-02 7.07245905e+01] [ 9.06357803e-02 1.14355541e-02 9.95818449e-01 6.15660236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870371743 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:112.10, Y:70.74, Z:6.15 [[ 6.32988944e-01 -7.71461615e-01 -6.45908179e-02 1.12103945e+02] [ 7.68787864e-01 6.36216838e-01 -6.47561243e-02 7.07449385e+01] [ 9.10506301e-02 -8.66672610e-03 9.95808551e-01 6.15182766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.900371743 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:112.12, Y:70.77, Z:6.15 [[ 6.37174119e-01 -7.67593431e-01 -6.93503273e-02 1.12122953e+02] [ 7.65354679e-01 6.40770587e-01 -6.03760704e-02 7.07651987e+01] [ 9.07819249e-02 -1.46075280e-02 9.95763658e-01 6.15150920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930371743 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:112.14, Y:70.80, Z:6.16 [[ 6.39640340e-01 -7.66795977e-01 -5.37044195e-02 1.12139640e+02] [ 7.63283967e-01 6.41862323e-01 -7.35550369e-02 7.07955978e+01] [ 9.08725498e-02 6.05704644e-03 9.95844110e-01 6.16029966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.960371743 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:112.16, Y:70.80, Z:6.15 [[ 6.32204501e-01 -7.65152914e-01 -1.21895398e-01 1.12160887e+02] [ 7.67813998e-01 6.39782407e-01 -3.37659011e-02 7.07954323e+01] [ 1.03822609e-01 -7.22460385e-02 9.91968435e-01 6.15132690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990371743 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:112.16, Y:70.85, Z:6.19 [[ 6.43476027e-01 -7.65129141e-01 -2.27156406e-02 1.12161667e+02] [ 7.59586216e-01 6.41923025e-01 -1.04707261e-01 7.08526458e+01] [ 9.46962697e-02 5.01221250e-02 9.94243627e-01 6.18913062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.020371743 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:112.20, Y:70.87, Z:6.17 [[ 6.44656609e-01 -7.62043798e-01 -6.08860141e-02 1.12200683e+02] [ 7.58693922e-01 6.47525457e-01 -7.13744720e-02 7.08665571e+01] [ 9.38157178e-02 -1.81823733e-04 9.95589563e-01 6.16951317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:112.22, Y:70.87, Z:6.16 [[ 6.38402634e-01 -7.60584947e-01 -1.18121192e-01 1.12220168e+02] [ 7.62330142e-01 6.45987497e-01 -3.94069524e-02 7.08708879e+01] [ 1.06277148e-01 -6.48898427e-02 9.92216950e-01 6.16418769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.080371743 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:112.22, Y:70.91, Z:6.19 [[ 6.40041119e-01 -7.64970810e-01 -7.18820307e-02 1.12220389e+02] [ 7.60779923e-01 6.44055665e-01 -8.00387956e-02 7.09088796e+01] [ 1.07523371e-01 -3.45828555e-03 9.94196542e-01 6.19379210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11037174300003 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:112.24, Y:70.95, Z:6.20 [[ 6.48979359e-01 -7.60545470e-01 -1.99092673e-02 1.12242675e+02] [ 7.55074675e-01 6.47075897e-01 -1.05617324e-01 7.09487076e+01] [ 9.32095847e-02 5.35104800e-02 9.94207525e-01 6.20271719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.140371743 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:112.29, Y:70.95, Z:6.17 [[ 6.49272740e-01 -7.55994721e-01 -8.31678481e-02 1.12286900e+02] [ 7.54638302e-01 6.53972080e-01 -5.33062103e-02 7.09521129e+01] [ 9.46886642e-02 -2.81513744e-02 9.95108817e-01 6.17443638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17037174300003 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:112.30, Y:70.99, Z:6.19 [[ 6.49200462e-01 -7.58494869e-01 -5.67828715e-02 1.12298865e+02] [ 7.54692798e-01 6.51645863e-01 -7.61344192e-02 7.09851322e+01] [ 9.47498896e-02 6.57287588e-03 9.95479410e-01 6.19035588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.200371743 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:112.33, Y:71.00, Z:6.19 [[ 6.48506063e-01 -7.57845496e-01 -7.14848906e-02 1.12325455e+02] [ 7.55308394e-01 6.52305641e-01 -6.32975561e-02 7.10030023e+01] [ 9.45997652e-02 -1.29442890e-02 9.95431228e-01 6.18582248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.230371743 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:112.34, Y:71.03, Z:6.19 [[ 6.47489136e-01 -7.59381828e-01 -6.40082680e-02 1.12343532e+02] [ 7.56098409e-01 6.50639691e-01 -7.05916986e-02 7.10293757e+01] [ 9.52523729e-02 -2.68919165e-03 9.95449523e-01 6.19310419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.260371743 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:112.37, Y:71.05, Z:6.20 [[ 6.45535063e-01 -7.60392380e-01 -7.13295968e-02 1.12366789e+02] [ 7.57397569e-01 6.49386589e-01 -6.81614276e-02 7.10514748e+01] [ 9.81499138e-02 -1.00242718e-02 9.95121153e-01 6.19538074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.290371743 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:112.39, Y:71.07, Z:6.20 [[ 6.42278073e-01 -7.62514883e-01 -7.77812994e-02 1.12388984e+02] [ 7.59833205e-01 6.46755447e-01 -6.60370457e-02 7.10720383e+01] [ 1.00659709e-01 -1.66866676e-02 9.94780970e-01 6.19910177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.320371743 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:112.41, Y:71.10, Z:6.21 [[ 6.40780181e-01 -7.64553774e-01 -6.97014118e-02 1.12407987e+02] [ 7.61049782e-01 6.44531679e-01 -7.33630901e-02 7.10985334e+01] [ 1.01014795e-01 -6.03663012e-03 9.94866609e-01 6.20681925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.350371743 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:112.43, Y:71.12, Z:6.21 [[ 6.37847413e-01 -7.66958529e-01 -7.01804324e-02 1.12429624e+02] [ 7.63660952e-01 6.41646892e-01 -7.14927695e-02 7.11190623e+01] [ 9.98630457e-02 -7.99257780e-03 9.94969090e-01 6.20933030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380371743 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:112.45, Y:71.14, Z:6.21 [[ 6.35863977e-01 -7.68410579e-01 -7.22646832e-02 1.12451053e+02] [ 7.65308350e-01 6.39864339e-01 -6.98337859e-02 7.11405669e+01] [ 9.99006136e-02 -1.08999766e-02 9.94937716e-01 6.21275376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.410371743 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:112.47, Y:71.16, Z:6.22 [[ 6.36137952e-01 -7.68955039e-01 -6.35346647e-02 1.12471292e+02] [ 7.65565314e-01 6.39297042e-01 -7.21736921e-02 7.11646923e+01] [ 9.61158475e-02 -2.72751085e-03 9.95366417e-01 6.21636580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440371743 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:112.49, Y:71.18, Z:6.22 [[ 6.33206539e-01 -7.69933261e-01 -7.90711898e-02 1.12493717e+02] [ 7.67723469e-01 6.37765885e-01 -6.20914743e-02 7.11784532e+01] [ 9.82351986e-02 -2.13880806e-02 9.94933363e-01 6.21542526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.470371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:112.51, Y:71.21, Z:6.23 [[ 6.31200439e-01 -7.72886316e-01 -6.50595821e-02 1.12510023e+02] [ 7.69283121e-01 6.34537611e-01 -7.46022792e-02 7.12071287e+01] [ 9.89418325e-02 -2.96024704e-03 9.95088816e-01 6.22616002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500371743 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:112.53, Y:71.24, Z:6.23 [[ 6.27801700e-01 -7.76316350e-01 -5.65504210e-02 1.12532693e+02] [ 7.71630185e-01 6.30260686e-01 -8.57806803e-02 7.12365467e+01] [ 1.02234452e-01 1.02172450e-02 9.94707859e-01 6.23295749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.530371743 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:112.56, Y:71.25, Z:6.22 [[ 6.28775068e-01 -7.74052591e-01 -7.40574138e-02 1.12560920e+02] [ 7.71481625e-01 6.32913778e-01 -6.50864962e-02 7.12504930e+01] [ 9.72523285e-02 -1.62091679e-02 9.95127754e-01 6.22422780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560371743 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:112.58, Y:71.28, Z:6.23 [[ 6.29646295e-01 -7.74867880e-01 -5.59044897e-02 1.12575027e+02] [ 7.70976217e-01 6.32095915e-01 -7.77844971e-02 7.12766849e+01] [ 9.56097078e-02 5.87568850e-03 9.95401557e-01 6.23295602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.590371743 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:112.60, Y:71.30, Z:6.24 [[ 6.26207098e-01 -7.77048290e-01 -6.37230357e-02 1.12600927e+02] [ 7.72810635e-01 6.29439170e-01 -8.10558691e-02 7.13028349e+01] [ 1.03094099e-01 1.51192095e-03 9.94670458e-01 6.23682874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620371743 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:112.63, Y:71.33, Z:6.24 [[ 6.26379783e-01 -7.76461510e-01 -6.89629693e-02 1.12625108e+02] [ 7.72723816e-01 6.30140670e-01 -7.62931263e-02 7.13251187e+01] [ 1.02695048e-01 -5.50085694e-03 9.94697677e-01 6.23676942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.650371743 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:112.65, Y:71.35, Z:6.24 [[ 6.25950498e-01 -7.76529785e-01 -7.20240695e-02 1.12647236e+02] [ 7.72816077e-01 6.30030737e-01 -7.62665196e-02 7.13491603e+01] [ 1.04600602e-01 -7.92229288e-03 9.94482756e-01 6.24091943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680371743 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:112.67, Y:71.37, Z:6.25 [[ 6.27113694e-01 -7.76249069e-01 -6.45429926e-02 1.12666892e+02] [ 7.72055804e-01 6.30425960e-01 -8.05788088e-02 7.13749642e+01] [ 1.03238803e-01 7.01282425e-04 9.94656352e-01 6.24618841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.710371743 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:112.69, Y:71.40, Z:6.25 [[ 6.26893347e-01 -7.75591848e-01 -7.39054540e-02 1.12690909e+02] [ 7.72223187e-01 6.31134336e-01 -7.30807778e-02 7.13951434e+01] [ 1.03325125e-01 -1.12576519e-02 9.94583925e-01 6.24599593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740371743 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:112.71, Y:71.42, Z:6.25 [[ 6.27757392e-01 -7.75541338e-01 -6.67554530e-02 1.12711075e+02] [ 7.71703176e-01 6.31289176e-01 -7.71244732e-02 7.14203799e+01] [ 1.01955212e-01 -3.09993695e-03 9.94784160e-01 6.25182494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.770371743 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:112.73, Y:71.44, Z:6.25 [[ 6.28751355e-01 -7.74465033e-01 -6.98258343e-02 1.12733394e+02] [ 7.71184264e-01 6.32556355e-01 -7.17446085e-02 7.14408088e+01] [ 9.97324657e-02 -8.73906480e-03 9.94975911e-01 6.25175440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800371743 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:112.76, Y:71.46, Z:6.25 [[ 6.30405157e-01 -7.72848891e-01 -7.27593919e-02 1.12755126e+02] [ 7.70219924e-01 6.34417098e-01 -6.53927726e-02 7.14596089e+01] [ 9.66985340e-02 -1.48167922e-02 9.95203425e-01 6.25237873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.830371743 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:112.77, Y:71.48, Z:6.26 [[ 6.29432422e-01 -7.73965242e-01 -6.92288300e-02 1.12773513e+02] [ 7.70739888e-01 6.33169675e-01 -7.11068812e-02 7.14841548e+01] [ 9.88678503e-02 -8.60044419e-03 9.95063405e-01 6.25967143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86037174300003 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:112.79, Y:71.50, Z:6.26 [[ 6.19805654e-01 -7.78554698e-01 -9.84557451e-02 1.12789517e+02] [ 7.76867372e-01 6.26471244e-01 -6.33313985e-02 7.14991259e+01] [ 1.10986651e-01 -3.72338971e-02 9.93124162e-01 6.26472643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.890371743 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:112.81, Y:71.54, Z:6.28 [[ 6.24949384e-01 -7.79294607e-01 -4.62404763e-02 1.12805875e+02] [ 7.73338042e-01 6.26093055e-01 -9.97785567e-02 7.15398469e+01] [ 1.06707732e-01 2.65970282e-02 9.93934635e-01 6.28425821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92037174300003 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:112.84, Y:71.55, Z:6.27 [[ 6.23314515e-01 -7.78201308e-01 -7.66925007e-02 1.12839507e+02] [ 7.74476067e-01 6.27910401e-01 -7.69113134e-02 7.15542905e+01] [ 1.08008504e-01 -1.14565683e-02 9.94083955e-01 6.27388805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.950371743 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:112.86, Y:71.57, Z:6.28 [[ 6.18857721e-01 -7.78594374e-01 -1.03951537e-01 1.12863299e+02] [ 7.76916962e-01 6.26223006e-01 -6.51519846e-02 7.15679508e+01] [ 1.15823812e-01 -4.04419033e-02 9.92446118e-01 6.27604354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.980371743 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:112.86, Y:71.60, Z:6.29 [[ 6.15324822e-01 -7.84734150e-01 -7.46168695e-02 1.12862417e+02] [ 7.79475765e-01 6.19828080e-01 -9.07231169e-02 7.15974839e+01] [ 1.17443159e-01 -2.33785563e-03 9.93076854e-01 6.29395500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.010371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:112.90, Y:71.62, Z:6.29 [[ 6.15827179e-01 -7.83512022e-01 -8.28601031e-02 1.12896084e+02] [ 7.79057345e-01 6.21249031e-01 -8.43759102e-02 7.16184407e+01] [ 1.17586299e-01 -1.25917932e-02 9.92982834e-01 6.29483893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.040371743 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:112.92, Y:71.64, Z:6.30 [[ 6.14253960e-01 -7.85053617e-01 -7.98930048e-02 1.12916252e+02] [ 7.80286337e-01 6.19362570e-01 -8.68518291e-02 7.16424982e+01] [ 1.17666079e-01 -8.99034014e-03 9.93012521e-01 6.30036495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.070371743 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:112.94, Y:71.66, Z:6.30 [[ 6.15714136e-01 -7.83788362e-01 -8.10672876e-02 1.12939313e+02] [ 7.79498425e-01 6.20907943e-01 -8.27981389e-02 7.16629216e+01] [ 1.15231540e-01 -1.22118384e-02 9.93263592e-01 6.30170827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.100371743 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:112.95, Y:71.69, Z:6.31 [[ 6.14088501e-01 -7.86530536e-01 -6.53071844e-02 1.12950354e+02] [ 7.80240835e-01 6.17464906e-01 -9.98064547e-02 7.16859891e+01] [ 1.18825719e-01 1.03346641e-02 9.92861341e-01 6.31261940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130371743 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:112.98, Y:71.71, Z:6.31 [[ 6.10317780e-01 -7.87740473e-01 -8.35293565e-02 1.12980902e+02] [ 7.83507082e-01 6.15828217e-01 -8.28990894e-02 7.17050003e+01] [ 1.16742703e-01 -1.48510542e-02 9.93051151e-01 6.30711728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.160371743 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:113.00, Y:71.73, Z:6.31 [[ 6.07670277e-01 -7.90081241e-01 -8.06750694e-02 1.13001487e+02] [ 7.85302533e-01 6.12916247e-01 -8.73705069e-02 7.17293158e+01] [ 1.18476859e-01 -1.02618762e-02 9.92903786e-01 6.31389244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190371743 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:113.02, Y:71.75, Z:6.32 [[ 6.07506295e-01 -7.90721100e-01 -7.54734578e-02 1.13022233e+02] [ 7.85565960e-01 6.12160320e-01 -9.02544524e-02 7.17540333e+01] [ 1.17567956e-01 -4.45923129e-03 9.93054828e-01 6.31787809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.220371743 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:113.05, Y:71.78, Z:6.32 [[ 6.05254638e-01 -7.92384587e-01 -7.61149824e-02 1.13046906e+02] [ 7.87206294e-01 6.10000608e-01 -9.05842643e-02 7.17777798e+01] [ 1.18207760e-01 -5.09164715e-03 9.92975831e-01 6.32046039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250371743 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:113.07, Y:71.80, Z:6.32 [[ 6.04471705e-01 -7.92234576e-01 -8.35364253e-02 1.13071049e+02] [ 7.87824117e-01 6.10042299e-01 -8.47440515e-02 7.17985730e+01] [ 1.18097921e-01 -1.45866292e-02 9.92894814e-01 6.32090718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.280371743 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:113.09, Y:71.82, Z:6.33 [[ 6.04137983e-01 -7.92728064e-01 -8.12373968e-02 1.13091289e+02] [ 7.88022939e-01 6.09467758e-01 -8.69994267e-02 7.18236833e+01] [ 1.18478461e-01 -1.14572740e-02 9.92890520e-01 6.32589133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310371743 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:113.11, Y:71.85, Z:6.33 [[ 6.03800217e-01 -7.93217375e-01 -7.89398056e-02 1.13113161e+02] [ 7.88296950e-01 6.08876349e-01 -8.86426021e-02 7.18487847e+01] [ 1.18377433e-01 -8.70558551e-03 9.92930509e-01 6.32997057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.340371743 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:113.13, Y:71.86, Z:6.33 [[ 6.07848721e-01 -7.88761856e-01 -9.15132047e-02 1.13134856e+02] [ 7.86282741e-01 6.13973284e-01 -6.92550220e-02 7.18596349e+01] [ 1.10812382e-01 -2.98586769e-02 9.93392710e-01 6.32637431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370371743 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:113.15, Y:71.89, Z:6.34 [[ 6.08163327e-01 -7.90499074e-01 -7.24470941e-02 1.13150474e+02] [ 7.86109573e-01 6.12431676e-01 -8.34217067e-02 7.18896025e+01] [ 1.10313677e-01 -6.21733153e-03 9.93877375e-01 6.33941187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.400371743 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:113.17, Y:71.91, Z:6.34 [[ 6.08719354e-01 -7.89686420e-01 -7.65251940e-02 1.13172755e+02] [ 7.85695142e-01 6.13405434e-01 -8.01056679e-02 7.19117114e+01] [ 1.10199328e-01 -1.13636027e-02 9.93844544e-01 6.34264585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430371743 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:113.19, Y:71.94, Z:6.35 [[ 6.08153407e-01 -7.90299986e-01 -7.46683799e-02 1.13193465e+02] [ 7.86089449e-01 6.12656084e-01 -8.19505986e-02 7.19359914e+01] [ 1.10511594e-01 -8.85748988e-03 9.93835365e-01 6.34763798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.460371743 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:113.22, Y:71.96, Z:6.35 [[ 6.08101826e-01 -7.89755688e-01 -8.06109294e-02 1.13216393e+02] [ 7.85983046e-01 6.13224864e-01 -7.86506055e-02 7.19582330e+01] [ 1.11547389e-01 -1.55312470e-02 9.93637741e-01 6.35179590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490371743 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:113.23, Y:71.98, Z:6.36 [[ 6.08982611e-01 -7.89400705e-01 -7.73738065e-02 1.13233634e+02] [ 7.85074931e-01 6.13795001e-01 -8.31447481e-02 7.19814915e+01] [ 1.13126178e-01 -1.01105300e-02 9.93529187e-01 6.35830947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.520371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:113.25, Y:72.01, Z:6.36 [[ 6.09445409e-01 -7.89518297e-01 -7.23681674e-02 1.13254167e+02] [ 7.84693768e-01 6.13716295e-01 -8.72238454e-02 7.20076509e+01] [ 1.13278345e-01 -3.62867785e-03 9.93556666e-01 6.36381162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550371743 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:113.27, Y:72.04, Z:6.37 [[ 6.05576012e-01 -7.92962918e-01 -6.69888357e-02 1.13274789e+02] [ 7.86441450e-01 6.09203145e-01 -1.01889028e-01 7.20382959e+01] [ 1.21604031e-01 9.01875440e-03 9.92537718e-01 6.37244847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.580371743 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:113.30, Y:72.06, Z:6.37 [[ 6.05508681e-01 -7.91975249e-01 -7.83226806e-02 1.13300460e+02] [ 7.86718604e-01 6.10520432e-01 -9.13161588e-02 7.20569942e+01] [ 1.20137734e-01 -6.32518307e-03 9.92737083e-01 6.36782727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61037174300003 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:113.32, Y:72.08, Z:6.37 [[ 6.05523496e-01 -7.92034854e-01 -7.76021047e-02 1.13321340e+02] [ 7.86778128e-01 6.10448500e-01 -9.12842065e-02 7.20785081e+01] [ 1.19672362e-01 -5.78090681e-03 9.92796609e-01 6.37048283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.640371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:113.34, Y:72.10, Z:6.37 [[ 6.07933506e-01 -7.91228324e-01 -6.61406940e-02 1.13338875e+02] [ 7.85507806e-01 6.11492437e-01 -9.51550588e-02 7.21022278e+01] [ 1.15733912e-01 5.89391709e-03 9.93262767e-01 6.37183039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67037174300003 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:113.36, Y:72.11, Z:6.37 [[ 5.99038242e-01 -7.92870527e-01 -1.11845932e-01 1.13356132e+02] [ 7.91227170e-01 6.07578252e-01 -6.93414185e-02 7.21085536e+01] [ 1.22933923e-01 -4.69573787e-02 9.91303311e-01 6.36705293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.700371743 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:113.37, Y:72.15, Z:6.39 [[ 6.06019535e-01 -7.93475000e-01 -5.60156041e-02 1.13372853e+02] [ 7.86424112e-01 6.08233982e-01 -1.07650081e-01 7.21502540e+01] [ 1.19488242e-01 2.11860301e-02 9.92609547e-01 6.38908043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.730371743 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:113.40, Y:72.16, Z:6.38 [[ 5.99169043e-01 -7.93229471e-01 -1.08551667e-01 1.13396068e+02] [ 7.91057394e-01 6.07439557e-01 -7.24250204e-02 7.21557168e+01] [ 1.23388237e-01 -4.24757688e-02 9.91449016e-01 6.37659111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.760371743 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:113.40, Y:72.18, Z:6.39 [[ 6.00233555e-01 -7.95467786e-01 -8.33707447e-02 1.13403211e+02] [ 7.89842578e-01 6.05930290e-01 -9.48535017e-02 7.21835565e+01] [ 1.25969764e-01 -8.91550934e-03 9.91994018e-01 6.39337019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.790371743 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:113.43, Y:72.22, Z:6.40 [[ 6.09101383e-01 -7.91974333e-01 -4.20970416e-02 1.13428648e+02] [ 7.84457512e-01 6.09431728e-01 -1.14975562e-01 7.22194236e+01] [ 1.16712967e-01 3.70084334e-02 9.92475924e-01 6.40073400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.820371743 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:113.46, Y:72.22, Z:6.38 [[ 6.00743960e-01 -7.90324427e-01 -1.20391009e-01 1.13458039e+02] [ 7.89974694e-01 6.09967027e-01 -6.22913250e-02 7.22167728e+01] [ 1.22664902e-01 -5.76847132e-02 9.90770304e-01 6.38134306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.850371743 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:113.47, Y:72.25, Z:6.40 [[ 6.10994204e-01 -7.89802038e-01 -5.38407317e-02 1.13469683e+02] [ 7.84082522e-01 6.13136103e-01 -9.63261025e-02 7.22539256e+01] [ 1.09090249e-01 1.66391136e-02 9.93892579e-01 6.39878794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880371743 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:113.50, Y:72.27, Z:6.39 [[ 6.10349311e-01 -7.88186419e-01 -7.89676419e-02 1.13497764e+02] [ 7.84510295e-01 6.15261343e-01 -7.74407968e-02 7.22678243e+01] [ 1.09623522e-01 -1.46849910e-02 9.93864696e-01 6.39163118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.910371743 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:113.51, Y:72.30, Z:6.41 [[ 6.05208806e-01 -7.93486816e-01 -6.40388481e-02 1.13513264e+02] [ 7.87221639e-01 6.08503191e-01 -1.00029781e-01 7.22995533e+01] [ 1.18340156e-01 1.01261371e-02 9.92921482e-01 6.40511399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940371743 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:113.54, Y:72.31, Z:6.40 [[ 6.03290740e-01 -7.93076327e-01 -8.40846138e-02 1.13539034e+02] [ 7.88616637e-01 6.08941097e-01 -8.52909135e-02 7.23149021e+01] [ 1.18844781e-01 -1.48553070e-02 9.92801711e-01 6.39985410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.970371743 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:113.56, Y:72.34, Z:6.40 [[ 5.99507716e-01 -7.95292939e-01 -8.99979956e-02 1.13560575e+02] [ 7.90786334e-01 6.05921387e-01 -8.66962893e-02 7.23372158e+01] [ 1.23480657e-01 -1.91940906e-02 9.92161335e-01 6.40478200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000371743 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:113.58, Y:72.36, Z:6.41 [[ 5.98679117e-01 -7.96780453e-01 -8.20013689e-02 1.13575930e+02] [ 7.91435906e-01 6.04194979e-01 -9.26155181e-02 7.23593392e+01] [ 1.23339050e-01 -9.45185117e-03 9.92319576e-01 6.40986325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.030371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:113.60, Y:72.38, Z:6.41 [[ 5.97494863e-01 -7.97815493e-01 -8.05625736e-02 1.13596253e+02] [ 7.92310736e-01 6.02852014e-01 -9.38783583e-02 7.23817259e+01] [ 1.23464918e-01 -7.73875521e-03 9.92318762e-01 6.41290187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060371743 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:113.62, Y:72.40, Z:6.42 [[ 5.95271092e-01 -7.98716004e-01 -8.77785346e-02 1.13618759e+02] [ 7.93802294e-01 6.01491397e-01 -8.99222852e-02 7.24025034e+01] [ 1.24620402e-01 -1.61506652e-02 9.92073037e-01 6.41575450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.090371743 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:113.64, Y:72.43, Z:6.42 [[ 5.94889005e-01 -7.99132921e-01 -8.65658556e-02 1.13637726e+02] [ 7.94017121e-01 6.00982968e-01 -9.14127094e-02 7.24263323e+01] [ 1.25075510e-01 -1.43543558e-02 9.92043381e-01 6.42213016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120371743 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:113.66, Y:72.45, Z:6.43 [[ 5.95290519e-01 -7.99108479e-01 -8.39930818e-02 1.13656953e+02] [ 7.93742193e-01 6.01082007e-01 -9.31329854e-02 7.24500438e+01] [ 1.24910088e-01 -1.12276697e-02 9.92104535e-01 6.42669122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.150371743 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:113.67, Y:72.46, Z:6.43 [[ 5.89663349e-01 -7.99872234e-01 -1.11810307e-01 1.13669000e+02] [ 7.97009106e-01 5.98689451e-01 -7.96707349e-02 7.24619482e+01] [ 1.30666060e-01 -4.21349206e-02 9.90530681e-01 6.42844287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:113.68, Y:72.50, Z:6.45 [[ 5.96810519e-01 -8.00123383e-01 -6.01645828e-02 1.13684292e+02] [ 7.92333640e-01 5.99506998e-01 -1.13131618e-01 7.24998638e+01] [ 1.26588342e-01 1.98477169e-02 9.91756754e-01 6.44524971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.210371743 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:113.71, Y:72.52, Z:6.44 [[ 5.98086683e-01 -7.96702362e-01 -8.69348319e-02 1.13714840e+02] [ 7.91397134e-01 6.04224915e-01 -9.27514289e-02 7.25169932e+01] [ 1.26423474e-01 -1.33265824e-02 9.91886842e-01 6.43761936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240371743 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:113.73, Y:72.55, Z:6.44 [[ 6.05396407e-01 -7.93762698e-01 -5.86171488e-02 1.13730287e+02] [ 7.86639296e-01 6.07925619e-01 -1.07819572e-01 7.25499294e+01] [ 1.21218021e-01 1.91630289e-02 9.92440915e-01 6.44437351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.270371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:113.76, Y:72.56, Z:6.44 [[ 6.02319771e-01 -7.91230461e-01 -1.05665749e-01 1.13762589e+02] [ 7.88272008e-01 6.10422309e-01 -7.75360987e-02 7.25598871e+01] [ 1.25849654e-01 -3.65918272e-02 9.91374250e-01 6.43557801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300371743 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:113.77, Y:72.59, Z:6.45 [[ 6.04781576e-01 -7.91808399e-01 -8.53153205e-02 1.13772705e+02] [ 7.86273924e-01 6.10683983e-01 -9.40127046e-02 7.25889228e+01] [ 1.26540749e-01 -1.02240601e-02 9.91908719e-01 6.44892400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.330371743 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:113.78, Y:72.60, Z:6.45 [[ 6.00135836e-01 -7.90952092e-01 -1.19296970e-01 1.13780804e+02] [ 7.88436817e-01 6.10077477e-01 -7.85675354e-02 7.25987308e+01] [ 1.34923551e-01 -4.69069300e-02 9.89745106e-01 6.45032430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36037174300003 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:113.79, Y:72.64, Z:6.47 [[ 6.09500895e-01 -7.91088083e-01 -5.18488463e-02 1.13793358e+02] [ 7.82315449e-01 6.10757702e-01 -1.22301135e-01 7.26425935e+01] [ 1.28418053e-01 3.39804981e-02 9.91137795e-01 6.47223397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.390371743 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:113.83, Y:72.66, Z:6.46 [[ 6.11289302e-01 -7.86627751e-01 -8.68456690e-02 1.13827456e+02] [ 7.81347989e-01 6.17315281e-01 -9.17450976e-02 7.26555471e+01] [ 1.25780398e-01 -1.17738922e-02 9.91988239e-01 6.45756359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42037174300003 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:113.85, Y:72.68, Z:6.46 [[ 6.11723212e-01 -7.86841132e-01 -8.17052270e-02 1.13845559e+02] [ 7.81056676e-01 6.17131410e-01 -9.53902102e-02 7.26814013e+01] [ 1.25479803e-01 -5.46400714e-03 9.92081128e-01 6.46279789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.450371743 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:113.86, Y:72.70, Z:6.46 [[ 6.11580222e-01 -7.86112144e-01 -8.94277908e-02 1.13864621e+02] [ 7.81127464e-01 6.17901275e-01 -8.96543322e-02 7.27005261e+01] [ 1.25735905e-01 -1.50236871e-02 9.91949984e-01 6.46429049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.480371743 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:113.88, Y:72.72, Z:6.47 [[ 6.09207036e-01 -7.86774387e-01 -9.92615282e-02 1.13880844e+02] [ 7.82570748e-01 6.16702585e-01 -8.52111811e-02 7.27200771e+01] [ 1.28256816e-01 -2.57679173e-02 9.91406175e-01 6.46770639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.510371743 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:113.89, Y:72.75, Z:6.48 [[ 6.12166788e-01 -7.88004419e-01 -6.55809328e-02 1.13893694e+02] [ 7.80959417e-01 6.15517422e-01 -1.06022135e-01 7.27524813e+01] [ 1.23912117e-01 1.36871828e-02 9.92198795e-01 6.47840889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.540371743 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:113.92, Y:72.78, Z:6.48 [[ 6.10052109e-01 -7.88770950e-01 -7.53446266e-02 1.13920049e+02] [ 7.82409196e-01 6.14683797e-01 -9.99984005e-02 7.27771833e+01] [ 1.25188955e-01 2.05390642e-03 9.92130791e-01 6.47867536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.570371743 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:113.95, Y:72.80, Z:6.48 [[ 6.08862327e-01 -7.87780138e-01 -9.32154594e-02 1.13945679e+02] [ 7.83223077e-01 6.15629700e-01 -8.69579477e-02 7.27956868e+01] [ 1.25889949e-01 -2.00630805e-02 9.91841315e-01 6.47643237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.600371743 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:113.95, Y:72.80, Z:6.48 [[ 5.95750732e-01 -7.91163985e-01 -1.38349612e-01 1.13952269e+02] [ 7.91019223e-01 6.07816699e-01 -6.96236208e-02 7.28017039e+01] [ 1.39174906e-01 -6.79588798e-02 9.87933164e-01 6.48130721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630371743 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:113.95, Y:72.84, Z:6.51 [[ 5.97432224e-01 -7.98341864e-01 -7.56637736e-02 1.13954827e+02] [ 7.89828129e-01 6.02122084e-01 -1.16706996e-01 7.28428209e+01] [ 1.38730910e-01 9.96314339e-03 9.90279996e-01 6.50944915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.660371743 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:113.98, Y:72.86, Z:6.51 [[ 5.95339650e-01 -7.98242621e-01 -9.15391651e-02 1.13979638e+02] [ 7.91396028e-01 6.02252239e-01 -1.04807286e-01 7.28601598e+01] [ 1.38791310e-01 -1.00477988e-02 9.90270677e-01 6.50522807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690371743 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:114.00, Y:72.88, Z:6.51 [[ 5.91617751e-01 -8.00660277e-01 -9.45069215e-02 1.13997760e+02] [ 7.94055636e-01 5.98960078e-01 -1.03549371e-01 7.28804618e+01] [ 1.39513741e-01 -1.37821079e-02 9.90124219e-01 6.50850722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.720371743 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:114.01, Y:72.90, Z:6.51 [[ 5.88231669e-01 -8.01716245e-01 -1.05993234e-01 1.14011746e+02] [ 7.95913220e-01 5.97150562e-01 -9.96662086e-02 7.28968588e+01] [ 1.43197938e-01 -2.57345959e-02 9.89359430e-01 6.51335297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750371743 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:114.03, Y:72.93, Z:6.52 [[ 5.86375022e-01 -8.05940601e-01 -8.13884597e-02 1.14025509e+02] [ 7.97779162e-01 5.91992444e-01 -1.14426199e-01 7.29266274e+01] [ 1.40402072e-01 2.16664761e-03 9.90092200e-01 6.52431273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.780371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:114.05, Y:72.94, Z:6.52 [[ 5.85042735e-01 -8.04498421e-01 -1.02505069e-01 1.14047241e+02] [ 7.98436347e-01 5.93522082e-01 -1.01148098e-01 7.29397174e+01] [ 1.42212507e-01 -2.26678128e-02 9.89576563e-01 6.52220071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810371743 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:114.07, Y:72.97, Z:6.53 [[ 5.91849977e-01 -8.03603194e-01 -6.27336483e-02 1.14070744e+02] [ 7.94499361e-01 5.94728114e-01 -1.22756819e-01 7.29738684e+01] [ 1.35957237e-01 2.28117773e-02 9.90452045e-01 6.53304023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.840371743 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:114.10, Y:72.99, Z:6.52 [[ 5.93128407e-01 -8.01615804e-01 -7.49052449e-02 1.14100779e+02] [ 7.94784569e-01 5.97834620e-01 -1.04456962e-01 7.29918648e+01] [ 1.28515300e-01 2.42285850e-03 9.91704567e-01 6.52149737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870371743 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:114.11, Y:72.99, Z:6.52 [[ 5.82176638e-01 -8.01890516e-01 -1.34320370e-01 1.14113554e+02] [ 8.01299780e-01 5.93869868e-01 -7.23687883e-02 7.29929009e+01] [ 1.37800666e-01 -6.54994655e-02 9.88291858e-01 6.51731656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.900371743 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:114.11, Y:73.03, Z:6.54 [[ 5.81750875e-01 -8.08205618e-01 -9.14855120e-02 1.14112269e+02] [ 8.00933347e-01 5.88814294e-01 -1.08643918e-01 7.30266910e+01] [ 1.41674602e-01 -1.00701028e-02 9.89862061e-01 6.54392026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930371743 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:114.14, Y:73.06, Z:6.55 [[ 5.89841549e-01 -8.05831912e-01 -5.21716121e-02 1.14139054e+02] [ 7.96522456e-01 5.91219606e-01 -1.26535980e-01 7.30613904e+01] [ 1.32811610e-01 3.30803176e-02 9.90589102e-01 6.54906446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.960371743 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:114.16, Y:73.06, Z:6.53 [[ 5.80338329e-01 -8.04255357e-01 -1.27987283e-01 1.14163414e+02] [ 8.02367392e-01 5.91564726e-01 -7.91058913e-02 7.30603202e+01] [ 1.39334099e-01 -5.67846415e-02 9.88615959e-01 6.53309993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:114.17, Y:73.09, Z:6.56 [[ 5.80346539e-01 -8.09155753e-01 -9.20046835e-02 1.14165103e+02] [ 8.01762922e-01 5.87506390e-01 -1.09601364e-01 7.30905604e+01] [ 1.42737913e-01 -1.01591718e-02 9.89708381e-01 6.55524132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.020371743 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:114.18, Y:73.11, Z:6.56 [[ 5.80141997e-01 -8.09314127e-01 -9.19016189e-02 1.14181717e+02] [ 8.01935872e-01 5.87288017e-01 -1.09506358e-01 7.31114294e+01] [ 1.42597762e-01 -1.01699678e-02 9.89728473e-01 6.55893248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050371743 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:114.21, Y:73.14, Z:6.56 [[ 5.86153065e-01 -8.06273240e-01 -7.96746307e-02 1.14209720e+02] [ 7.98317208e-01 5.91537396e-01 -1.13018334e-01 7.31385584e+01] [ 1.38254182e-01 2.64041435e-03 9.90393260e-01 6.56209156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.080371743 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:114.22, Y:73.15, Z:6.56 [[ 5.79901266e-01 -8.07998135e-01 -1.04180305e-01 1.14220184e+02] [ 8.02291773e-01 5.88611628e-01 -9.93189930e-02 7.31517169e+01] [ 1.41571300e-01 -2.59877919e-02 9.89586884e-01 6.56062460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11037174300003 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:114.24, Y:73.18, Z:6.57 [[ 5.84913158e-01 -8.06528458e-01 -8.59560633e-02 1.14243700e+02] [ 7.98875552e-01 5.91183076e-01 -1.10907275e-01 7.31784101e+01] [ 1.40265644e-01 -3.79707289e-03 9.90106626e-01 6.56946651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.140371743 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:114.26, Y:73.20, Z:6.57 [[ 5.84326965e-01 -8.06194901e-01 -9.27996735e-02 1.14264348e+02] [ 7.99391930e-01 5.91514432e-01 -1.05276868e-01 7.31982480e+01] [ 1.39766021e-01 -1.26671972e-02 9.90103531e-01 6.56960109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17037174300003 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:114.28, Y:73.22, Z:6.57 [[ 5.84975475e-01 -8.06467527e-01 -8.61035499e-02 1.14280351e+02] [ 7.99089072e-01 5.91256684e-01 -1.08959576e-01 7.32218999e+01] [ 1.38781659e-01 -5.06572613e-03 9.90310047e-01 6.57327432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.200371743 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:114.30, Y:73.25, Z:6.58 [[ 5.84120070e-01 -8.06333421e-01 -9.28986417e-02 1.14302259e+02] [ 7.99585288e-01 5.91318353e-01 -1.04909349e-01 7.32452290e+01] [ 1.39524586e-01 -1.30007311e-02 9.90133259e-01 6.57544359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.230371743 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:114.32, Y:73.27, Z:6.58 [[ 5.83943485e-01 -8.05228869e-01 -1.03036282e-01 1.14320105e+02] [ 7.99253786e-01 5.92496439e-01 -1.00704300e-01 7.32667004e+01] [ 1.42138640e-01 -2.35465192e-02 9.89566657e-01 6.58042230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.260371743 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:114.33, Y:73.29, Z:6.59 [[ 5.83921821e-01 -8.06231716e-01 -9.50038260e-02 1.14333130e+02] [ 7.99073360e-01 5.91459865e-01 -1.07967559e-01 7.32911494e+01] [ 1.43237820e-01 -1.28704128e-02 9.89604608e-01 6.58926615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.290371743 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:114.35, Y:73.31, Z:6.59 [[ 5.84219266e-01 -8.06042476e-01 -9.47806705e-02 1.14349119e+02] [ 7.98842466e-01 5.91725855e-01 -1.08218421e-01 7.33126727e+01] [ 1.43312817e-01 -1.24915382e-02 9.89598604e-01 6.59344529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.320371743 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:114.36, Y:73.33, Z:6.60 [[ 5.85677152e-01 -8.04832271e-01 -9.60587838e-02 1.14364009e+02] [ 7.97675709e-01 5.93350745e-01 -1.07927555e-01 7.33341422e+01] [ 1.43860130e-01 -1.34130556e-02 9.89507126e-01 6.59800532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.350371743 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:114.38, Y:73.36, Z:6.60 [[ 5.85462452e-01 -8.05122329e-01 -9.49302514e-02 1.14380844e+02] [ 7.97797357e-01 5.92989125e-01 -1.09010434e-01 7.33573346e+01] [ 1.44059341e-01 -1.19135874e-02 9.89497333e-01 6.60301499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:114.39, Y:73.38, Z:6.61 [[ 5.84086922e-01 -8.06276289e-01 -9.36002885e-02 1.14385189e+02] [ 7.98583087e-01 5.91461151e-01 -1.11529193e-01 7.33788722e+01] [ 1.45284278e-01 -9.60486409e-03 9.89343330e-01 6.60830546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.410371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:114.43, Y:73.39, Z:6.59 [[ 5.88840628e-01 -7.99039007e-01 -1.21669143e-01 1.14427374e+02] [ 7.97504697e-01 5.98855797e-01 -7.31983043e-02 7.33947582e+01] [ 1.31350572e-01 -5.39295779e-02 9.89867985e-01 6.59323650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440371743 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:114.41, Y:73.43, Z:6.64 [[ 5.87115013e-01 -8.07396859e-01 -5.83632911e-02 1.14405051e+02] [ 7.95997150e-01 5.88931971e-01 -1.39812986e-01 7.34328226e+01] [ 1.47256574e-01 3.56292895e-02 9.88456400e-01 6.63536679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.470371743 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:114.45, Y:73.45, Z:6.62 [[ 5.92790519e-01 -8.00282253e-01 -9.02647049e-02 1.14446700e+02] [ 7.93536828e-01 5.99541994e-01 -1.04157096e-01 7.34467406e+01] [ 1.37472557e-01 -9.88502851e-03 9.90456250e-01 6.61556781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500371743 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:114.45, Y:73.47, Z:6.62 [[ 5.91798659e-01 -8.00302081e-01 -9.63894539e-02 1.14454624e+02] [ 7.93394381e-01 5.99437182e-01 -1.05832044e-01 7.34662572e+01] [ 1.42477027e-01 -1.38435895e-02 9.89701294e-01 6.62167281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.530371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:114.47, Y:73.50, Z:6.64 [[ 5.97730731e-01 -8.00171956e-01 -4.94248311e-02 1.14470244e+02] [ 7.89522831e-01 5.98237279e-01 -1.36988528e-01 7.35049116e+01] [ 1.39182155e-01 4.28602203e-02 9.89338834e-01 6.63943453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560371743 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:114.51, Y:73.52, Z:6.62 [[ 5.96972475e-01 -7.95045593e-01 -1.07360930e-01 1.14510703e+02] [ 7.89588666e-01 6.05949750e-01 -9.68227232e-02 7.35154930e+01] [ 1.42033808e-01 -2.69704729e-02 9.89494311e-01 6.62068163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.590371743 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:114.53, Y:73.54, Z:6.63 [[ 5.97124046e-01 -7.95669791e-01 -1.01747021e-01 1.14526546e+02] [ 7.89070307e-01 6.05455496e-01 -1.03883074e-01 7.35413056e+01] [ 1.44259917e-01 -1.82544717e-02 9.89371442e-01 6.63102298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620371743 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:114.54, Y:73.57, Z:6.64 [[ 5.97712520e-01 -7.96218099e-01 -9.36828841e-02 1.14540954e+02] [ 7.88551684e-01 6.04959094e-01 -1.10502206e-01 7.35658560e+01] [ 1.44658169e-01 -7.82524420e-03 9.89450747e-01 6.63907384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.650371743 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:114.55, Y:73.58, Z:6.64 [[ 5.94152199e-01 -7.96471483e-01 -1.12322493e-01 1.14551846e+02] [ 7.90211163e-01 6.04057126e-01 -1.03350404e-01 7.35806166e+01] [ 1.50164852e-01 -2.73526178e-02 9.88282526e-01 6.64132037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680371743 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:114.56, Y:73.60, Z:6.65 [[ 5.95032328e-01 -7.97898267e-01 -9.64099760e-02 1.14562070e+02] [ 7.89246627e-01 6.02759573e-01 -1.17348452e-01 7.36048904e+01] [ 1.51744162e-01 -6.26512595e-03 9.88399948e-01 6.65391305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.710371743 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:114.58, Y:73.64, Z:6.66 [[ 6.02525839e-01 -7.96216295e-01 -5.47925659e-02 1.14584220e+02] [ 7.85092976e-01 6.03652099e-01 -1.38683674e-01 7.36417776e+01] [ 1.43497848e-01 4.05432382e-02 9.88819808e-01 6.66371237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740371743 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:114.62, Y:73.66, Z:6.65 [[ 6.05438683e-01 -7.91786489e-01 -8.07350975e-02 1.14620547e+02] [ 7.83508222e-01 6.10768725e-01 -1.14352225e-01 7.36593014e+01] [ 1.39853019e-01 5.97664783e-03 9.90154237e-01 6.64801528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.770371743 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:114.64, Y:73.68, Z:6.65 [[ 6.05545491e-01 -7.90677194e-01 -9.02454064e-02 1.14643891e+02] [ 7.83413413e-01 6.12205299e-01 -1.07089202e-01 7.36793525e+01] [ 1.39921706e-01 -5.85207855e-03 9.90145277e-01 6.64672796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800371743 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:114.67, Y:73.69, Z:6.65 [[ 6.01928620e-01 -7.87674872e-01 -1.31340138e-01 1.14670089e+02] [ 7.84698429e-01 6.13933665e-01 -8.56377873e-02 7.36875343e+01] [ 1.48088865e-01 -5.15145643e-02 9.87631479e-01 6.64546375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.830371743 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:114.67, Y:73.72, Z:6.67 [[ 6.02574877e-01 -7.91841952e-01 -9.94476774e-02 1.14672141e+02] [ 7.83885892e-01 6.10640755e-01 -1.12431209e-01 7.37163906e+01] [ 1.49754553e-01 -1.02074094e-02 9.88670513e-01 6.66675129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86037174300003 meters Centerline goodness : 0.992209 Centerline is valid? [True, True] Translation: X:114.69, Y:73.74, Z:6.67 [[ 6.03011115e-01 -7.91606495e-01 -9.86749779e-02 1.14690712e+02] [ 7.83417838e-01 6.10970352e-01 -1.13893462e-01 7.37390045e+01] [ 1.50446291e-01 -8.62471399e-03 9.88580562e-01 6.67251704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.890371743 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:114.71, Y:73.77, Z:6.68 [[ 6.08163608e-01 -7.90851113e-01 -6.84948348e-02 1.14707312e+02] [ 7.80465060e-01 6.11464391e-01 -1.30328771e-01 7.37714682e+01] [ 1.44952806e-01 2.58033902e-02 9.89102052e-01 6.68141047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92037174300003 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:114.74, Y:73.78, Z:6.67 [[ 6.07462819e-01 -7.87295516e-01 -1.05615787e-01 1.14739112e+02] [ 7.80679433e-01 6.16268631e-01 -1.03694735e-01 7.37831273e+01] [ 1.46726096e-01 -1.94613766e-02 9.88985696e-01 6.67012416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.950371743 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:114.76, Y:73.81, Z:6.68 [[ 6.07273448e-01 -7.88050775e-01 -1.00969972e-01 1.14756977e+02] [ 7.80259463e-01 6.15506447e-01 -1.11116984e-01 7.38078150e+01] [ 1.49713494e-01 -1.13043817e-02 9.88664797e-01 6.68015810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.980371743 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:114.78, Y:73.83, Z:6.68 [[ 6.06653850e-01 -7.87358686e-01 -1.09715112e-01 1.14778001e+02] [ 7.80519576e-01 6.16120929e-01 -1.05755346e-01 7.38268712e+01] [ 1.50865166e-01 -2.14779049e-02 9.88321001e-01 6.68202569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.010371743 meters Centerline goodness : 0.987336 Centerline is valid? [True, True] Translation: X:114.79, Y:73.84, Z:6.68 [[ 6.09567238e-01 -7.85327315e-01 -1.08114711e-01 1.14791905e+02] [ 7.79971313e-01 6.18523485e-01 -9.52546529e-02 7.38429243e+01] [ 1.41677569e-01 -2.62622576e-02 9.89564430e-01 6.68131042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.040371743 meters Centerline goodness : 0.987109 Centerline is valid? [True, True] Translation: X:114.80, Y:73.86, Z:6.68 [[ 6.04558116e-01 -7.88460647e-01 -1.13310602e-01 1.14802210e+02] [ 7.83345642e-01 6.14286351e-01 -9.49835953e-02 7.38585785e+01] [ 1.44495983e-01 -3.13382631e-02 9.89009011e-01 6.68454309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.070371743 meters Centerline goodness : 0.986565 Centerline is valid? [True, True] Translation: X:114.82, Y:73.89, Z:6.71 [[ 6.07421469e-01 -7.90904177e-01 -7.42276361e-02 1.14815608e+02] [ 7.80999989e-01 6.11655408e-01 -1.26161324e-01 7.38907749e+01] [ 1.45183253e-01 1.86613140e-02 9.89228780e-01 6.70748765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.100371743 meters Centerline goodness : 0.985513 Centerline is valid? [True, True] Translation: X:114.84, Y:73.90, Z:6.70 [[ 6.03991987e-01 -7.91052779e-01 -9.71039621e-02 1.14837793e+02] [ 7.83837713e-01 6.11642327e-01 -1.07201234e-01 7.39040255e+01] [ 1.44194728e-01 -1.13650611e-02 9.89484066e-01 6.69895771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130371743 meters Centerline goodness : 0.983599 Centerline is valid? [True, True] Translation: X:114.84, Y:73.93, Z:6.70 [[ 5.94652368e-01 -8.00222576e-01 -7.76684598e-02 1.14837810e+02] [ 7.91679947e-01 5.99649480e-01 -1.16890388e-01 7.39270341e+01] [ 1.40112179e-01 8.02058357e-03 9.90103150e-01 6.70252228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.160371743 meters Centerline goodness : 0.984801 Centerline is valid? [True, True] Translation: X:114.88, Y:73.95, Z:6.71 [[ 5.98832035e-01 -7.95417929e-01 -9.33301250e-02 1.14875401e+02] [ 7.87603043e-01 6.06023412e-01 -1.11431909e-01 7.39454538e+01] [ 1.45195179e-01 -6.77809383e-03 9.89379815e-01 6.70967318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190371743 meters Centerline goodness : 0.986478 Centerline is valid? [True, True] Translation: X:114.90, Y:73.97, Z:6.71 [[ 5.92500593e-01 -7.99662023e-01 -9.73842660e-02 1.14897827e+02] [ 7.92489713e-01 6.00301567e-01 -1.07694403e-01 7.39650352e+01] [ 1.44579052e-01 -1.33670314e-02 9.89402962e-01 6.71268644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.220371743 meters Centerline goodness : 0.984227 Centerline is valid? [True, True] Translation: X:114.91, Y:73.98, Z:6.72 [[ 5.91729990e-01 -8.01221645e-01 -8.88791001e-02 1.14911946e+02] [ 7.93181634e-01 5.98357618e-01 -1.13274258e-01 7.39849122e+01] [ 1.43939274e-01 -3.46949415e-03 9.89580440e-01 6.71844249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250371743 meters Centerline goodness : 0.986024 Centerline is valid? [True, True] Translation: X:114.93, Y:74.01, Z:6.72 [[ 5.87569730e-01 -8.03464912e-01 -9.59476333e-02 1.14934217e+02] [ 7.96138628e-01 5.95223659e-01 -1.08959082e-01 7.40060592e+01] [ 1.44655100e-01 -1.23665588e-02 9.89404857e-01 6.72165377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.280371743 meters Centerline goodness : 0.985112 Centerline is valid? [True, True] Translation: X:114.95, Y:74.03, Z:6.73 [[ 5.84859670e-01 -8.05838364e-01 -9.25402417e-02 1.14950323e+02] [ 7.98030833e-01 5.92078428e-01 -1.12204833e-01 7.40272089e+01] [ 1.45210040e-01 -8.22588440e-03 9.89366656e-01 6.72729309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310371743 meters Centerline goodness : 0.985545 Centerline is valid? [True, True] Translation: X:114.97, Y:74.05, Z:6.73 [[ 5.78061257e-01 -8.09726864e-01 -1.00933586e-01 1.14970577e+02] [ 8.02763761e-01 5.86505239e-01 -1.07619462e-01 7.40451296e+01] [ 1.46340446e-01 -1.88151835e-02 9.89055339e-01 6.73167283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.340371743 meters Centerline goodness : 0.984750 Centerline is valid? [True, True] Translation: X:114.98, Y:74.07, Z:6.74 [[ 5.75666774e-01 -8.12233951e-01 -9.42537745e-02 1.14984347e+02] [ 8.04229990e-01 5.83244959e-01 -1.14190370e-01 7.40661593e+01] [ 1.47722334e-01 -1.00661105e-02 9.88977647e-01 6.73930806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370371743 meters Centerline goodness : 0.985469 Centerline is valid? [True, True] Translation: X:115.01, Y:74.08, Z:6.74 [[ 5.69617832e-01 -8.15468972e-01 -1.02693143e-01 1.15006197e+02] [ 8.08404080e-01 5.78424782e-01 -1.09122019e-01 7.40840922e+01] [ 1.48385879e-01 -2.08597079e-02 9.88709514e-01 6.74232740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.400371743 meters Centerline goodness : 0.985722 Centerline is valid? [True, True] Translation: X:115.02, Y:74.11, Z:6.75 [[ 5.67067433e-01 -8.18255633e-01 -9.42986985e-02 1.15021228e+02] [ 8.10125729e-01 5.74751972e-01 -1.15570212e-01 7.41071235e+01] [ 1.48764340e-01 -1.08576984e-02 9.88813067e-01 6.75029023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430371743 meters Centerline goodness : 0.985513 Centerline is valid? [True, True] Translation: X:115.04, Y:74.13, Z:6.75 [[ 5.64720671e-01 -8.19559979e-01 -9.70154865e-02 1.15038689e+02] [ 8.11513489e-01 5.72832436e-01 -1.15364024e-01 7.41273620e+01] [ 1.50121355e-01 -1.35809268e-02 9.88574295e-01 6.75491616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.460371743 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:115.06, Y:74.15, Z:6.76 [[ 5.60780020e-01 -8.22400249e-01 -9.58311003e-02 1.15057287e+02] [ 8.14116441e-01 5.68775101e-01 -1.17086737e-01 7.41500915e+01] [ 1.50798506e-01 -1.23577714e-02 9.88487277e-01 6.76048346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490371743 meters Centerline goodness : 0.985667 Centerline is valid? [True, True] Translation: X:115.08, Y:74.17, Z:6.77 [[ 5.58383093e-01 -8.23706699e-01 -9.85677203e-02 1.15075050e+02] [ 8.15650641e-01 5.66800489e-01 -1.15979469e-01 7.41706413e+01] [ 1.51401298e-01 -1.56358498e-02 9.88348707e-01 6.76501880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.520371743 meters Centerline goodness : 0.983855 Centerline is valid? [True, True] Translation: X:115.09, Y:74.19, Z:6.77 [[ 5.55016083e-01 -8.26352103e-01 -9.53905135e-02 1.15092648e+02] [ 8.17797326e-01 5.63028933e-01 -1.19188734e-01 7.41918240e+01] [ 1.52199480e-01 -1.18584427e-02 9.88278653e-01 6.77097318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550371743 meters Centerline goodness : 0.985111 Centerline is valid? [True, True] Translation: X:115.11, Y:74.21, Z:6.77 [[ 5.53546672e-01 -8.26823291e-01 -9.97463118e-02 1.15110235e+02] [ 8.18763976e-01 5.62198327e-01 -1.16441373e-01 7.42111240e+01] [ 1.52353649e-01 -1.72129524e-02 9.88176138e-01 6.77256912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.580371743 meters Centerline goodness : 0.984840 Centerline is valid? [True, True] Translation: X:115.13, Y:74.23, Z:6.78 [[ 5.53318273e-01 -8.27860674e-01 -9.21172848e-02 1.15126530e+02] [ 8.19111037e-01 5.60863933e-01 -1.20369256e-01 7.42349911e+01] [ 1.51314236e-01 -8.85177582e-03 9.88446077e-01 6.77736006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61037174300003 meters Centerline goodness : 0.985087 Centerline is valid? [True, True] Translation: X:115.14, Y:74.25, Z:6.78 [[ 5.51932922e-01 -8.28016009e-01 -9.87903816e-02 1.15143594e+02] [ 8.19924303e-01 5.60458387e-01 -1.16664194e-01 7.42549601e+01] [ 1.51967718e-01 -1.66098253e-02 9.88245884e-01 6.78078028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.640371743 meters Centerline goodness : 0.984083 Centerline is valid? [True, True] Translation: X:115.16, Y:74.28, Z:6.79 [[ 5.50963439e-01 -8.28584040e-01 -9.94373117e-02 1.15158483e+02] [ 8.20441036e-01 5.59605034e-01 -1.17126908e-01 7.42756913e+01] [ 1.52695107e-01 -1.70498071e-02 9.88126261e-01 6.78882690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67037174300003 meters Centerline goodness : 0.984007 Centerline is valid? [True, True] Translation: X:115.17, Y:74.30, Z:6.79 [[ 5.51659177e-01 -8.28981121e-01 -9.19915963e-02 1.15173647e+02] [ 8.20047904e-01 5.59214634e-01 -1.21657012e-01 7.43004510e+01] [ 1.52294413e-01 -8.32430889e-03 9.88300115e-01 6.79455422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.700371743 meters Centerline goodness : 0.984404 Centerline is valid? [True, True] Translation: X:115.19, Y:74.32, Z:6.80 [[ 5.52133078e-01 -8.27839203e-01 -9.91530085e-02 1.15189621e+02] [ 8.19791473e-01 5.60707334e-01 -1.16401142e-01 7.43187924e+01] [ 1.51957248e-01 -1.70158701e-02 9.88240586e-01 6.79718263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.730371743 meters Centerline goodness : 0.985266 Centerline is valid? [True, True] Translation: X:115.19, Y:74.34, Z:6.80 [[ 5.47451226e-01 -8.32590912e-01 -8.41993387e-02 1.15190509e+02] [ 8.23694153e-01 5.53880922e-01 -1.21424325e-01 7.43446057e+01] [ 1.47733197e-01 -2.88060715e-03 9.89023056e-01 6.80059604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.760371743 meters Centerline goodness : 0.982097 Centerline is valid? [True, True] Translation: X:115.22, Y:74.36, Z:6.81 [[ 5.55486447e-01 -8.26989284e-01 -8.67382901e-02 1.15221507e+02] [ 8.17882626e-01 5.62210016e-01 -1.22425110e-01 7.43634958e+01] [ 1.50009389e-01 -2.93625121e-03 9.88680212e-01 6.80849857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.790371743 meters Centerline goodness : 0.985265 Centerline is valid? [True, True] Translation: X:115.24, Y:74.38, Z:6.80 [[ 5.52302866e-01 -8.27182836e-01 -1.03586197e-01 1.15236435e+02] [ 8.20287983e-01 5.61395750e-01 -1.09372926e-01 7.43844729e+01] [ 1.48624258e-01 -2.45635318e-02 9.88588622e-01 6.80473859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.820371743 meters Centerline goodness : 0.984602 Centerline is valid? [True, True] Translation: X:115.25, Y:74.41, Z:6.81 [[ 5.55491264e-01 -8.26237069e-01 -9.36042850e-02 1.15252968e+02] [ 8.17934473e-01 5.63208117e-01 -1.17387459e-01 7.44093842e+01] [ 1.49708563e-01 -1.13544637e-02 9.88664970e-01 6.81377678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.850371743 meters Centerline goodness : 0.983457 Centerline is valid? [True, True] Translation: X:115.26, Y:74.43, Z:6.82 [[ 5.53123721e-01 -8.28824411e-01 -8.42866807e-02 1.15256200e+02] [ 8.19806310e-01 5.59506369e-01 -1.21943580e-01 7.44339817e+01] [ 1.48228750e-01 -1.64886599e-03 9.88951727e-01 6.81797104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880371743 meters Centerline goodness : 0.983432 Centerline is valid? [True, True] Translation: X:115.29, Y:74.46, Z:6.82 [[ 5.61265390e-01 -8.22170739e-01 -9.49549213e-02 1.15286416e+02] [ 8.14312872e-01 5.69086884e-01 -1.14169461e-01 7.44557571e+01] [ 1.47904390e-01 -1.32436476e-02 9.88912988e-01 6.81975628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.910371743 meters Centerline goodness : 0.979548 Centerline is valid? [True, True] Translation: X:115.28, Y:74.48, Z:6.83 [[ 5.58800924e-01 -8.26803070e-01 -6.43289307e-02 1.15278383e+02] [ 8.16294053e-01 5.62063685e-01 -1.33223249e-01 7.44833134e+01] [ 1.46306347e-01 2.19339508e-02 9.88996135e-01 6.82940087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940371743 meters Centerline goodness : 0.981167 Centerline is valid? [True, True] Translation: X:115.32, Y:74.50, Z:6.82 [[ 5.67605705e-01 -8.16090384e-01 -1.08720970e-01 1.15322551e+02] [ 8.10022190e-01 5.77181892e-01 -1.03562133e-01 7.44989123e+01] [ 1.47267836e-01 -2.92839409e-02 9.88663054e-01 6.82111607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.970371743 meters Centerline goodness : 0.981179 Centerline is valid? [True, True] Translation: X:115.33, Y:74.53, Z:6.83 [[ 5.68265469e-01 -8.17433024e-01 -9.42210585e-02 1.15330735e+02] [ 8.09755296e-01 5.75890378e-01 -1.12457248e-01 7.45254561e+01] [ 1.46187269e-01 -1.23904304e-02 9.89179336e-01 6.83084340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000371743 meters Centerline goodness : 0.980567 Centerline is valid? [True, True] Translation: X:115.33, Y:74.55, Z:6.84 [[ 5.66080418e-01 -8.20788062e-01 -7.65500991e-02 1.15327522e+02] [ 8.11740574e-01 5.71192779e-01 -1.21721197e-01 7.45474629e+01] [ 1.43632169e-01 6.76516491e-03 9.89608020e-01 6.83511213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.030371743 meters Centerline goodness : 0.979981 Centerline is valid? [True, True] Translation: X:115.34, Y:74.58, Z:6.85 [[ 5.67563485e-01 -8.21159031e-01 -5.97455963e-02 1.15335196e+02] [ 8.10979161e-01 5.70097618e-01 -1.31535195e-01 7.45766393e+01] [ 1.42072135e-01 2.62021400e-02 9.89509452e-01 6.84581727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060371743 meters Centerline goodness : 0.979499 Centerline is valid? [True, True] Translation: X:115.37, Y:74.59, Z:6.83 [[ 5.71178760e-01 -8.15339976e-01 -9.47393637e-02 1.15369924e+02] [ 8.09064695e-01 5.78700558e-01 -1.02566973e-01 7.45907916e+01] [ 1.38452676e-01 -1.80661981e-02 9.90204256e-01 6.83276701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.090371743 meters Centerline goodness : 0.979499 Centerline is valid? [True, True] Translation: X:115.38, Y:74.62, Z:6.84 [[ 5.71616997e-01 -8.16430699e-01 -8.18225017e-02 1.15382702e+02] [ 8.08568902e-01 5.77441364e-01 -1.13038938e-01 7.46158362e+01] [ 1.39536156e-01 -1.54415210e-03 9.90215773e-01 6.84366851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120371743 meters Centerline goodness : 0.980359 Centerline is valid? [True, True] Translation: X:115.39, Y:74.65, Z:6.86 [[ 5.74894321e-01 -8.16345074e-01 -5.54728725e-02 1.15389580e+02] [ 8.06323930e-01 5.76749501e-01 -1.31155375e-01 7.46461059e+01] [ 1.39061996e-01 3.06713757e-02 9.89808582e-01 6.85916892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.150371743 meters Centerline goodness : 0.978182 Centerline is valid? [True, True] Translation: X:115.42, Y:74.66, Z:6.86 [[ 5.75967748e-01 -8.13448783e-01 -8.10076038e-02 1.15416261e+02] [ 8.05034326e-01 5.81633075e-01 -1.16716324e-01 7.46648069e+01] [ 1.42059454e-01 2.01093677e-03 9.89856084e-01 6.85582418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180371743 meters Centerline goodness : 0.978866 Centerline is valid? [True, True] Translation: X:115.43, Y:74.69, Z:6.86 [[ 5.76902448e-01 -8.12598364e-01 -8.28701672e-02 1.15433621e+02] [ 8.03997078e-01 5.82822378e-01 -1.17926989e-01 7.46879243e+01] [ 1.44125866e-01 1.40499646e-03 9.89558366e-01 6.86122541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.210371743 meters Centerline goodness : 0.979958 Centerline is valid? [True, True] Translation: X:115.45, Y:74.71, Z:6.86 [[ 5.77417197e-01 -8.10816386e-01 -9.57401166e-02 1.15453189e+02] [ 8.03575229e-01 5.85133527e-01 -1.09021128e-01 7.47059955e+01] [ 1.44416869e-01 -1.39837118e-02 9.89418124e-01 6.85959592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240371743 meters Centerline goodness : 0.980230 Centerline is valid? [True, True] Translation: X:115.47, Y:74.73, Z:6.87 [[ 5.78605910e-01 -8.10826906e-01 -8.81755561e-02 1.15466170e+02] [ 8.02531726e-01 5.85273741e-01 -1.15747467e-01 7.47310931e+01] [ 1.45457998e-01 -3.79151287e-03 9.89357163e-01 6.86987355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.270371743 meters Centerline goodness : 0.980727 Centerline is valid? [True, True] Translation: X:115.50, Y:74.76, Z:6.89 [[ 5.84192651e-01 -8.06756703e-01 -8.86711214e-02 1.15499590e+02] [ 7.97514176e-01 5.90883614e-01 -1.21769019e-01 7.47616387e+01] [ 1.50632285e-01 4.20089666e-04 9.88589773e-01 6.88714747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300371743 meters Centerline goodness : 0.982019 Centerline is valid? [True, True] Translation: X:115.52, Y:74.77, Z:6.88 [[ 5.81080414e-01 -8.03637201e-01 -1.28502148e-01 1.15519507e+02] [ 7.99504531e-01 5.93191292e-01 -9.44277227e-02 7.47714329e+01] [ 1.52111986e-01 -4.78679494e-02 9.87203425e-01 6.87757468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.330371743 meters Centerline goodness : 0.981574 Centerline is valid? [True, True] Translation: X:115.50, Y:74.80, Z:6.91 [[ 5.77026354e-01 -8.14113359e-01 -6.52688749e-02 1.15497118e+02] [ 8.02459234e-01 5.80005354e-01 -1.40189041e-01 7.48043674e+01] [ 1.51986068e-01 2.85171599e-02 9.87971157e-01 6.90638210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36037174300003 meters Centerline goodness : 0.984197 Centerline is valid? [True, True] Translation: X:115.54, Y:74.82, Z:6.89 [[ 5.80137586e-01 -8.06812953e-01 -1.11773163e-01 1.15543130e+02] [ 8.00306853e-01 5.90145259e-01 -1.06007144e-01 7.48208975e+01] [ 1.51490339e-01 -2.79540994e-02 9.88063381e-01 6.89369253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.390371743 meters Centerline goodness : 0.982895 Centerline is valid? [True, True] Translation: X:115.54, Y:74.85, Z:6.91 [[ 5.77467164e-01 -8.11889464e-01 -8.58322373e-02 1.15539604e+02] [ 8.02382633e-01 5.83805014e-01 -1.23910519e-01 7.48464103e+01] [ 1.50710935e-01 2.68395945e-03 9.88574231e-01 6.90605498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42037174300003 meters Centerline goodness : 0.985715 Centerline is valid? [True, True] Translation: X:115.57, Y:74.87, Z:6.92 [[ 5.84067837e-01 -8.06600078e-01 -9.08904635e-02 1.15574782e+02] [ 7.96919693e-01 5.91097455e-01 -1.24590538e-01 7.48677660e+01] [ 1.54219859e-01 3.36925599e-04 9.88036498e-01 6.91719027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.450371743 meters Centerline goodness : 0.981091 Centerline is valid? [True, True] Translation: X:115.57, Y:74.89, Z:6.92 [[ 5.74706378e-01 -8.13952991e-01 -8.48121828e-02 1.15571893e+02] [ 8.04159156e-01 5.80915665e-01 -1.25956511e-01 7.48899228e+01] [ 1.51791404e-01 4.18551699e-03 9.88403688e-01 6.91548016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.480371743 meters Centerline goodness : 0.978608 Centerline is valid? [True, True] Translation: X:115.61, Y:74.91, Z:6.92 [[ 5.84553951e-01 -8.06935941e-01 -8.45639740e-02 1.15610602e+02] [ 7.97005701e-01 5.90603503e-01 -1.26370153e-01 7.49089129e+01] [ 1.51916397e-01 6.47220265e-03 9.88372156e-01 6.92242526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.510371743 meters Centerline goodness : 0.981574 Centerline is valid? [True, True] Translation: X:115.63, Y:74.94, Z:6.93 [[ 5.81236462e-01 -8.08691276e-01 -9.04576987e-02 1.15634758e+02] [ 7.99440091e-01 5.88231599e-01 -1.21980022e-01 7.49375430e+01] [ 1.51854256e-01 -1.41627449e-03 9.88401881e-01 6.92563768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.540371743 meters Centerline goodness : 0.981614 Centerline is valid? [True, True] Translation: X:115.65, Y:74.95, Z:6.92 [[ 5.77266508e-01 -8.08286771e-01 -1.15913221e-01 1.15649777e+02] [ 8.01888720e-01 5.87941164e-01 -1.06299897e-01 7.49525367e+01] [ 1.54070954e-01 -3.15861345e-02 9.87554787e-01 6.92047791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.570371743 meters Centerline goodness : 0.981991 Centerline is valid? [True, True] Translation: X:115.66, Y:74.98, Z:6.94 [[ 5.79629125e-01 -8.09372905e-01 -9.45810648e-02 1.15660375e+02] [ 7.99572278e-01 5.87288300e-01 -1.25605036e-01 7.49802866e+01] [ 1.57207665e-01 -2.82006052e-03 9.87561541e-01 6.93738268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.600371743 meters Centerline goodness : 0.981010 Centerline is valid? [True, True] Translation: X:115.68, Y:75.00, Z:6.94 [[ 5.81934606e-01 -8.07234645e-01 -9.86120799e-02 1.15677321e+02] [ 7.97434552e-01 5.90204204e-01 -1.25527416e-01 7.50004908e+01] [ 1.59531343e-01 -5.58793256e-03 9.87177049e-01 6.94374564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630371743 meters Centerline goodness : 0.983241 Centerline is valid? [True, True] Translation: X:115.70, Y:75.02, Z:6.94 [[ 5.84196998e-01 -8.03532241e-01 -1.14235742e-01 1.15698290e+02] [ 7.96293000e-01 5.94682083e-01 -1.10773093e-01 7.50205178e+01] [ 1.56943700e-01 -2.62518135e-02 9.87258587e-01 6.93810587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.660371743 meters Centerline goodness : 0.979744 Centerline is valid? [True, True] Translation: X:115.68, Y:75.05, Z:6.97 [[ 5.81601969e-01 -8.11520923e-01 -5.63288685e-02 1.15680097e+02] [ 7.98257218e-01 5.82683453e-01 -1.52530024e-01 7.50529758e+01] [ 1.56603205e-01 4.37468363e-02 9.86692278e-01 6.96630787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690371743 meters Centerline goodness : 0.982827 Centerline is valid? [True, True] Translation: X:115.74, Y:75.06, Z:6.94 [[ 5.88980256e-01 -7.98859980e-01 -1.22167878e-01 1.15737175e+02] [ 7.93265302e-01 6.00367572e-01 -1.01434405e-01 7.50632143e+01] [ 1.54377519e-01 -3.71686771e-02 9.87312550e-01 6.94269506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.720371743 meters Centerline goodness : 0.983429 Centerline is valid? [True, True] Translation: X:115.74, Y:75.09, Z:6.96 [[ 5.90373001e-01 -8.01132182e-01 -9.82188692e-02 1.15738689e+02] [ 7.92166197e-01 5.98445118e-01 -1.19733692e-01 7.50898326e+01] [ 1.54701116e-01 -7.11812926e-03 9.87935674e-01 6.96195242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750371743 meters Centerline goodness : 0.979265 Centerline is valid? [True, True] Translation: X:115.73, Y:75.12, Z:6.98 [[ 5.87884877e-01 -8.06954076e-01 -5.67141111e-02 1.15728289e+02] [ 7.94953751e-01 5.89278408e-01 -1.44220288e-01 7.51171264e+01] [ 1.49799550e-01 3.96998310e-02 9.87919034e-01 6.97736137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.780371743 meters Centerline goodness : 0.983079 Centerline is valid? [True, True] Translation: X:115.78, Y:75.13, Z:6.97 [[ 5.97040290e-01 -7.93908329e-01 -1.15119319e-01 1.15783387e+02] [ 7.87099363e-01 6.07453014e-01 -1.07123425e-01 7.51277287e+01] [ 1.54975757e-01 -2.66533424e-02 9.87558664e-01 6.96531214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810371743 meters Centerline goodness : 0.982733 Centerline is valid? [True, True] Translation: X:115.79, Y:75.15, Z:6.98 [[ 5.98845612e-01 -7.95306941e-01 -9.41849346e-02 1.15793161e+02] [ 7.85942794e-01 6.06205860e-01 -1.21689686e-01 7.51525790e+01] [ 1.53876111e-01 -1.15063633e-03 9.88089479e-01 6.97746282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.840371743 meters Centerline goodness : 0.982633 Centerline is valid? [True, True] Translation: X:115.81, Y:75.17, Z:6.98 [[ 5.98191027e-01 -7.94681988e-01 -1.03189307e-01 1.15810941e+02] [ 7.86293168e-01 6.06909679e-01 -1.15774332e-01 7.51721730e+01] [ 1.54630366e-01 -1.18818806e-02 9.87900942e-01 6.97837273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870371743 meters Centerline goodness : 0.985444 Centerline is valid? [True, True] Translation: X:115.82, Y:75.20, Z:6.98 [[ 5.96012647e-01 -7.97374344e-01 -9.46735448e-02 1.15824414e+02] [ 7.88720315e-01 6.03466040e-01 -1.17256145e-01 7.51961397e+01] [ 1.50629311e-01 -4.78480260e-03 9.88578736e-01 6.98326896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.900371743 meters Centerline goodness : 0.983475 Centerline is valid? [True, True] Translation: X:115.84, Y:75.22, Z:6.99 [[ 5.99269963e-01 -7.96620008e-01 -7.91964262e-02 1.15842626e+02] [ 7.86497140e-01 6.04317322e-01 -1.27368844e-01 7.52185683e+01] [ 1.49324342e-01 1.40405598e-02 9.88688578e-01 6.99305643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930371743 meters Centerline goodness : 0.983869 Centerline is valid? [True, True] Translation: X:115.84, Y:75.24, Z:7.00 [[ 5.93893262e-01 -8.02571037e-01 -5.63073960e-02 1.15843238e+02] [ 7.91518640e-01 5.95388176e-01 -1.37880971e-01 7.52415182e+01] [ 1.44184032e-01 3.73182261e-02 9.88846962e-01 6.99659967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.960371743 meters Centerline goodness : 0.984540 Centerline is valid? [True, True] Translation: X:115.88, Y:75.25, Z:6.99 [[ 5.91910637e-01 -8.01156084e-01 -8.82650940e-02 1.15876698e+02] [ 7.92677298e-01 5.98454342e-01 -1.16254475e-01 7.52518718e+01] [ 1.45960609e-01 -1.15347583e-03 9.89289730e-01 6.98580646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990371743 meters Centerline goodness : 0.984088 Centerline is valid? [True, True] Translation: X:115.90, Y:75.27, Z:6.99 [[ 5.91396614e-01 -8.01880361e-01 -8.50760296e-02 1.15897699e+02] [ 7.92847254e-01 5.97474028e-01 -1.20075051e-01 7.52741595e+01] [ 1.47116543e-01 3.55968200e-03 9.89112760e-01 6.99452375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.020371743 meters Centerline goodness : 0.985328 Centerline is valid? [True, True] Translation: X:115.95, Y:75.28, Z:6.99 [[ 5.90617236e-01 -7.96697664e-01 -1.28234602e-01 1.15945078e+02] [ 7.92212665e-01 6.02695227e-01 -9.56951194e-02 7.52849825e+01] [ 1.53526461e-01 -4.50698892e-02 9.87116169e-01 6.98787906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050371743 meters Centerline goodness : 0.982555 Centerline is valid? [True, True] Translation: X:115.95, Y:75.31, Z:7.01 [[ 5.89462933e-01 -8.03590272e-01 -8.23172179e-02 1.15946376e+02] [ 7.93003982e-01 5.95068575e-01 -1.30529980e-01 7.53149704e+01] [ 1.53877011e-01 1.16647030e-02 9.88021154e-01 7.01335101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.080371743 meters Centerline goodness : 0.983125 Centerline is valid? [True, True] Translation: X:115.95, Y:75.33, Z:7.01 [[ 5.83464673e-01 -8.09304475e-01 -6.77882152e-02 1.15948249e+02] [ 7.98052849e-01 5.86822592e-01 -1.36933912e-01 7.53341603e+01] [ 1.50600884e-01 2.57975220e-02 9.88257993e-01 7.01413581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11037174300003 meters Centerline goodness : 0.983512 Centerline is valid? [True, True] Translation: X:115.98, Y:75.35, Z:7.01 [[ 5.78637275e-01 -8.10713250e-01 -8.90108440e-02 1.15982005e+02] [ 8.02014080e-01 5.85436598e-01 -1.18479557e-01 7.53499873e+01] [ 1.48163152e-01 -2.83126233e-03 9.88958879e-01 7.01072145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.140371743 meters Centerline goodness : 0.982779 Centerline is valid? [True, True] Translation: X:116.00, Y:75.37, Z:7.02 [[ 5.77867622e-01 -8.12070356e-01 -8.13065089e-02 1.15998061e+02] [ 8.02540709e-01 5.83523027e-01 -1.24214683e-01 7.53707630e+01] [ 1.48315282e-01 6.52785991e-03 9.88918583e-01 7.01793466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17037174300003 meters Centerline goodness : 0.981780 Centerline is valid? [True, True] Translation: X:116.02, Y:75.39, Z:7.02 [[ 5.75271306e-01 -8.13818919e-01 -8.22294992e-02 1.16016540e+02] [ 8.04103811e-01 5.81086665e-01 -1.25520312e-01 7.53902348e+01] [ 1.49933270e-01 6.08718009e-03 9.88677380e-01 7.02422263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.200371743 meters Centerline goodness : 0.981925 Centerline is valid? [True, True] Translation: X:116.04, Y:75.41, Z:7.03 [[ 5.72857327e-01 -8.14628120e-01 -9.06394436e-02 1.16038266e+02] [ 8.05809638e-01 5.79966107e-01 -1.19625004e-01 7.54086731e+01] [ 1.50017698e-01 -4.51007704e-03 9.88673025e-01 7.02644371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.230371743 meters Centerline goodness : 0.981627 Centerline is valid? [True, True] Translation: X:116.07, Y:75.43, Z:7.03 [[ 5.71792888e-01 -8.14329194e-01 -9.96034973e-02 1.16067122e+02] [ 8.06458272e-01 5.80205147e-01 -1.13960709e-01 7.54266699e+01] [ 1.50591994e-01 -1.51641411e-02 9.88479691e-01 7.03025813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.260371743 meters Centerline goodness : 0.981978 Centerline is valid? [True, True] Translation: X:116.09, Y:75.45, Z:7.04 [[ 5.70410593e-01 -8.15161491e-01 -1.00714942e-01 1.16085938e+02] [ 8.07083098e-01 5.79029054e-01 -1.15508565e-01 7.54465975e+01] [ 1.52475012e-01 -1.53980183e-02 9.88187367e-01 7.03540674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.290371743 meters Centerline goodness : 0.981335 Centerline is valid? [True, True] Translation: X:116.10, Y:75.47, Z:7.05 [[ 5.68624515e-01 -8.18881400e-01 -7.80987382e-02 1.16096219e+02] [ 8.08165278e-01 5.73831137e-01 -1.32614896e-01 7.54701526e+01] [ 1.53411359e-01 1.22913923e-02 9.88085966e-01 7.04879573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.320371743 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:116.13, Y:75.49, Z:7.05 [[ 5.65451999e-01 -8.15759679e-01 -1.21656000e-01 1.16134068e+02] [ 8.07159372e-01 5.77645337e-01 -1.21735830e-01 7.54889154e+01] [ 1.69581203e-01 -2.93600120e-02 9.85078781e-01 7.05223594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.350371743 meters Centerline goodness : 0.982467 Centerline is valid? [True, True] Translation: X:116.13, Y:75.51, Z:7.06 [[ 5.68431797e-01 -8.18336068e-01 -8.49197998e-02 1.16133608e+02] [ 8.08013004e-01 5.74717441e-01 -1.29672078e-01 7.55087714e+01] [ 1.54920229e-01 5.09342994e-03 9.87913852e-01 7.05569487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380371743 meters Centerline goodness : 0.982972 Centerline is valid? [True, True] Translation: X:116.15, Y:75.53, Z:7.06 [[ 5.69495181e-01 -8.17586282e-01 -8.50171129e-02 1.16151428e+02] [ 8.07121237e-01 5.75777784e-01 -1.30519167e-01 7.55289069e+01] [ 1.55661645e-01 5.71091940e-03 9.87793925e-01 7.06010188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.410371743 meters Centerline goodness : 0.981832 Centerline is valid? [True, True] Translation: X:116.17, Y:75.55, Z:7.06 [[ 5.72124091e-01 -8.15243079e-01 -8.97370939e-02 1.16173180e+02] [ 8.05530086e-01 5.79118701e-01 -1.25470354e-01 7.55485789e+01] [ 1.54257267e-01 -5.01316911e-04 9.88030589e-01 7.06188722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440371743 meters Centerline goodness : 0.981580 Centerline is valid? [True, True] Translation: X:116.19, Y:75.57, Z:7.07 [[ 5.72875560e-01 -8.15851098e-01 -7.87437535e-02 1.16186792e+02] [ 8.04892172e-01 5.78107904e-01 -1.33939696e-01 7.55713981e+01] [ 1.54797234e-01 1.33505477e-02 9.87856052e-01 7.07193816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.470371743 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:116.23, Y:75.59, Z:7.07 [[ 5.70509270e-01 -8.11057282e-01 -1.29248825e-01 1.16227182e+02] [ 8.03207861e-01 5.83837386e-01 -1.18283723e-01 7.55907403e+01] [ 1.71395171e-01 -3.63317118e-02 9.84532225e-01 7.07194566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500371743 meters Centerline goodness : 0.983238 Centerline is valid? [True, True] Translation: X:116.23, Y:75.61, Z:7.08 [[ 5.73683222e-01 -8.14030593e-01 -9.07841056e-02 1.16225969e+02] [ 8.04044071e-01 5.80821994e-01 -1.27117832e-01 7.56118647e+01] [ 1.56207209e-01 -6.90543017e-05 9.87724305e-01 7.07569985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.530371743 meters Centerline goodness : 0.983365 Centerline is valid? [True, True] Translation: X:116.25, Y:75.63, Z:7.07 [[ 5.74556073e-01 -8.10664944e-01 -1.12728294e-01 1.16253110e+02] [ 8.02835256e-01 5.85000978e-01 -1.15019160e-01 7.56282772e+01] [ 1.59188163e-01 -2.44172917e-02 9.86946262e-01 7.07434533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560371743 meters Centerline goodness : 0.982048 Centerline is valid? [True, True] Translation: X:116.25, Y:75.66, Z:7.10 [[ 5.74916154e-01 -8.15531725e-01 -6.61771977e-02 1.16252629e+02] [ 8.02759865e-01 5.77855088e-01 -1.47173697e-01 7.56612002e+01] [ 1.58265649e-01 3.14881374e-02 9.86894362e-01 7.09834759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.590371743 meters Centerline goodness : 0.981938 Centerline is valid? [True, True] Translation: X:116.28, Y:75.68, Z:7.09 [[ 5.75921925e-01 -8.12633518e-01 -8.91106164e-02 1.16279979e+02] [ 8.02583171e-01 5.82772063e-01 -1.27424397e-01 7.56762453e+01] [ 1.55480514e-01 1.86782304e-03 9.87837194e-01 7.09178634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620371743 meters Centerline goodness : 0.988225 Centerline is valid? [True, True] Translation: X:116.31, Y:75.70, Z:7.10 [[ 5.73415967e-01 -8.10581819e-01 -1.18959004e-01 1.16311152e+02] [ 8.00983414e-01 5.85182156e-01 -1.26441349e-01 7.56983221e+01] [ 1.72103745e-01 -2.27807008e-02 9.84815384e-01 7.10067522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.650371743 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:116.32, Y:75.72, Z:7.11 [[ 5.73401091e-01 -8.12226346e-01 -1.07235965e-01 1.16322974e+02] [ 8.00866392e-01 5.83285867e-01 -1.35612019e-01 7.57225231e+01] [ 1.72696877e-01 -8.12160007e-03 9.84941535e-01 7.10978346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680371743 meters Centerline goodness : 0.983090 Centerline is valid? [True, True] Translation: X:116.33, Y:75.74, Z:7.11 [[ 5.76344989e-01 -8.12574268e-01 -8.68879346e-02 1.16329056e+02] [ 8.02336584e-01 5.82840775e-01 -1.28657054e-01 7.57414562e+01] [ 1.55185242e-01 4.43747970e-03 9.87875422e-01 7.10783250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.710371743 meters Centerline goodness : 0.983773 Centerline is valid? [True, True] Translation: X:116.36, Y:75.76, Z:7.10 [[ 5.76364582e-01 -8.08381182e-01 -1.19681800e-01 1.16358714e+02] [ 8.01829406e-01 5.87695897e-01 -1.08088557e-01 7.57553490e+01] [ 1.57713259e-01 -3.36659707e-02 9.86910903e-01 7.10092767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740371743 meters Centerline goodness : 0.982445 Centerline is valid? [True, True] Translation: X:116.36, Y:75.79, Z:7.12 [[ 5.77868672e-01 -8.12783711e-01 -7.38270756e-02 1.16357280e+02] [ 8.00840184e-01 5.82145848e-01 -1.40574575e-01 7.57868666e+01] [ 1.57234850e-01 2.21099541e-02 9.87313705e-01 7.12382891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.770371743 meters Centerline goodness : 0.981704 Centerline is valid? [True, True] Translation: X:116.39, Y:75.82, Z:7.14 [[ 5.83277582e-01 -8.09593272e-01 -6.59241762e-02 1.16388221e+02] [ 7.95918049e-01 5.85852429e-01 -1.52615175e-01 7.58214201e+01] [ 1.62178058e-01 3.65467686e-02 9.86084485e-01 7.14270738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800371743 meters Centerline goodness : 0.981043 Centerline is valid? [True, True] Translation: X:116.42, Y:75.84, Z:7.13 [[ 5.83594433e-01 -8.05473193e-01 -1.03104186e-01 1.16422348e+02] [ 7.95862264e-01 5.92556897e-01 -1.24416962e-01 7.58356926e+01] [ 1.61309624e-01 -9.44768478e-03 9.86858625e-01 7.13259370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.830371743 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:116.43, Y:75.84, Z:7.14 [[ 5.64369763e-01 -8.10267216e-01 -1.57967749e-01 1.16425637e+02] [ 8.04840867e-01 5.82627129e-01 -1.13034543e-01 7.58444144e+01] [ 1.83624481e-01 -6.33456218e-02 9.80953303e-01 7.13972299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86037174300003 meters Centerline goodness : 0.981014 Centerline is valid? [True, True] Translation: X:116.44, Y:75.89, Z:7.16 [[ 5.80812943e-01 -8.11431723e-01 -6.50759785e-02 1.16435379e+02] [ 7.96947735e-01 5.83094374e-01 -1.57718922e-01 7.58859614e+01] [ 1.65923574e-01 3.97430378e-02 9.85337434e-01 7.16219232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.890371743 meters Centerline goodness : 0.981423 Centerline is valid? [True, True] Translation: X:116.46, Y:75.89, Z:7.13 [[ 5.71781894e-01 -8.09939769e-01 -1.30625559e-01 1.16460390e+02] [ 8.04793313e-01 5.84659680e-01 -1.02375688e-01 7.58851452e+01] [ 1.59289639e-01 -4.65900116e-02 9.86131929e-01 7.13235703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92037174300003 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:116.47, Y:75.92, Z:7.16 [[ 5.66108016e-01 -8.17686895e-01 -1.04450259e-01 1.16468065e+02] [ 8.05230766e-01 5.75652016e-01 -1.42225771e-01 7.59218919e+01] [ 1.76423151e-01 -3.59141321e-03 9.84307865e-01 7.16253690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.950371743 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:116.49, Y:75.94, Z:7.17 [[ 5.65893565e-01 -8.17308695e-01 -1.08494098e-01 1.16486891e+02] [ 8.05436132e-01 5.76134606e-01 -1.39073912e-01 7.59430671e+01] [ 1.76173522e-01 -8.68403484e-03 9.84320821e-01 7.16565323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.980371743 meters Centerline goodness : 0.979987 Centerline is valid? [True, True] Translation: X:116.52, Y:75.97, Z:7.16 [[ 5.79652959e-01 -8.10913011e-01 -8.01407220e-02 1.16519970e+02] [ 8.00204571e-01 5.85036521e-01 -1.31927683e-01 7.59663801e+01] [ 1.53867124e-01 1.23432996e-02 9.88014449e-01 7.16296386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.010371743 meters Centerline goodness : 0.983768 Centerline is valid? [True, True] Translation: X:116.54, Y:75.98, Z:7.16 [[ 5.73404413e-01 -8.11427852e-01 -1.13102696e-01 1.16539067e+02] [ 8.04038297e-01 5.83852602e-01 -1.12421328e-01 7.59786832e+01] [ 1.57257100e-01 -2.64760138e-02 9.87202728e-01 7.15697366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.040371743 meters Centerline goodness : 0.982519 Centerline is valid? [True, True] Translation: X:116.54, Y:76.00, Z:7.16 [[ 5.63426844e-01 -8.19259671e-01 -1.06601044e-01 1.16539065e+02] [ 8.10529276e-01 5.73127397e-01 -1.20694986e-01 7.60011658e+01] [ 1.59976513e-01 -1.84004722e-02 9.86949309e-01 7.16342694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.070371743 meters Centerline goodness : 0.982287 Centerline is valid? [True, True] Translation: X:116.55, Y:76.03, Z:7.17 [[ 5.62001237e-01 -8.22086339e-01 -9.12614936e-02 1.16549792e+02] [ 8.11273667e-01 5.69362475e-01 -1.32896231e-01 7.60273712e+01] [ 1.61213046e-01 6.49799780e-04 9.86919415e-01 7.17430152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.100371743 meters Centerline goodness : 0.981630 Centerline is valid? [True, True] Translation: X:116.56, Y:76.05, Z:7.18 [[ 5.59996181e-01 -8.23671314e-01 -8.92739863e-02 1.16564968e+02] [ 8.13118776e-01 5.67066618e-01 -1.31427955e-01 7.60482762e+01] [ 1.58877734e-01 1.00879818e-03 9.87297751e-01 7.17739795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130371743 meters Centerline goodness : 0.984568 Centerline is valid? [True, True] Translation: X:116.60, Y:76.06, Z:7.17 [[ 5.64328756e-01 -8.17309403e-01 -1.16354612e-01 1.16602436e+02] [ 8.10617187e-01 5.75275592e-01 -1.09351591e-01 7.60636989e+01] [ 1.56310052e-01 -3.26088008e-02 9.87169607e-01 7.17322060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.160371743 meters Centerline goodness : 0.983933 Centerline is valid? [True, True] Translation: X:116.61, Y:76.09, Z:7.19 [[ 5.63683608e-01 -8.21259508e-01 -8.82814332e-02 1.16607352e+02] [ 8.10056729e-01 5.70535180e-01 -1.35269008e-01 7.60933972e+01] [ 1.61458623e-01 4.73595363e-03 9.86868119e-01 7.19161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190371743 meters Centerline goodness : 0.983089 Centerline is valid? [True, True] Translation: X:116.63, Y:76.11, Z:7.19 [[ 5.64891742e-01 -8.18822027e-01 -1.02116639e-01 1.16627506e+02] [ 8.09649141e-01 5.73894896e-01 -1.22934607e-01 7.61119920e+01] [ 1.59265782e-01 -1.32339045e-02 9.87147038e-01 7.19144449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.220371743 meters Centerline goodness : 0.983406 Centerline is valid? [True, True] Translation: X:116.64, Y:76.14, Z:7.20 [[ 5.65707984e-01 -8.19047155e-01 -9.55836586e-02 1.16641804e+02] [ 8.09178014e-01 5.73699229e-01 -1.26886316e-01 7.61368452e+01] [ 1.58762147e-01 -5.56359293e-03 9.87301184e-01 7.19862886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250371743 meters Centerline goodness : 0.984359 Centerline is valid? [True, True] Translation: X:116.66, Y:76.16, Z:7.20 [[ 5.70239090e-01 -8.15288465e-01 -1.00658326e-01 1.16659900e+02] [ 8.05999670e-01 5.78952849e-01 -1.23199552e-01 7.61580927e+01] [ 1.58719599e-01 -1.08773771e-02 9.87263780e-01 7.20324004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.280371743 meters Centerline goodness : 0.985529 Centerline is valid? [True, True] Translation: X:116.68, Y:76.18, Z:7.21 [[ 5.71946830e-01 -8.14136063e-01 -1.00296032e-01 1.16675891e+02] [ 8.05138559e-01 5.80562073e-01 -1.21241826e-01 7.61817851e+01] [ 1.56935415e-01 -1.14083245e-02 9.87542974e-01 7.20721312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310371743 meters Centerline goodness : 0.984193 Centerline is valid? [True, True] Translation: X:116.69, Y:76.21, Z:7.22 [[ 5.73664059e-01 -8.14087382e-01 -9.03951433e-02 1.16685044e+02] [ 8.03644781e-01 5.80739212e-01 -1.29988593e-01 7.62064300e+01] [ 1.58318077e-01 1.92419876e-03 9.87386289e-01 7.21543125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.340371743 meters Centerline goodness : 0.982146 Centerline is valid? [True, True] Translation: X:116.68, Y:76.24, Z:7.22 [[ 5.74723785e-01 -8.15362624e-01 -6.98309517e-02 1.16684022e+02] [ 8.02971171e-01 5.78332077e-01 -1.44115604e-01 7.62359226e+01] [ 1.57891957e-01 2.67544245e-02 9.87093881e-01 7.22415612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370371743 meters Centerline goodness : 0.985509 Centerline is valid? [True, True] Translation: X:116.73, Y:76.25, Z:7.20 [[ 5.82409934e-01 -8.03620645e-01 -1.22443977e-01 1.16731451e+02] [ 7.98584992e-01 5.93767948e-01 -9.84968762e-02 7.62465512e+01] [ 1.51857432e-01 -4.04163630e-02 9.87575738e-01 7.20470738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.400371743 meters Centerline goodness : 0.985531 Centerline is valid? [True, True] Translation: X:116.73, Y:76.28, Z:7.22 [[ 5.84764060e-01 -8.05912995e-01 -9.24945359e-02 1.16734691e+02] [ 7.96315877e-01 5.92032894e-01 -1.24008372e-01 7.62765369e+01] [ 1.54699767e-01 -1.13922810e-03 9.87960872e-01 7.22345418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430371743 meters Centerline goodness : 0.982843 Centerline is valid? [True, True] Translation: X:116.73, Y:76.30, Z:7.23 [[ 5.86738215e-01 -8.06953153e-01 -6.75638696e-02 1.16731594e+02] [ 7.95141816e-01 5.89916226e-01 -1.40528785e-01 7.63039917e+01] [ 1.53257169e-01 2.87307508e-02 9.87768588e-01 7.23171547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.460371743 meters Centerline goodness : 0.983946 Centerline is valid? [True, True] Translation: X:116.76, Y:76.32, Z:7.23 [[ 5.89879970e-01 -8.02115544e-01 -9.30176043e-02 1.16757959e+02] [ 7.92577683e-01 5.97168074e-01 -1.23332506e-01 7.63206024e+01] [ 1.54474064e-01 -9.72302270e-04 9.87996366e-01 7.22602773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490371743 meters Centerline goodness : 0.983784 Centerline is valid? [True, True] Translation: X:116.77, Y:76.34, Z:7.23 [[ 5.92853317e-01 -8.00360089e-01 -8.91553243e-02 1.16773345e+02] [ 7.90306514e-01 5.99502236e-01 -1.26541231e-01 7.63443356e+01] [ 1.54727367e-01 4.56035506e-03 9.87946681e-01 7.23297290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.520371743 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:116.81, Y:76.36, Z:7.23 [[ 6.00851333e-01 -7.90684914e-01 -1.17452295e-01 1.16805712e+02] [ 7.83685653e-01 6.11630732e-01 -1.08372714e-01 7.63619717e+01] [ 1.57526104e-01 -2.69297890e-02 9.87147564e-01 7.23232282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550371743 meters Centerline goodness : 0.982758 Centerline is valid? [True, True] Translation: X:116.84, Y:76.39, Z:7.25 [[ 6.14662078e-01 -7.84600945e-01 -8.11904359e-02 1.16835012e+02] [ 7.73898072e-01 6.19760864e-01 -1.30300597e-01 7.63934118e+01] [ 1.52552627e-01 1.72577142e-02 9.88144659e-01 7.24504710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.580371743 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:116.85, Y:76.41, Z:7.24 [[ 6.13550983e-01 -7.83479977e-01 -9.85612362e-02 1.16852317e+02] [ 7.74887265e-01 6.21394423e-01 -1.15839101e-01 7.64112137e+01] [ 1.52003018e-01 -5.30065266e-03 9.88365816e-01 7.24200080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61037174300003 meters Centerline goodness : 0.983641 Centerline is valid? [True, True] Translation: X:116.85, Y:76.43, Z:7.25 [[ 6.13233274e-01 -7.85568256e-01 -8.26284848e-02 1.16851850e+02] [ 7.75572388e-01 6.18639907e-01 -1.25587171e-01 7.64336871e+01] [ 1.49774573e-01 1.29298605e-02 9.88635624e-01 7.24731047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.640371743 meters Centerline goodness : 0.984246 Centerline is valid? [True, True] Translation: X:116.89, Y:76.45, Z:7.25 [[ 6.19550275e-01 -7.77327187e-01 -1.09178302e-01 1.16892094e+02] [ 7.70140375e-01 6.28844093e-01 -1.06952839e-01 7.64497804e+01] [ 1.51793480e-01 -1.78199575e-02 9.88251582e-01 7.24558108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67037174300003 meters Centerline goodness : 0.984286 Centerline is valid? [True, True] Translation: X:116.90, Y:76.48, Z:7.26 [[ 6.20259758e-01 -7.79084147e-01 -9.11357502e-02 1.16903044e+02] [ 7.69764311e-01 6.26903792e-01 -1.20227036e-01 7.64754518e+01] [ 1.50800325e-01 4.41894425e-03 9.88554366e-01 7.25848029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.700371743 meters Centerline goodness : 0.984238 Centerline is valid? [True, True] Translation: X:116.92, Y:76.50, Z:7.26 [[ 6.19109864e-01 -7.79903975e-01 -9.19389219e-02 1.16920388e+02] [ 7.70812317e-01 6.25893522e-01 -1.18767299e-01 7.64961793e+01] [ 1.50171064e-01 2.66235301e-03 9.88656444e-01 7.26229749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.730371743 meters Centerline goodness : 0.984758 Centerline is valid? [True, True] Translation: X:116.94, Y:76.51, Z:7.26 [[ 6.17416553e-01 -7.80134484e-01 -1.00930603e-01 1.16943292e+02] [ 7.71847252e-01 6.25564212e-01 -1.13671616e-01 7.65122030e+01] [ 1.51817720e-01 -7.72027079e-03 9.88378357e-01 7.26466995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.760371743 meters Centerline goodness : 0.984576 Centerline is valid? [True, True] Translation: X:116.96, Y:76.53, Z:7.27 [[ 6.16993056e-01 -7.80792865e-01 -9.83975199e-02 1.16963017e+02] [ 7.72050857e-01 6.24776919e-01 -1.16581629e-01 7.65328614e+01] [ 1.52502603e-01 -4.03783397e-03 9.88294820e-01 7.26993776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.790371743 meters Centerline goodness : 0.984345 Centerline is valid? [True, True] Translation: X:116.98, Y:76.55, Z:7.28 [[ 6.14299631e-01 -7.82984026e-01 -9.78364879e-02 1.16983660e+02] [ 7.73665246e-01 6.22039492e-01 -1.20453131e-01 7.65503136e+01] [ 1.55171037e-01 -1.69837638e-03 9.87886160e-01 7.27743526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.820371743 meters Centerline goodness : 0.985494 Centerline is valid? [True, True] Translation: X:117.00, Y:76.57, Z:7.28 [[ 6.12837364e-01 -7.85273646e-01 -8.81797325e-02 1.17001667e+02] [ 7.75202314e-01 6.19088379e-01 -1.25662050e-01 7.65739608e+01] [ 1.53270144e-01 8.65326670e-03 9.88146439e-01 7.28279153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.850371743 meters Centerline goodness : 0.985467 Centerline is valid? [True, True] Translation: X:117.03, Y:76.59, Z:7.28 [[ 6.10873302e-01 -7.85270510e-01 -1.00915984e-01 1.17026116e+02] [ 7.76345739e-01 6.19122467e-01 -1.18214482e-01 7.65909798e+01] [ 1.55309699e-01 -6.13162322e-03 9.87846800e-01 7.28169299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880371743 meters Centerline goodness : 0.984253 Centerline is valid? [True, True] Translation: X:117.04, Y:76.61, Z:7.29 [[ 6.06356930e-01 -7.89802534e-01 -9.24296005e-02 1.17041833e+02] [ 7.80088816e-01 6.13354833e-01 -1.23520397e-01 7.66104126e+01] [ 1.54248865e-01 2.79415100e-03 9.88028077e-01 7.29037507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.910371743 meters Centerline goodness : 0.984102 Centerline is valid? [True, True] Translation: X:117.06, Y:76.63, Z:7.29 [[ 6.04288878e-01 -7.90705251e-01 -9.80824040e-02 1.17064144e+02] [ 7.81819419e-01 6.12175098e-01 -1.18321790e-01 7.66290872e+01] [ 1.53601266e-01 -5.18218666e-03 9.88119323e-01 7.28877623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940371743 meters Centerline goodness : 0.982298 Centerline is valid? [True, True] Translation: X:117.09, Y:76.65, Z:7.30 [[ 6.03482279e-01 -7.92919011e-01 -8.41937161e-02 1.17085443e+02] [ 7.82572827e-01 6.09219059e-01 -1.28187009e-01 7.66485627e+01] [ 1.52934333e-01 1.14708742e-02 9.88169777e-01 7.29989773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.970371743 meters Centerline goodness : 0.983418 Centerline is valid? [True, True] Translation: X:117.11, Y:76.67, Z:7.30 [[ 6.01438888e-01 -7.93226218e-01 -9.52020575e-02 1.17109351e+02] [ 7.84501280e-01 6.08913403e-01 -1.17397653e-01 7.66659537e+01] [ 1.51092705e-01 -4.07862206e-03 9.88511183e-01 7.29722447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000371743 meters Centerline goodness : 0.983708 Centerline is valid? [True, True] Translation: X:117.13, Y:76.68, Z:7.30 [[ 5.99245008e-01 -7.94778097e-01 -9.60895282e-02 1.17127480e+02] [ 7.85735425e-01 6.06888084e-01 -1.19610600e-01 7.66848097e+01] [ 1.53379475e-01 -3.82489141e-03 9.88159960e-01 7.30344630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.030371743 meters Centerline goodness : 0.981973 Centerline is valid? [True, True] Translation: X:117.12, Y:76.71, Z:7.32 [[ 5.94618936e-01 -8.02441538e-01 -5.01587435e-02 1.17122662e+02] [ 7.90385035e-01 5.94840913e-01 -1.46477934e-01 7.67118726e+01] [ 1.47376451e-01 4.74538329e-02 9.87941453e-01 7.31669123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060371743 meters Centerline goodness : 0.982191 Centerline is valid? [True, True] Translation: X:117.19, Y:76.71, Z:7.30 [[ 5.95220603e-01 -7.92839922e-01 -1.30833071e-01 1.17185068e+02] [ 7.89477712e-01 6.07334958e-01 -8.87084628e-02 7.67121607e+01] [ 1.49791109e-01 -5.04886892e-02 9.87427727e-01 7.29755214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.090371743 meters Centerline goodness : 0.982112 Centerline is valid? [True, True] Translation: X:117.17, Y:76.75, Z:7.32 [[ 5.89499875e-01 -8.05308780e-01 -6.29894193e-02 1.17166052e+02] [ 7.93958659e-01 5.92014879e-01 -1.38376409e-01 7.67463961e+01] [ 1.48726410e-01 3.15618806e-02 9.88374576e-01 7.32064330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120371743 meters Centerline goodness : 0.981190 Centerline is valid? [True, True] Translation: X:117.20, Y:76.76, Z:7.32 [[ 5.89265903e-01 -8.03532567e-01 -8.42680800e-02 1.17196912e+02] [ 7.94040474e-01 5.95233211e-01 -1.23276720e-01 7.67625464e+01] [ 1.49216019e-01 5.73050159e-03 9.88788016e-01 7.31982900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.150371743 meters Centerline goodness : 0.981845 Centerline is valid? [True, True] Translation: X:117.24, Y:76.78, Z:7.32 [[ 5.92607173e-01 -7.96603829e-01 -1.19327611e-01 1.17240905e+02] [ 7.91165245e-01 6.03460494e-01 -9.94634991e-02 7.67752103e+01] [ 1.51242503e-01 -3.54650752e-02 9.87860281e-01 7.31907289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180371743 meters Centerline goodness : 0.981274 Centerline is valid? [True, True] Translation: X:117.23, Y:76.81, Z:7.34 [[ 5.88699670e-01 -8.06403720e-01 -5.60868974e-02 1.17228260e+02] [ 7.94336594e-01 5.89962880e-01 -1.44821186e-01 7.68054778e+01] [ 1.49873531e-01 4.07043094e-02 9.87866936e-01 7.33918780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.210371743 meters Centerline goodness : 0.980761 Centerline is valid? [True, True] Translation: X:117.26, Y:76.82, Z:7.33 [[ 5.87619977e-01 -8.04695956e-01 -8.46592045e-02 1.17258522e+02] [ 7.95104043e-01 5.93661178e-01 -1.23999865e-01 7.68205081e+01] [ 1.50041073e-01 5.55192220e-03 9.88664176e-01 7.33355852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240371743 meters Centerline goodness : 0.982184 Centerline is valid? [True, True] Translation: X:117.30, Y:76.83, Z:7.33 [[ 5.91049125e-01 -7.96315445e-01 -1.28618206e-01 1.17304198e+02] [ 7.91951921e-01 6.03151045e-01 -9.49787979e-02 7.68281220e+01] [ 1.53209289e-01 -4.57223003e-02 9.87135444e-01 7.33132206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.270371743 meters Centerline goodness : 0.983542 Centerline is valid? [True, True] Translation: X:117.29, Y:76.87, Z:7.35 [[ 5.87235341e-01 -8.07500230e-01 -5.56599791e-02 1.17286043e+02] [ 7.94906535e-01 5.88305392e-01 -1.48392607e-01 7.68658568e+01] [ 1.52572130e-01 4.28969022e-02 9.87360927e-01 7.35423235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300371743 meters Centerline goodness : 0.981850 Centerline is valid? [True, True] Translation: X:117.34, Y:76.87, Z:7.34 [[ 5.90832669e-01 -7.96682089e-01 -1.27335800e-01 1.17342557e+02] [ 7.92313651e-01 6.02724346e-01 -9.46701729e-02 7.68698311e+01] [ 1.52170418e-01 -4.49556614e-02 9.87331329e-01 7.33950032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.330371743 meters Centerline goodness : 0.981769 Centerline is valid? [True, True] Translation: X:117.35, Y:76.90, Z:7.36 [[ 5.89511678e-01 -8.01978736e-01 -9.64680651e-02 1.17349413e+02] [ 7.92920003e-01 5.97326732e-01 -1.20327236e-01 7.68975890e+01] [ 1.54122839e-01 -5.55714774e-03 9.88036067e-01 7.35538260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36037174300003 meters Centerline goodness : 0.981739 Centerline is valid? [True, True] Translation: X:117.37, Y:76.92, Z:7.36 [[ 5.90051346e-01 -8.01889483e-01 -9.38757988e-02 1.17368942e+02] [ 7.92956222e-01 5.97459193e-01 -1.19427565e-01 7.69179057e+01] [ 1.51854667e-01 -3.97100348e-03 9.88394856e-01 7.35834173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.390371743 meters Centerline goodness : 0.981436 Centerline is valid? [True, True] Translation: X:117.39, Y:76.94, Z:7.36 [[ 5.89937742e-01 -8.02798870e-01 -8.65299648e-02 1.17387529e+02] [ 7.93761328e-01 5.96245900e-01 -1.20140677e-01 7.69378635e+01] [ 1.48041937e-01 2.19138013e-03 9.88978656e-01 7.36084860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42037174300003 meters Centerline goodness : 0.980364 Centerline is valid? [True, True] Translation: X:117.41, Y:76.96, Z:7.37 [[ 5.88352343e-01 -8.03625387e-01 -8.95977529e-02 1.17406394e+02] [ 7.94574003e-01 5.95135324e-01 -1.20275099e-01 7.69586042e+01] [ 1.49978911e-01 -4.27908628e-04 9.88689103e-01 7.36543819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.450371743 meters Centerline goodness : 0.983024 Centerline is valid? [True, True] Translation: X:117.43, Y:76.98, Z:7.37 [[ 5.86800522e-01 -8.03398020e-01 -1.01078033e-01 1.17430565e+02] [ 7.96254262e-01 5.95200515e-01 -1.08238149e-01 7.69778141e+01] [ 1.47120012e-01 -1.69696127e-02 9.88973071e-01 7.36571437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.480371743 meters Centerline goodness : 0.982822 Centerline is valid? [True, True] Translation: X:117.44, Y:77.00, Z:7.38 [[ 5.85734535e-01 -8.05850427e-01 -8.67187650e-02 1.17441857e+02] [ 7.96600764e-01 5.92114904e-01 -1.21766839e-01 7.70017250e+01] [ 1.49473332e-01 2.24280841e-03 9.88763214e-01 7.37569272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.510371743 meters Centerline goodness : 0.983289 Centerline is valid? [True, True] Translation: X:117.44, Y:77.02, Z:7.38 [[ 5.83006563e-01 -8.10538272e-01 -5.59558468e-02 1.17440147e+02] [ 7.98805425e-01 5.84418944e-01 -1.42703861e-01 7.70243381e+01] [ 1.48368598e-01 3.84994534e-02 9.88182448e-01 7.38399452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.540371743 meters Centerline goodness : 0.981707 Centerline is valid? [True, True] Translation: X:117.49, Y:77.03, Z:7.37 [[ 5.87153242e-01 -8.00357829e-01 -1.21154514e-01 1.17493836e+02] [ 7.95926531e-01 5.98092049e-01 -9.37382392e-02 7.70287045e+01] [ 1.47485685e-01 -4.13913807e-02 9.88197716e-01 7.37279568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.570371743 meters Centerline goodness : 0.980969 Centerline is valid? [True, True] Translation: X:117.50, Y:77.06, Z:7.39 [[ 5.86111300e-01 -8.05353032e-01 -8.87695751e-02 1.17503650e+02] [ 7.96768233e-01 5.92792179e-01 -1.17293718e-01 7.70566451e+01] [ 1.47084761e-01 -1.98160417e-03 9.89121907e-01 7.38857994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.600371743 meters Centerline goodness : 0.982993 Centerline is valid? [True, True] Translation: X:117.50, Y:77.08, Z:7.40 [[ 5.81577715e-01 -8.11726075e-01 -5.35550202e-02 1.17497532e+02] [ 7.99961833e-01 5.82621476e-01 -1.43573261e-01 7.70845844e+01] [ 1.47744465e-01 4.06570370e-02 9.88189546e-01 7.39629271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630371743 meters Centerline goodness : 0.980617 Centerline is valid? [True, True] Translation: X:117.55, Y:77.09, Z:7.38 [[ 5.84497719e-01 -8.01737969e-01 -1.24814444e-01 1.17553262e+02] [ 7.98520912e-01 5.95670955e-01 -8.68358623e-02 7.70877226e+01] [ 1.43967947e-01 -4.89115798e-02 9.88372849e-01 7.38329095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.660371743 meters Centerline goodness : 0.983431 Centerline is valid? [True, True] Translation: X:117.53, Y:77.13, Z:7.40 [[ 5.80147504e-01 -8.12828403e-01 -5.23341298e-02 1.17534075e+02] [ 8.00970016e-01 5.80990992e-01 -1.44556219e-01 7.71258721e+01] [ 1.47905059e-01 4.19458610e-02 9.88111653e-01 7.40361454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690371743 meters Centerline goodness : 0.983265 Centerline is valid? [True, True] Translation: X:117.57, Y:77.14, Z:7.39 [[ 5.79315733e-01 -8.09679505e-01 -9.38742783e-02 1.17571964e+02] [ 8.02525547e-01 5.86735124e-01 -1.08141761e-01 7.71392115e+01] [ 1.42639504e-01 -1.26882829e-02 9.89693376e-01 7.39165292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.720371743 meters Centerline goodness : 0.983160 Centerline is valid? [True, True] Translation: X:117.58, Y:77.16, Z:7.40 [[ 5.80958725e-01 -8.10550560e-01 -7.41265781e-02 1.17580230e+02] [ 8.00361609e-01 5.85459396e-01 -1.29068159e-01 7.71636236e+01] [ 1.48014370e-01 1.56552056e-02 9.88861295e-01 7.40497728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750371743 meters Centerline goodness : 0.983912 Centerline is valid? [True, True] Translation: X:117.60, Y:77.18, Z:7.41 [[ 5.80111437e-01 -8.10030966e-01 -8.55602471e-02 1.17600738e+02] [ 8.00905788e-01 5.86384288e-01 -1.21257516e-01 7.71815844e+01] [ 1.48393527e-01 1.81717460e-03 9.88926721e-01 7.40566289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.780371743 meters Centerline goodness : 0.983583 Centerline is valid? [True, True] Translation: X:117.62, Y:77.20, Z:7.41 [[ 5.80940977e-01 -8.08111521e-01 -9.72797532e-02 1.17624494e+02] [ 8.00485151e-01 5.88884292e-01 -1.11529434e-01 7.72001258e+01] [ 1.47414739e-01 -1.30789797e-02 9.88988289e-01 7.40596795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810371743 meters Centerline goodness : 0.983011 Centerline is valid? [True, True] Translation: X:117.64, Y:77.23, Z:7.42 [[ 5.81767656e-01 -8.09220520e-01 -8.19057075e-02 1.17636319e+02] [ 7.99565296e-01 5.87461672e-01 -1.24836381e-01 7.72253777e+01] [ 1.49136625e-01 7.13680724e-03 9.88790844e-01 7.41646989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.840371743 meters Centerline goodness : 0.983274 Centerline is valid? [True, True] Translation: X:117.66, Y:77.25, Z:7.42 [[ 5.81792464e-01 -8.08122951e-01 -9.19501244e-02 1.17659125e+02] [ 7.99966611e-01 5.88974474e-01 -1.14727895e-01 7.72453500e+01] [ 1.46870521e-01 -6.80920482e-03 9.89132289e-01 7.41682419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870371743 meters Centerline goodness : 0.983421 Centerline is valid? [True, True] Translation: X:117.68, Y:77.27, Z:7.42 [[ 5.80256723e-01 -8.08925251e-01 -9.45625369e-02 1.17677107e+02] [ 8.01410301e-01 5.87797110e-01 -1.10616848e-01 7.72676582e+01] [ 1.45064347e-01 -1.15972215e-02 9.89354254e-01 7.41901822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.900371743 meters Centerline goodness : 0.983421 Centerline is valid? [True, True] Translation: X:117.69, Y:77.29, Z:7.43 [[ 5.80537443e-01 -8.09523624e-01 -8.74515815e-02 1.17692470e+02] [ 8.01100745e-01 5.87082293e-01 -1.16498835e-01 7.72911253e+01] [ 1.45649834e-01 -2.42559110e-03 9.89333231e-01 7.42605240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930371743 meters Centerline goodness : 0.982979 Centerline is valid? [True, True] Translation: X:117.70, Y:77.31, Z:7.44 [[ 5.81800097e-01 -8.09364332e-01 -8.02373013e-02 1.17704988e+02] [ 7.99604901e-01 5.87238956e-01 -1.25628063e-01 7.73134760e+01] [ 1.48797343e-01 8.93228017e-03 9.88827369e-01 7.43500124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.960371743 meters Centerline goodness : 0.983612 Centerline is valid? [True, True] Translation: X:117.73, Y:77.33, Z:7.43 [[ 5.81344644e-01 -8.08123534e-01 -9.47351977e-02 1.17727547e+02] [ 8.00449704e-01 5.88911618e-01 -1.11639495e-01 7.73338455e+01] [ 1.46009162e-01 -1.09297383e-02 9.89222859e-01 7.43381214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990371743 meters Centerline goodness : 0.983675 Centerline is valid? [True, True] Translation: X:117.74, Y:77.36, Z:7.44 [[ 5.82927515e-01 -8.07502742e-01 -9.01933123e-02 1.17742887e+02] [ 7.99208183e-01 5.89844834e-01 -1.15539394e-01 7.73567048e+01] [ 1.46498437e-01 -4.73214120e-03 9.89199583e-01 7.44000444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.020371743 meters Centerline goodness : 0.984343 Centerline is valid? [True, True] Translation: X:117.75, Y:77.38, Z:7.45 [[ 5.84508108e-01 -8.07350856e-01 -8.08385222e-02 1.17753867e+02] [ 7.97606811e-01 5.90006077e-01 -1.25364283e-01 7.73805258e+01] [ 1.48908180e-01 8.79908383e-03 9.88811878e-01 7.44897859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050371743 meters Centerline goodness : 0.987366 Centerline is valid? [True, True] Translation: X:117.78, Y:77.41, Z:7.46 [[ 5.81570887e-01 -8.06251256e-01 -1.08324579e-01 1.17782204e+02] [ 7.96538744e-01 5.91423469e-01 -1.25476330e-01 7.74079902e+01] [ 1.65231147e-01 -1.33113437e-02 9.86165035e-01 7.45886688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.080371743 meters Centerline goodness : 0.983452 Centerline is valid? [True, True] Translation: X:117.79, Y:77.42, Z:7.46 [[ 5.88301969e-01 -8.04144190e-01 -8.51640477e-02 1.17785609e+02] [ 7.94713715e-01 5.94416419e-01 -1.22878931e-01 7.74243093e+01] [ 1.49435287e-01 4.60888048e-03 9.88760766e-01 7.45669731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11037174300003 meters Centerline goodness : 0.987359 Centerline is valid? [True, True] Translation: X:117.81, Y:77.45, Z:7.47 [[ 5.84566524e-01 -8.03924732e-01 -1.09485175e-01 1.17814430e+02] [ 7.94202065e-01 5.94574376e-01 -1.25396934e-01 7.74523159e+01] [ 1.65906776e-01 -1.36505022e-02 9.86046959e-01 7.46772224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.140371743 meters Centerline goodness : 0.982892 Centerline is valid? [True, True] Translation: X:117.81, Y:77.47, Z:7.47 [[ 5.93756941e-01 -8.00870405e-01 -7.78414426e-02 1.17811794e+02] [ 7.90396205e-01 5.98632025e-01 -1.30052061e-01 7.74705998e+01] [ 1.50753227e-01 1.56937329e-02 9.88446848e-01 7.46933203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17037174300003 meters Centerline goodness : 0.982570 Centerline is valid? [True, True] Translation: X:117.85, Y:77.48, Z:7.46 [[ 5.93942822e-01 -7.94056945e-01 -1.29249730e-01 1.17850563e+02] [ 7.90072255e-01 6.06006306e-01 -9.24239607e-02 7.74834098e+01] [ 1.51716039e-01 -4.72220777e-02 9.87295457e-01 7.45591829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.200371743 meters Centerline goodness : 0.986127 Centerline is valid? [True, True] Translation: X:117.85, Y:77.53, Z:7.49 [[ 5.94354887e-01 -7.99840301e-01 -8.36526282e-02 1.17849323e+02] [ 7.86983043e-01 5.99883535e-01 -1.44213160e-01 7.75283228e+01] [ 1.65529332e-01 1.98805966e-02 9.86004464e-01 7.48912890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.230371743 meters Centerline goodness : 0.985735 Centerline is valid? [True, True] Translation: X:117.87, Y:77.55, Z:7.49 [[ 5.95439255e-01 -7.96595483e-01 -1.04344291e-01 1.17873658e+02] [ 7.86450829e-01 6.04477730e-01 -1.26892740e-01 7.75461614e+01] [ 1.64155984e-01 -6.50473610e-03 9.86412947e-01 7.48552089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.260371743 meters Centerline goodness : 0.986058 Centerline is valid? [True, True] Translation: X:117.89, Y:77.57, Z:7.49 [[ 5.96892571e-01 -7.95509906e-01 -1.04322811e-01 1.17889406e+02] [ 7.85340895e-01 6.05909273e-01 -1.26939479e-01 7.75689843e+01] [ 1.64191771e-01 -6.15973785e-03 9.86409205e-01 7.49001306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.290371743 meters Centerline goodness : 0.986089 Centerline is valid? [True, True] Translation: X:117.90, Y:77.59, Z:7.49 [[ 5.99403021e-01 -7.93584751e-01 -1.04590925e-01 1.17903488e+02] [ 7.83321718e-01 6.08433951e-01 -1.27338974e-01 7.75937106e+01] [ 1.64690938e-01 -5.60097708e-03 9.86329318e-01 7.49411594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.320371743 meters Centerline goodness : 0.981349 Centerline is valid? [True, True] Translation: X:117.91, Y:77.61, Z:7.49 [[ 6.04768551e-01 -7.92330890e-01 -8.04161644e-02 1.17908367e+02] [ 7.82841403e-01 6.09986919e-01 -1.22781501e-01 7.76113354e+01] [ 1.46336384e-01 1.13012875e-02 9.89170331e-01 7.49114098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.350371743 meters Centerline goodness : 0.985504 Centerline is valid? [True, True] Translation: X:117.94, Y:77.64, Z:7.50 [[ 6.00429763e-01 -7.91784038e-01 -1.12080938e-01 1.17937967e+02] [ 7.82451212e-01 6.10631211e-01 -1.22064022e-01 7.76364071e+01] [ 1.65088463e-01 -1.44069944e-02 9.86173533e-01 7.50071344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380371743 meters Centerline goodness : 0.980949 Centerline is valid? [True, True] Translation: X:117.94, Y:77.66, Z:7.50 [[ 6.05591293e-01 -7.92321859e-01 -7.40625222e-02 1.17937155e+02] [ 7.82385628e-01 6.09818437e-01 -1.26468193e-01 7.76581535e+01] [ 1.45368205e-01 1.86425837e-02 9.89201971e-01 7.50285867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.410371743 meters Centerline goodness : 0.985379 Centerline is valid? [True, True] Translation: X:117.97, Y:77.68, Z:7.51 [[ 6.00157659e-01 -7.91053421e-01 -1.18512745e-01 1.17971660e+02] [ 7.82424146e-01 6.11365535e-01 -1.18510073e-01 7.76796374e+01] [ 1.66202406e-01 -2.16025052e-02 9.85855006e-01 7.50881696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440371743 meters Centerline goodness : 0.981161 Centerline is valid? [True, True] Translation: X:117.97, Y:77.70, Z:7.51 [[ 6.01537660e-01 -7.94772764e-01 -8.05524503e-02 1.17972848e+02] [ 7.85417406e-01 6.06822665e-01 -1.22007183e-01 7.77017828e+01] [ 1.45849039e-01 1.01246189e-02 9.89255048e-01 7.50815816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.470371743 meters Centerline goodness : 0.985866 Centerline is valid? [True, True] Translation: X:118.00, Y:77.72, Z:7.52 [[ 5.94519709e-01 -7.96065685e-01 -1.13250785e-01 1.18002559e+02] [ 7.86506149e-01 6.05014827e-01 -1.23956188e-01 7.77248960e+01] [ 1.67195672e-01 -1.53780417e-02 9.85803796e-01 7.51971495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500371743 meters Centerline goodness : 0.981019 Centerline is valid? [True, True] Translation: X:118.00, Y:77.75, Z:7.52 [[ 5.96031237e-01 -7.99710256e-01 -7.21822005e-02 1.18003096e+02] [ 7.89033925e-01 5.99992165e-01 -1.32041157e-01 7.77471381e+01] [ 1.48903423e-01 2.17464494e-02 9.88612595e-01 7.52231192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.530371743 meters Centerline goodness : 0.985790 Centerline is valid? [True, True] Translation: X:118.04, Y:77.76, Z:7.52 [[ 5.90154558e-01 -7.97762476e-01 -1.23663374e-01 1.18041342e+02] [ 7.89761522e-01 6.02274620e-01 -1.16370191e-01 7.77639310e+01] [ 1.67315083e-01 -2.89881761e-02 9.85477219e-01 7.52478343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560371743 meters Centerline goodness : 0.978021 Centerline is valid? [True, True] Translation: X:118.07, Y:77.78, Z:7.54 [[ 5.98376043e-01 -7.93955205e-01 -1.07616184e-01 1.18072590e+02] [ 7.86120613e-01 6.07732084e-01 -1.12588170e-01 7.77825858e+01] [ 1.54791771e-01 -1.72292372e-02 9.87796872e-01 7.53579595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.590371743 meters Centerline goodness : 0.986125 Centerline is valid? [True, True] Translation: X:118.07, Y:77.81, Z:7.54 [[ 5.83181402e-01 -8.05749568e-01 -1.03281591e-01 1.18066725e+02] [ 7.95127870e-01 5.92226048e-01 -1.30537266e-01 7.78101804e+01] [ 1.66346394e-01 -5.99516597e-03 9.86049155e-01 7.54200528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620371743 meters Centerline goodness : 0.986266 Centerline is valid? [True, True] Translation: X:118.09, Y:77.83, Z:7.55 [[ 5.78181327e-01 -8.08843419e-01 -1.07138586e-01 1.18085194e+02] [ 7.99047050e-01 5.87887461e-01 -1.26143350e-01 7.78305368e+01] [ 1.65015649e-01 -1.26750414e-02 9.86209500e-01 7.54523480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.650371743 meters Centerline goodness : 0.980020 Centerline is valid? [True, True] Translation: X:118.10, Y:77.85, Z:7.54 [[ 5.75716095e-01 -8.11259459e-01 -1.02024841e-01 1.18097722e+02] [ 8.04462610e-01 5.84323664e-01 -1.06797774e-01 7.78469707e+01] [ 1.46256234e-01 -2.05899724e-02 9.89032440e-01 7.53642175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680371743 meters Centerline goodness : 0.979967 Centerline is valid? [True, True] Translation: X:118.10, Y:77.88, Z:7.56 [[ 5.70799087e-01 -8.18383655e-01 -6.66077680e-02 1.18100742e+02] [ 8.06577128e-01 5.74046803e-01 -1.41080135e-01 7.78808100e+01] [ 1.53693653e-01 2.68041102e-02 9.87754929e-01 7.55934838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.710371743 meters Centerline goodness : 0.979684 Centerline is valid? [True, True] Translation: X:118.13, Y:77.89, Z:7.55 [[ 5.67921171e-01 -8.17626271e-01 -9.46193700e-02 1.18128949e+02] [ 8.09083017e-01 5.75672710e-01 -1.18260739e-01 7.78943847e+01] [ 1.51162877e-01 -9.39214772e-03 9.88464249e-01 7.55148929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740371743 meters Centerline goodness : 0.980496 Centerline is valid? [True, True] Translation: X:118.15, Y:77.91, Z:7.55 [[ 5.68814904e-01 -8.15713594e-01 -1.05170992e-01 1.18151829e+02] [ 8.09354006e-01 5.77893528e-01 -1.04810131e-01 7.79115480e+01] [ 1.46272684e-01 -2.55029996e-02 9.88915517e-01 7.54838796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.770371743 meters Centerline goodness : 0.979880 Centerline is valid? [True, True] Translation: X:118.16, Y:77.94, Z:7.57 [[ 5.67014388e-01 -8.19988077e-01 -7.81935871e-02 1.18156576e+02] [ 8.10035690e-01 5.72308853e-01 -1.27690080e-01 7.79409107e+01] [ 1.49455225e-01 9.06251621e-03 9.88726963e-01 7.56523903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800371743 meters Centerline goodness : 0.982141 Centerline is valid? [True, True] Translation: X:118.20, Y:77.96, Z:7.56 [[ 5.69328931e-01 -8.13753466e-01 -1.16918194e-01 1.18195038e+02] [ 8.08605675e-01 5.79956250e-01 -9.90333789e-02 7.79551133e+01] [ 1.48396193e-01 -3.81581478e-02 9.88191543e-01 7.55752059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.830371743 meters Centerline goodness : 0.982637 Centerline is valid? [True, True] Translation: X:118.20, Y:77.98, Z:7.57 [[ 5.68363600e-01 -8.17113568e-01 -9.63754904e-02 1.18203549e+02] [ 8.08900858e-01 5.76353283e-01 -1.16173557e-01 7.79833164e+01] [ 1.50473320e-01 -1.19293959e-02 9.88542093e-01 7.56955885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86037174300003 meters Centerline goodness : 0.982710 Centerline is valid? [True, True] Translation: X:118.22, Y:78.01, Z:7.57 [[ 5.66296506e-01 -8.18439610e-01 -9.72875724e-02 1.18218903e+02] [ 8.10672492e-01 5.74406264e-01 -1.13435244e-01 7.80078075e+01] [ 1.48722488e-01 -1.46303765e-02 9.88770739e-01 7.57101411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.890371743 meters Centerline goodness : 0.982382 Centerline is valid? [True, True] Translation: X:118.23, Y:78.03, Z:7.58 [[ 5.66273255e-01 -8.19603556e-01 -8.70896804e-02 1.18231175e+02] [ 8.10002024e-01 5.72930997e-01 -1.25087144e-01 7.80328179e+01] [ 1.52418246e-01 2.90686894e-04 9.88316040e-01 7.58066544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92037174300003 meters Centerline goodness : 0.980868 Centerline is valid? [True, True] Translation: X:118.25, Y:78.05, Z:7.58 [[ 5.67796617e-01 -8.18176468e-01 -9.05222001e-02 1.18254038e+02] [ 8.09179849e-01 5.74949588e-01 -1.21082383e-01 7.80547398e+01] [ 1.51112458e-01 -4.49857303e-03 9.88506342e-01 7.58429430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.950371743 meters Centerline goodness : 0.980778 Centerline is valid? [True, True] Translation: X:118.26, Y:78.08, Z:7.59 [[ 5.65370602e-01 -8.20067434e-01 -8.85747453e-02 1.18264543e+02] [ 8.10454274e-01 5.72266024e-01 -1.25201704e-01 7.80785798e+01] [ 1.53362158e-01 -1.00041799e-03 9.88169544e-01 7.59217905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.980371743 meters Centerline goodness : 0.980920 Centerline is valid? [True, True] Translation: X:118.29, Y:78.10, Z:7.59 [[ 5.65587292e-01 -8.18427976e-01 -1.01423191e-01 1.18288884e+02] [ 8.10809915e-01 5.74315311e-01 -1.12912378e-01 7.80983304e+01] [ 1.50659541e-01 -1.83731227e-02 9.88414959e-01 7.59195305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.010371743 meters Centerline goodness : 0.980050 Centerline is valid? [True, True] Translation: X:118.30, Y:78.12, Z:7.60 [[ 5.62498546e-01 -8.21541585e-01 -9.30849665e-02 1.18296578e+02] [ 8.12733036e-01 5.70092282e-01 -1.20248914e-01 7.81231144e+01] [ 1.51856505e-01 -8.01338805e-03 9.88370066e-01 7.59893432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.040371743 meters Centerline goodness : 0.982376 Centerline is valid? [True, True] Translation: X:118.32, Y:78.15, Z:7.60 [[ 5.61100842e-01 -8.22521385e-01 -9.28677313e-02 1.18315273e+02] [ 8.14161765e-01 5.68650609e-01 -1.17375911e-01 7.81482736e+01] [ 1.49353489e-01 -9.74963340e-03 9.88735799e-01 7.60204825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.070371743 meters Centerline goodness : 0.982366 Centerline is valid? [True, True] Translation: X:118.33, Y:78.17, Z:7.60 [[ 5.58023155e-01 -8.23807820e-01 -9.97538714e-02 1.18332555e+02] [ 8.16715447e-01 5.66508128e-01 -1.09747072e-01 7.81699529e+01] [ 1.46921875e-01 -2.02291201e-02 9.88941224e-01 7.60273284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.100371743 meters Centerline goodness : 0.980675 Centerline is valid? [True, True] Translation: X:118.34, Y:78.20, Z:7.62 [[ 5.57872229e-01 -8.26562232e-01 -7.46555602e-02 1.18341410e+02] [ 8.16543361e-01 5.62740275e-01 -1.28764600e-01 7.81978904e+01] [ 1.48443645e-01 1.08746920e-02 9.88861075e-01 7.61774682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130371743 meters Centerline goodness : 0.980932 Centerline is valid? [True, True] Translation: X:118.35, Y:78.21, Z:7.60 [[ 5.50663560e-01 -8.29740262e-01 -9.11084053e-02 1.18349813e+02] [ 8.22638777e-01 5.57954825e-01 -1.09324544e-01 7.82146469e+01] [ 1.41545350e-01 -1.47482647e-02 9.89821905e-01 7.60203443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.160371743 meters Centerline goodness : 0.983768 Centerline is valid? [True, True] Translation: X:118.38, Y:78.24, Z:7.61 [[ 5.54410847e-01 -8.25720818e-01 -1.03989152e-01 1.18381672e+02] [ 8.19943051e-01 5.63339080e-01 -1.01697956e-01 7.82360112e+01] [ 1.42555272e-01 -2.88827326e-02 9.89365343e-01 7.60614562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190371743 meters Centerline goodness : 0.980232 Centerline is valid? [True, True] Translation: X:118.37, Y:78.26, Z:7.62 [[ 5.47786922e-01 -8.33460274e-01 -7.26185959e-02 1.18371804e+02] [ 8.24395776e-01 5.52529726e-01 -1.22810857e-01 7.82647013e+01] [ 1.42481903e-01 7.40771746e-03 9.89769687e-01 7.61744781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.220371743 meters Centerline goodness : 0.984157 Centerline is valid? [True, True] Translation: X:118.41, Y:78.28, Z:7.61 [[ 5.52855489e-01 -8.26461053e-01 -1.06362291e-01 1.18410762e+02] [ 8.21312319e-01 5.62012787e-01 -9.79168089e-02 7.82831865e+01] [ 1.40701397e-01 -3.32228146e-02 9.89494498e-01 7.61108148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250371743 meters Centerline goodness : 0.983790 Centerline is valid? [True, True] Translation: X:118.42, Y:78.31, Z:7.63 [[ 5.53212799e-01 -8.28666709e-01 -8.52471979e-02 1.18418254e+02] [ 8.20513301e-01 5.59713125e-01 -1.16099697e-01 7.83106055e+01] [ 1.43921929e-01 -5.71862144e-03 9.89572522e-01 7.62536989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.280371743 meters Centerline goodness : 0.982904 Centerline is valid? [True, True] Translation: X:118.43, Y:78.33, Z:7.63 [[ 5.51879578e-01 -8.29340525e-01 -8.73110796e-02 1.18431057e+02] [ 8.21501355e-01 5.58674840e-01 -1.14096219e-01 7.83327083e+01] [ 1.43403121e-01 -8.75879707e-03 9.89625600e-01 7.62768522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310371743 meters Centerline goodness : 0.984450 Centerline is valid? [True, True] Translation: X:118.45, Y:78.35, Z:7.63 [[ 5.54040561e-01 -8.26897644e-01 -9.63293490e-02 1.18452078e+02] [ 8.20580016e-01 5.61948799e-01 -1.04220844e-01 7.83545443e+01] [ 1.40312132e-01 -2.13033639e-02 9.89878110e-01 7.62763639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.340371743 meters Centerline goodness : 0.984026 Centerline is valid? [True, True] Translation: X:118.46, Y:78.38, Z:7.64 [[ 5.55256843e-01 -8.27576969e-01 -8.24996850e-02 1.18462249e+02] [ 8.19417247e-01 5.61343094e-01 -1.15971140e-01 7.83801517e+01] [ 1.42285673e-01 -3.20789568e-03 9.89820437e-01 7.63904881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370371743 meters Centerline goodness : 0.984128 Centerline is valid? [True, True] Translation: X:118.48, Y:78.40, Z:7.64 [[ 5.58208234e-01 -8.25302315e-01 -8.53208989e-02 1.18477305e+02] [ 8.17222079e-01 5.64665810e-01 -1.15328214e-01 7.84045033e+01] [ 1.43358436e-01 -5.34896385e-03 9.89656378e-01 7.64107156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.400371743 meters Centerline goodness : 0.985507 Centerline is valid? [True, True] Translation: X:118.49, Y:78.43, Z:7.64 [[ 5.57043664e-01 -8.25309097e-01 -9.25594501e-02 1.18492331e+02] [ 8.18413173e-01 5.64460243e-01 -1.07631374e-01 7.84268046e+01] [ 1.41075282e-01 -1.57964983e-02 9.89872838e-01 7.63975951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430371743 meters Centerline goodness : 0.984787 Centerline is valid? [True, True] Translation: X:118.51, Y:78.45, Z:7.64 [[ 5.58941167e-01 -8.24274087e-01 -9.03161223e-02 1.18508566e+02] [ 8.17069247e-01 5.66050652e-01 -1.09473765e-01 7.84496549e+01] [ 1.41359888e-01 -1.26051318e-02 9.89878019e-01 7.64493314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.460371743 meters Centerline goodness : 0.986240 Centerline is valid? [True, True] Translation: X:118.52, Y:78.47, Z:7.65 [[ 5.60809138e-01 -8.22640733e-01 -9.35699518e-02 1.18523636e+02] [ 8.15623647e-01 5.68348614e-01 -1.08341678e-01 7.84736296e+01] [ 1.42306630e-01 -1.55588622e-02 9.89700331e-01 7.64654251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490371743 meters Centerline goodness : 0.980912 Centerline is valid? [True, True] Translation: X:118.54, Y:78.50, Z:7.66 [[ 5.65615941e-01 -8.21323713e-01 -7.42021953e-02 1.18536743e+02] [ 8.11485821e-01 5.70340724e-01 -1.27287947e-01 7.84975202e+01] [ 1.46865143e-01 1.17820624e-02 9.89086353e-01 7.66253556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.520371743 meters Centerline goodness : 0.985216 Centerline is valid? [True, True] Translation: X:118.55, Y:78.52, Z:7.65 [[ 5.63141178e-01 -8.20383614e-01 -9.92105817e-02 1.18553564e+02] [ 8.14067178e-01 5.71382594e-01 -1.04002696e-01 7.85197850e+01] [ 1.42009307e-01 -2.21958774e-02 9.89616441e-01 7.65104373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550371743 meters Centerline goodness : 0.985406 Centerline is valid? [True, True] Translation: X:118.56, Y:78.55, Z:7.66 [[ 5.61700430e-01 -8.22334571e-01 -9.08761831e-02 1.18561932e+02] [ 8.15083549e-01 5.68867655e-01 -1.09674057e-01 7.85458574e+01] [ 1.41885290e-01 -1.24677168e-02 9.89804587e-01 7.65692153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.580371743 meters Centerline goodness : 0.982634 Centerline is valid? [True, True] Translation: X:118.59, Y:78.57, Z:7.67 [[ 5.67442930e-01 -8.19533811e-01 -7.98301588e-02 1.18585378e+02] [ 8.10859699e-01 5.73024145e-01 -1.18953257e-01 7.85721943e+01] [ 1.43230824e-01 2.76812614e-03 9.89685439e-01 7.66892976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61037174300003 meters Centerline goodness : 0.981859 Centerline is valid? [True, True] Translation: X:118.61, Y:78.59, Z:7.67 [[ 5.67732867e-01 -8.17810874e-01 -9.41528867e-02 1.18605886e+02] [ 8.10765783e-01 5.75293238e-01 -1.08150523e-01 7.85918441e+01] [ 1.42612193e-01 -1.49353323e-02 9.89665953e-01 7.66682072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.640371743 meters Centerline goodness : 0.984108 Centerline is valid? [True, True] Translation: X:118.62, Y:78.62, Z:7.67 [[ 5.68766823e-01 -8.16723294e-01 -9.73003683e-02 1.18619751e+02] [ 8.10097441e-01 5.76722827e-01 -1.05512644e-01 7.86160398e+01] [ 1.42289978e-01 -1.88106878e-02 9.89646260e-01 7.67035644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67037174300003 meters Centerline goodness : 0.981823 Centerline is valid? [True, True] Translation: X:118.63, Y:78.64, Z:7.68 [[ 5.70493164e-01 -8.16380633e-01 -8.97786756e-02 1.18632168e+02] [ 8.08945965e-01 5.77433216e-01 -1.10350834e-01 7.86395291e+01] [ 1.41929473e-01 -9.67170070e-03 9.89829522e-01 7.67897597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.700371743 meters Centerline goodness : 0.982782 Centerline is valid? [True, True] Translation: X:118.65, Y:78.67, Z:7.68 [[ 5.71827672e-01 -8.15290371e-01 -9.11851123e-02 1.18647564e+02] [ 8.08397015e-01 5.78911348e-01 -1.06564147e-01 7.86650335e+01] [ 1.39668819e-01 -1.27774445e-02 9.90115831e-01 7.68171696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.730371743 meters Centerline goodness : 0.984225 Centerline is valid? [True, True] Translation: X:118.66, Y:78.69, Z:7.69 [[ 5.73777490e-01 -8.14505764e-01 -8.57889984e-02 1.18659885e+02] [ 8.06833282e-01 5.80132570e-01 -1.11652388e-01 7.86901660e+01] [ 1.40710505e-01 -5.15379248e-03 9.90037369e-01 7.68753635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.760371743 meters Centerline goodness : 0.984225 Centerline is valid? [True, True] Translation: X:118.68, Y:78.71, Z:7.69 [[ 5.73524753e-01 -8.14139039e-01 -9.08129056e-02 1.18678769e+02] [ 8.07090148e-01 5.80553654e-01 -1.07531145e-01 7.87101606e+01] [ 1.40267068e-01 -1.16224278e-02 9.90045488e-01 7.68883860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.790371743 meters Centerline goodness : 0.984159 Centerline is valid? [True, True] Translation: X:118.69, Y:78.74, Z:7.70 [[ 5.73648322e-01 -8.14589217e-01 -8.58604135e-02 1.18692227e+02] [ 8.06682476e-01 5.80022587e-01 -1.13301286e-01 7.87354154e+01] [ 1.42094985e-01 -4.26699809e-03 9.89843830e-01 7.69593581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.820371743 meters Centerline goodness : 0.985868 Centerline is valid? [True, True] Translation: X:118.71, Y:78.76, Z:7.69 [[ 5.73266145e-01 -8.13501844e-01 -9.78809271e-02 1.18714859e+02] [ 8.07733885e-01 5.81139006e-01 -9.92140428e-02 7.87565281e+01] [ 1.37593231e-01 -2.21856897e-02 9.90240323e-01 7.69411638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.850371743 meters Centerline goodness : 0.985307 Centerline is valid? [True, True] Translation: X:118.73, Y:78.78, Z:7.70 [[ 5.72642318e-01 -8.14718751e-01 -9.11818638e-02 1.18725900e+02] [ 8.07845386e-01 5.79716180e-01 -1.06371905e-01 7.87805095e+01] [ 1.39522788e-01 -1.27477935e-02 9.90136801e-01 7.70239909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880371743 meters Centerline goodness : 0.985642 Centerline is valid? [True, True] Translation: X:118.74, Y:78.80, Z:7.71 [[ 5.73135647e-01 -8.14997099e-01 -8.54122845e-02 1.18739950e+02] [ 8.07496230e-01 5.79437397e-01 -1.10463303e-01 7.88045864e+01] [ 1.39518343e-01 -5.65964131e-03 9.90203313e-01 7.70744578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.910371743 meters Centerline goodness : 0.986109 Centerline is valid? [True, True] Translation: X:118.76, Y:78.83, Z:7.71 [[ 5.71931580e-01 -8.14852127e-01 -9.43942745e-02 1.18758343e+02] [ 8.08371144e-01 5.79423723e-01 -1.03943458e-01 7.88280743e+01] [ 1.39392830e-01 -1.68570613e-02 9.90093672e-01 7.70822252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940371743 meters Centerline goodness : 0.986060 Centerline is valid? [True, True] Translation: X:118.77, Y:78.85, Z:7.72 [[ 5.72028380e-01 -8.15552808e-01 -8.75051419e-02 1.18770517e+02] [ 8.08298396e-01 5.78620866e-01 -1.08865037e-01 7.88519747e+01] [ 1.39417487e-01 -8.45637526e-03 9.90197583e-01 7.71529768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.970371743 meters Centerline goodness : 0.985007 Centerline is valid? [True, True] Translation: X:118.79, Y:78.87, Z:7.72 [[ 5.72560886e-01 -8.14930767e-01 -8.97879537e-02 1.18785644e+02] [ 8.07875299e-01 5.79454836e-01 -1.07562049e-01 7.88726838e+01] [ 1.39683687e-01 -1.09516479e-02 9.90135611e-01 7.71785292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000371743 meters Centerline goodness : 0.985690 Centerline is valid? [True, True] Translation: X:118.80, Y:78.89, Z:7.72 [[ 5.74638077e-01 -8.13810454e-01 -8.66234631e-02 1.18797733e+02] [ 8.06214445e-01 5.81099441e-01 -1.11093246e-01 7.88949787e+01] [ 1.40745691e-01 -5.99867806e-03 9.90027609e-01 7.72241811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.030371743 meters Centerline goodness : 0.988335 Centerline is valid? [True, True] Translation: X:118.82, Y:78.92, Z:7.72 [[ 5.73756829e-01 -8.14689838e-01 -8.41639478e-02 1.18818170e+02] [ 8.07389070e-01 5.79871455e-01 -1.08958641e-01 7.89237005e+01] [ 1.37571768e-01 -5.43728723e-03 9.90476877e-01 7.72422651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060371743 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:118.84, Y:78.94, Z:7.72 [[ 5.72283096e-01 -8.13848272e-01 -1.00712701e-01 1.18837532e+02] [ 8.08267978e-01 5.80535378e-01 -9.83948733e-02 7.89424996e+01] [ 1.38545784e-01 -2.50931288e-02 9.90038080e-01 7.72400187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.090371743 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:118.85, Y:78.97, Z:7.73 [[ 5.71840425e-01 -8.15342031e-01 -9.06416092e-02 1.18850109e+02] [ 8.08529545e-01 5.78840209e-01 -1.05943320e-01 7.89679435e+01] [ 1.38847050e-01 -1.27037459e-02 9.90232352e-01 7.73355905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120371743 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:118.87, Y:78.99, Z:7.74 [[ 5.70390144e-01 -8.15028714e-01 -1.01898373e-01 1.18866415e+02] [ 8.09071613e-01 5.78897719e-01 -1.01393077e-01 7.89888104e+01] [ 1.41627005e-01 -2.46094692e-02 9.89614150e-01 7.73714299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.150371743 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:118.88, Y:79.02, Z:7.75 [[ 5.70234485e-01 -8.17052766e-01 -8.51904354e-02 1.18877861e+02] [ 8.09440670e-01 5.76537320e-01 -1.11402516e-01 7.90155283e+01] [ 1.40137199e-01 -5.43104691e-03 9.90117200e-01 7.74772046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180371743 meters Centerline goodness : 0.987675 Centerline is valid? [True, True] Translation: X:118.90, Y:79.03, Z:7.75 [[ 5.68595763e-01 -8.16752833e-01 -9.80493106e-02 1.18896338e+02] [ 8.10419971e-01 5.76620958e-01 -1.03574815e-01 7.90340808e+01] [ 1.41132311e-01 -2.05689184e-02 9.89777041e-01 7.74806025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.210371743 meters Centerline goodness : 0.986133 Centerline is valid? [True, True] Translation: X:118.91, Y:79.06, Z:7.76 [[ 5.68582289e-01 -8.18193290e-01 -8.52872821e-02 1.18907823e+02] [ 8.10230004e-01 5.74927106e-01 -1.13956852e-01 7.90594141e+01] [ 1.42272702e-01 -4.30846710e-03 9.89818122e-01 7.75862433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240371743 meters Centerline goodness : 0.987948 Centerline is valid? [True, True] Translation: X:118.93, Y:79.09, Z:7.76 [[ 5.67533360e-01 -8.18632836e-01 -8.80123055e-02 1.18931930e+02] [ 8.11676365e-01 5.74217657e-01 -1.07030651e-01 7.90875271e+01] [ 1.38157025e-01 -1.06940434e-02 9.90352601e-01 7.75728028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.270371743 meters Centerline goodness : 0.987921 Centerline is valid? [True, True] Translation: X:118.95, Y:79.11, Z:7.76 [[ 5.66744023e-01 -8.18889902e-01 -9.06672017e-02 1.18949889e+02] [ 8.12038444e-01 5.73797736e-01 -1.06535084e-01 7.91108878e+01] [ 1.39265140e-01 -1.32471313e-02 9.90166519e-01 7.76068964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300371743 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:118.97, Y:79.14, Z:7.77 [[ 5.65160886e-01 -8.20423553e-01 -8.65931142e-02 1.18969823e+02] [ 8.13376996e-01 5.71676427e-01 -1.07721516e-01 7.91387309e+01] [ 1.37880511e-01 -9.55285975e-03 9.90402801e-01 7.76507658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.330371743 meters Centerline goodness : 0.987420 Centerline is valid? [True, True] Translation: X:118.99, Y:79.16, Z:7.77 [[ 5.64690056e-01 -8.20804124e-01 -8.60565579e-02 1.18985584e+02] [ 8.13172396e-01 5.71169244e-01 -1.11876490e-01 7.91608534e+01] [ 1.40981543e-01 -6.80327628e-03 9.89988848e-01 7.77079098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36037174300003 meters Centerline goodness : 0.988063 Centerline is valid? [True, True] Translation: X:119.01, Y:79.18, Z:7.77 [[ 5.64123730e-01 -8.20855163e-01 -8.92256613e-02 1.19006774e+02] [ 8.14158790e-01 5.70984965e-01 -1.05459164e-01 7.91845794e+01] [ 1.37513210e-01 -1.31518396e-02 9.90412614e-01 7.76933099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.390371743 meters Centerline goodness : 0.987723 Centerline is valid? [True, True] Translation: X:119.03, Y:79.21, Z:7.77 [[ 5.63722466e-01 -8.21986967e-01 -8.09592928e-02 1.19025646e+02] [ 8.14767208e-01 5.69487500e-01 -1.08804341e-01 7.92126972e+01] [ 1.35541056e-01 -4.62752542e-03 9.90760924e-01 7.77492516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42037174300003 meters Centerline goodness : 0.985749 Centerline is valid? [True, True] Translation: X:119.04, Y:79.23, Z:7.78 [[ 5.64373779e-01 -8.21020691e-01 -8.60654560e-02 1.19044547e+02] [ 8.14117870e-01 5.70813443e-01 -1.06696333e-01 7.92339829e+01] [ 1.36727216e-01 -9.85081321e-03 9.90559756e-01 7.77674469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.450371743 meters Centerline goodness : 0.986758 Centerline is valid? [True, True] Translation: X:119.06, Y:79.26, Z:7.78 [[ 5.63435729e-01 -8.21271244e-01 -8.97425382e-02 1.19063444e+02] [ 8.15225531e-01 5.70303234e-01 -1.00804539e-01 7.92568148e+01] [ 1.33968329e-01 -1.63635297e-02 9.90850504e-01 7.77851877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.480371743 meters Centerline goodness : 0.986581 Centerline is valid? [True, True] Translation: X:119.08, Y:79.28, Z:7.78 [[ 5.63733404e-01 -8.21626607e-01 -8.44651907e-02 1.19079065e+02] [ 8.15180157e-01 5.69926806e-01 -1.03270266e-01 7.92799797e+01] [ 1.32988575e-01 -1.06374486e-02 9.91060484e-01 7.78321905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.510371743 meters Centerline goodness : 0.986083 Centerline is valid? [True, True] Translation: X:119.10, Y:79.30, Z:7.79 [[ 5.63643543e-01 -8.21161595e-01 -8.94404372e-02 1.19095750e+02] [ 8.15120262e-01 5.70467708e-01 -1.00725135e-01 7.92980726e+01] [ 1.33734494e-01 -1.61316406e-02 9.90885894e-01 7.78526098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.540371743 meters Centerline goodness : 0.983230 Centerline is valid? [True, True] Translation: X:119.11, Y:79.32, Z:7.79 [[ 5.64552368e-01 -8.21742269e-01 -7.75903813e-02 1.19107154e+02] [ 8.14025023e-01 5.69859255e-01 -1.12355204e-01 7.93218218e+01] [ 1.36542617e-01 2.69884438e-04 9.90634161e-01 7.79296084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.570371743 meters Centerline goodness : 0.986672 Centerline is valid? [True, True] Translation: X:119.13, Y:79.35, Z:7.79 [[ 5.63827951e-01 -8.20523873e-01 -9.40139134e-02 1.19134551e+02] [ 8.14992458e-01 5.71203093e-01 -9.75413756e-02 7.93467174e+01] [ 1.33736065e-01 -2.16240765e-02 9.90781037e-01 7.79087636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.600371743 meters Centerline goodness : 0.984403 Centerline is valid? [True, True] Translation: X:119.15, Y:79.37, Z:7.80 [[ 5.65322629e-01 -8.20357450e-01 -8.61625172e-02 1.19146935e+02] [ 8.13664034e-01 5.71751376e-01 -1.05124706e-01 7.93697468e+01] [ 1.35503374e-01 -1.06779660e-02 9.90719343e-01 7.79944791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630371743 meters Centerline goodness : 0.984362 Centerline is valid? [True, True] Translation: X:119.16, Y:79.39, Z:7.80 [[ 5.66350480e-01 -8.19717436e-01 -8.55012212e-02 1.19164227e+02] [ 8.13070800e-01 5.72676678e-01 -1.04677111e-01 7.93928908e+01] [ 1.34770208e-01 -1.02346145e-02 9.90824023e-01 7.80321388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.660371743 meters Centerline goodness : 0.984800 Centerline is valid? [True, True] Translation: X:119.18, Y:79.41, Z:7.81 [[ 5.67253819e-01 -8.18870954e-01 -8.75983175e-02 1.19180412e+02] [ 8.12452406e-01 5.73837581e-01 -1.03109258e-01 7.94132190e+01] [ 1.34700383e-01 -1.26803433e-02 9.90805236e-01 7.80610086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690371743 meters Centerline goodness : 0.983607 Centerline is valid? [True, True] Translation: X:119.20, Y:79.44, Z:7.81 [[ 5.68125533e-01 -8.19007284e-01 -8.03769078e-02 1.19195417e+02] [ 8.11602860e-01 5.73776345e-01 -1.09915890e-01 7.94382463e+01] [ 1.36140283e-01 -2.78810483e-03 9.90685646e-01 7.81295479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.720371743 meters Centerline goodness : 0.983804 Centerline is valid? [True, True] Translation: X:119.22, Y:79.46, Z:7.81 [[ 5.68143919e-01 -8.17397619e-01 -9.52555469e-02 1.19215389e+02] [ 8.11490258e-01 5.75713370e-01 -1.00188205e-01 7.94560069e+01] [ 1.36733492e-01 -2.03776291e-02 9.90398255e-01 7.81118522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750371743 meters Centerline goodness : 0.984273 Centerline is valid? [True, True] Translation: X:119.23, Y:79.48, Z:7.82 [[ 5.67818381e-01 -8.18177747e-01 -9.03740022e-02 1.19229481e+02] [ 8.11510031e-01 5.74803451e-01 -1.05130687e-01 7.94795297e+01] [ 1.37962877e-01 -1.36442731e-02 9.90343414e-01 7.81829415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.780371743 meters Centerline goodness : 0.984709 Centerline is valid? [True, True] Translation: X:119.24, Y:79.51, Z:7.83 [[ 5.68161915e-01 -8.18998847e-01 -8.02055306e-02 1.19243835e+02] [ 8.11271669e-01 5.73793702e-01 -1.12245569e-01 7.95053225e+01] [ 1.37950420e-01 -1.29481741e-03 9.90438289e-01 7.82519147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810371743 meters Centerline goodness : 0.985112 Centerline is valid? [True, True] Translation: X:119.27, Y:79.53, Z:7.82 [[ 5.67755111e-01 -8.18311990e-01 -8.95523391e-02 1.19265960e+02] [ 8.11795226e-01 5.74611749e-01 -1.03970425e-01 7.95264059e+01] [ 1.36538071e-01 -1.36684213e-02 9.90540524e-01 7.82397890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.840371743 meters Centerline goodness : 0.984527 Centerline is valid? [True, True] Translation: X:119.28, Y:79.55, Z:7.83 [[ 5.67285055e-01 -8.18593701e-01 -8.99556469e-02 1.19278657e+02] [ 8.11699050e-01 5.74237858e-01 -1.06749867e-01 7.95472488e+01] [ 1.39040707e-01 -1.24593087e-02 9.90208285e-01 7.83026573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870371743 meters Centerline goodness : 0.984907 Centerline is valid? [True, True] Translation: X:119.29, Y:79.57, Z:7.84 [[ 5.66248023e-01 -8.19679971e-01 -8.65327778e-02 1.19294897e+02] [ 8.12442203e-01 5.72757658e-01 -1.09024461e-01 7.95718717e+01] [ 1.38927478e-01 -8.56799507e-03 9.90265492e-01 7.83568525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.900371743 meters Centerline goodness : 0.985891 Centerline is valid? [True, True] Translation: X:119.32, Y:79.59, Z:7.83 [[ 5.64342762e-01 -8.19930414e-01 -9.60799885e-02 1.19316223e+02] [ 8.14049312e-01 5.72056729e-01 -1.00373384e-01 7.95915014e+01] [ 1.37262394e-01 -2.15688560e-02 9.90299864e-01 7.83112315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930371743 meters Centerline goodness : 0.986198 Centerline is valid? [True, True] Translation: X:119.32, Y:79.62, Z:7.85 [[ 5.65241628e-01 -8.21626705e-01 -7.36984391e-02 1.19324273e+02] [ 8.13308022e-01 5.69993621e-01 -1.16778994e-01 7.96186172e+01] [ 1.37956380e-01 6.06881715e-03 9.90419712e-01 7.84859383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.960371743 meters Centerline goodness : 0.982301 Centerline is valid? [True, True] Translation: X:119.35, Y:79.63, Z:7.84 [[ 5.66057462e-01 -8.18440877e-01 -9.86584047e-02 1.19345803e+02] [ 8.13126309e-01 5.74021904e-01 -9.65632437e-02 7.96255288e+01] [ 1.35663391e-01 -2.55613998e-02 9.90425191e-01 7.83609933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990371743 meters Centerline goodness : 0.986441 Centerline is valid? [True, True] Translation: X:119.36, Y:79.66, Z:7.86 [[ 5.63029888e-01 -8.22737439e-01 -7.81053919e-02 1.19358423e+02] [ 8.14573019e-01 5.68419667e-01 -1.15628194e-01 7.96616150e+01] [ 1.39528285e-01 1.47958453e-03 9.90216981e-01 7.85696849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.020371743 meters Centerline goodness : 0.987680 Centerline is valid? [True, True] Translation: X:119.38, Y:79.68, Z:7.86 [[ 5.61012669e-01 -8.22948067e-01 -8.95615135e-02 1.19380738e+02] [ 8.15678706e-01 5.68000490e-01 -1.09743757e-01 7.96837600e+01] [ 1.41184396e-01 -1.14857816e-02 9.89916685e-01 7.85727350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050371743 meters Centerline goodness : 0.986720 Centerline is valid? [True, True] Translation: X:119.40, Y:79.71, Z:7.86 [[ 5.61402518e-01 -8.23252369e-01 -8.41590721e-02 1.19397402e+02] [ 8.15603755e-01 5.67646894e-01 -1.12104946e-01 7.97079193e+01] [ 1.40063299e-01 -5.70445594e-03 9.90126119e-01 7.86162466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.080371743 meters Centerline goodness : 0.986743 Centerline is valid? [True, True] Translation: X:119.42, Y:79.73, Z:7.86 [[ 5.60623886e-01 -8.22582047e-01 -9.51821081e-02 1.19417621e+02] [ 8.15895027e-01 5.68358153e-01 -1.06227659e-01 7.97274526e+01] [ 1.41478492e-01 -1.81048458e-02 9.89775758e-01 7.86272807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11037174300003 meters Centerline goodness : 0.985863 Centerline is valid? [True, True] Translation: X:119.43, Y:79.75, Z:7.87 [[ 5.60337151e-01 -8.23146555e-01 -9.19348989e-02 1.19433027e+02] [ 8.15947001e-01 5.67664546e-01 -1.09487236e-01 7.97493323e+01] [ 1.42312224e-01 -1.36642394e-02 9.89727498e-01 7.86874190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.140371743 meters Centerline goodness : 0.986600 Centerline is valid? [True, True] Translation: X:119.45, Y:79.78, Z:7.88 [[ 5.59859550e-01 -8.24156733e-01 -8.55743175e-02 1.19449095e+02] [ 8.16117774e-01 5.66335313e-01 -1.14961263e-01 7.97750359e+01] [ 1.43209857e-01 -5.47656047e-03 9.89677192e-01 7.87567233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17037174300003 meters Centerline goodness : 0.985644 Centerline is valid? [True, True] Translation: X:119.47, Y:79.79, Z:7.88 [[ 5.61711049e-01 -8.21612783e-01 -9.71243143e-02 1.19468593e+02] [ 8.14702221e-01 5.69745756e-01 -1.07935462e-01 7.97925259e+01] [ 1.44017321e-01 -1.84988529e-02 9.89402246e-01 7.87630678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.200371743 meters Centerline goodness : 0.985607 Centerline is valid? [True, True] Translation: X:119.48, Y:79.82, Z:7.88 [[ 5.61739934e-01 -8.21936495e-01 -9.41734841e-02 1.19483208e+02] [ 8.14513132e-01 5.69400238e-01 -1.11138324e-01 7.98155857e+01] [ 1.44971049e-01 -1.42747046e-02 9.89332921e-01 7.88370730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.230371743 meters Centerline goodness : 0.985246 Centerline is valid? [True, True] Translation: X:119.50, Y:79.84, Z:7.89 [[ 5.62162988e-01 -8.21790847e-01 -9.29116685e-02 1.19498339e+02] [ 8.14018667e-01 5.69665125e-01 -1.13381021e-01 7.98384093e+01] [ 1.46104023e-01 -1.18932189e-02 9.89197739e-01 7.89070694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.260371743 meters Centerline goodness : 0.985744 Centerline is valid? [True, True] Translation: X:119.51, Y:79.86, Z:7.90 [[ 5.65059433e-01 -8.19899908e-01 -9.20433502e-02 1.19513892e+02] [ 8.11894950e-01 5.72421182e-01 -1.14719573e-01 7.98607723e+01] [ 1.46746131e-01 -9.90615437e-03 9.89124583e-01 7.89679117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.290371743 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:119.53, Y:79.88, Z:7.90 [[ 5.66455600e-01 -8.18628225e-01 -9.47411309e-02 1.19531130e+02] [ 8.10734464e-01 5.74194256e-01 -1.14063947e-01 7.98824192e+01] [ 1.47775780e-01 -1.21977386e-02 9.88945668e-01 7.90107100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.320371743 meters Centerline goodness : 0.985439 Centerline is valid? [True, True] Translation: X:119.55, Y:79.90, Z:7.91 [[ 5.67808053e-01 -8.17088965e-01 -9.97979877e-02 1.19547328e+02] [ 8.09529303e-01 5.76258467e-01 -1.12198427e-01 7.99031059e+01] [ 1.49185532e-01 -1.70822250e-02 9.88661658e-01 7.90642698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.350371743 meters Centerline goodness : 0.985148 Centerline is valid? [True, True] Translation: X:119.56, Y:79.93, Z:7.91 [[ 5.69071017e-01 -8.17023008e-01 -9.29063088e-02 1.19561679e+02] [ 8.08616294e-01 5.76543487e-01 -1.17206218e-01 7.99261679e+01] [ 1.49324704e-01 -8.42689348e-03 9.88752305e-01 7.91436878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380371743 meters Centerline goodness : 0.984765 Centerline is valid? [True, True] Translation: X:119.57, Y:79.94, Z:7.91 [[ 5.66172197e-01 -8.17619662e-01 -1.04628542e-01 1.19574066e+02] [ 8.10497367e-01 5.75318319e-01 -1.10012951e-01 7.99439405e+01] [ 1.50143468e-01 -2.25148840e-02 9.88407820e-01 7.91420895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.410371743 meters Centerline goodness : 0.985231 Centerline is valid? [True, True] Translation: X:119.59, Y:79.97, Z:7.93 [[ 5.70952028e-01 -8.17168960e-01 -7.90485530e-02 1.19589280e+02] [ 8.07185286e-01 5.76326580e-01 -1.27669837e-01 7.99742601e+01] [ 1.49885610e-01 9.08652339e-03 9.88661590e-01 7.93131882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440371743 meters Centerline goodness : 0.978641 Centerline is valid? [True, True] Translation: X:119.60, Y:79.99, Z:7.92 [[ 5.68598430e-01 -8.18211328e-01 -8.50061611e-02 1.19597053e+02] [ 8.09543498e-01 5.74916169e-01 -1.18788563e-01 7.99880043e+01] [ 1.46065565e-01 -1.27319448e-03 9.89274092e-01 7.92211982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.470371743 meters Centerline goodness : 0.984259 Centerline is valid? [True, True] Translation: X:119.63, Y:80.01, Z:7.92 [[ 5.72267860e-01 -8.13045249e-01 -1.07083705e-01 1.19632177e+02] [ 8.06364674e-01 5.81658546e-01 -1.07001628e-01 8.00076452e+01] [ 1.49283318e-01 -2.51149242e-02 9.88475458e-01 7.92204626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500371743 meters Centerline goodness : 0.983625 Centerline is valid? [True, True] Translation: X:119.64, Y:80.03, Z:7.94 [[ 5.73159389e-01 -8.14677159e-01 -8.82578098e-02 1.19643668e+02] [ 8.05497129e-01 5.79913541e-01 -1.21961716e-01 8.00336522e+01] [ 1.50541324e-01 -1.18790952e-03 9.88603004e-01 7.93770796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.530371743 meters Centerline goodness : 0.985103 Centerline is valid? [True, True] Translation: X:119.66, Y:80.05, Z:7.94 [[ 5.71091924e-01 -8.15404410e-01 -9.47083060e-02 1.19660831e+02] [ 8.07248116e-01 5.78796852e-01 -1.15519187e-01 8.00546109e+01] [ 1.49011724e-01 -1.04810271e-02 9.88779882e-01 7.93686863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560371743 meters Centerline goodness : 0.983915 Centerline is valid? [True, True] Translation: X:119.67, Y:80.08, Z:7.94 [[ 5.67498851e-01 -8.18651610e-01 -8.80601868e-02 1.19670766e+02] [ 8.09845477e-01 5.74280818e-01 -1.19799185e-01 8.00756977e+01] [ 1.48645072e-01 -3.32924415e-03 9.88885008e-01 7.94382529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.590371743 meters Centerline goodness : 0.984970 Centerline is valid? [True, True] Translation: X:119.69, Y:80.10, Z:7.95 [[ 5.67179053e-01 -8.19010483e-01 -8.67741368e-02 1.19693449e+02] [ 8.10021070e-01 5.73776191e-01 -1.21023753e-01 8.01005619e+01] [ 1.48908656e-01 -1.64674136e-03 9.88849584e-01 7.95030808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620371743 meters Centerline goodness : 0.979549 Centerline is valid? [True, True] Translation: X:119.70, Y:80.12, Z:7.95 [[ 5.60858260e-01 -8.24279386e-01 -7.74693924e-02 1.19699780e+02] [ 8.15158466e-01 5.66156524e-01 -1.22406970e-01 8.01183573e+01] [ 1.44757344e-01 5.50312923e-03 9.89451882e-01 7.95043611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.650371743 meters Centerline goodness : 0.980576 Centerline is valid? [True, True] Translation: X:119.72, Y:80.14, Z:7.95 [[ 5.58648958e-01 -8.25515607e-01 -8.02204756e-02 1.19718767e+02] [ 8.16629127e-01 5.64375803e-01 -1.20817313e-01 8.01385955e+01] [ 1.45011073e-01 1.98408914e-03 9.89428043e-01 7.95331466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680371743 meters Centerline goodness : 0.985592 Centerline is valid? [True, True] Translation: X:119.75, Y:80.16, Z:7.95 [[ 5.55560669e-01 -8.25056816e-01 -1.03119318e-01 1.19750777e+02] [ 8.18445739e-01 5.64502504e-01 -1.07161073e-01 8.01554809e+01] [ 1.46625087e-01 -2.48630889e-02 9.88879624e-01 7.95172682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.710371743 meters Centerline goodness : 0.985592 Centerline is valid? [True, True] Translation: X:119.76, Y:80.18, Z:7.96 [[ 5.55715716e-01 -8.26734609e-01 -8.76922459e-02 1.19761271e+02] [ 8.18148811e-01 5.62563936e-01 -1.18972017e-01 8.01802538e+01] [ 1.47690779e-01 -5.63068720e-03 9.89017558e-01 7.96435308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740371743 meters Centerline goodness : 0.984932 Centerline is valid? [True, True] Translation: X:119.78, Y:80.20, Z:7.97 [[ 5.53689246e-01 -8.27963426e-01 -8.89088473e-02 1.19779424e+02] [ 8.19529133e-01 5.60732421e-01 -1.18115000e-01 8.02010434e+01] [ 1.47648973e-01 -7.46438507e-03 9.89011660e-01 7.96822733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.770371743 meters Centerline goodness : 0.985734 Centerline is valid? [True, True] Translation: X:119.81, Y:80.22, Z:7.97 [[ 5.54081284e-01 -8.26632750e-01 -9.83474838e-02 1.19805821e+02] [ 8.19139589e-01 5.62447118e-01 -1.12532539e-01 8.02182183e+01] [ 1.48338341e-01 -1.82081435e-02 9.88769033e-01 7.96920771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800371743 meters Centerline goodness : 0.986879 Centerline is valid? [True, True] Translation: X:119.81, Y:80.25, Z:7.99 [[ 5.48068591e-01 -8.33193854e-01 -7.35446966e-02 1.19809205e+02] [ 8.22901687e-01 5.52865525e-01 -1.31043977e-01 8.02464852e+01] [ 1.49845363e-01 1.13010327e-02 9.88644857e-01 7.98536495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.830371743 meters Centerline goodness : 0.988142 Centerline is valid? [True, True] Translation: X:119.84, Y:80.26, Z:7.98 [[ 5.48610070e-01 -8.30547347e-01 -9.60109116e-02 1.19841886e+02] [ 8.22941649e-01 5.56694523e-01 -1.13394224e-01 8.02634744e+01] [ 1.47628020e-01 -1.68021650e-02 9.88900225e-01 7.97854146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86037174300003 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:119.87, Y:80.29, Z:7.98 [[ 5.50543533e-01 -8.29074264e-01 -9.76610603e-02 1.19871147e+02] [ 8.22036275e-01 5.58783278e-01 -1.09624861e-01 8.02854597e+01] [ 1.45458519e-01 -1.99276758e-02 9.89163640e-01 7.98206889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.890371743 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:119.89, Y:80.31, Z:7.99 [[ 5.49912419e-01 -8.30616661e-01 -8.75916281e-02 1.19885263e+02] [ 8.22365947e-01 5.56791775e-01 -1.17034904e-01 8.03093609e+01] [ 1.45981439e-01 -7.67342503e-03 9.89257569e-01 7.99044954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92037174300003 meters Centerline goodness : 0.987765 Centerline is valid? [True, True] Translation: X:119.89, Y:80.33, Z:8.00 [[ 5.44681418e-01 -8.34159752e-01 -8.66005790e-02 1.19890214e+02] [ 8.25550739e-01 5.51486975e-01 -1.19700016e-01 8.03289245e+01] [ 1.47608027e-01 -6.29479762e-03 9.89025908e-01 7.99568244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.950371743 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:119.91, Y:80.35, Z:7.99 [[ 5.44110581e-01 -8.33878749e-01 -9.26817539e-02 1.19909424e+02] [ 8.26515016e-01 5.51720760e-01 -1.11701076e-01 8.03489263e+01] [ 1.44279601e-01 -1.58251241e-02 9.89410411e-01 7.99394728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.980371743 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:119.92, Y:80.37, Z:8.00 [[ 5.43253391e-01 -8.35507804e-01 -8.24770394e-02 1.19921978e+02] [ 8.26792271e-01 5.49471522e-01 -1.20397622e-01 8.03718740e+01] [ 1.45911937e-01 -2.78496229e-03 9.89293662e-01 8.00375676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.010371743 meters Centerline goodness : 0.979252 Centerline is valid? [True, True] Translation: X:119.93, Y:80.40, Z:8.01 [[ 5.41957135e-01 -8.38462216e-01 -5.71277211e-02 1.19925473e+02] [ 8.28084020e-01 5.44373435e-01 -1.33919454e-01 8.03963534e+01] [ 1.43385216e-01 2.52720509e-02 9.89344229e-01 8.01341675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.040371743 meters Centerline goodness : 0.988722 Centerline is valid? [True, True] Translation: X:119.97, Y:80.41, Z:8.00 [[ 5.43629038e-01 -8.31645098e-01 -1.13286804e-01 1.19970822e+02] [ 8.27134441e-01 5.53751721e-01 -9.59564936e-02 8.04100343e+01] [ 1.42534510e-01 -4.15386811e-02 9.88917818e-01 7.99599037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.070371743 meters Centerline goodness : 0.986975 Centerline is valid? [True, True] Translation: X:119.97, Y:80.44, Z:8.02 [[ 5.41430754e-01 -8.37032457e-01 -7.89265731e-02 1.19968973e+02] [ 8.28282965e-01 5.47153237e-01 -1.20709008e-01 8.04390253e+01] [ 1.44222288e-01 -1.79667169e-05 9.89545316e-01 8.01505866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.100371743 meters Centerline goodness : 0.986528 Centerline is valid? [True, True] Translation: X:119.99, Y:80.46, Z:8.02 [[ 5.40687001e-01 -8.37194026e-01 -8.22418984e-02 1.19985612e+02] [ 8.28751831e-01 5.46891362e-01 -1.18660193e-01 8.04600903e+01] [ 1.44318988e-01 -4.00010006e-03 9.89523132e-01 8.01669436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130371743 meters Centerline goodness : 0.989068 Centerline is valid? [True, True] Translation: X:120.02, Y:80.48, Z:8.02 [[ 5.45929469e-01 -8.32100183e-01 -9.78279149e-02 1.20020202e+02] [ 8.24786662e-01 5.54277442e-01 -1.11818964e-01 8.04792439e+01] [ 1.47268387e-01 -1.96418915e-02 9.88901521e-01 8.01857013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.160371743 meters Centerline goodness : 0.982303 Centerline is valid? [True, True] Translation: X:120.01, Y:80.51, Z:8.03 [[ 5.42594280e-01 -8.37597470e-01 -6.34186571e-02 1.20014249e+02] [ 8.27003506e-01 5.45904755e-01 -1.34362198e-01 8.05054617e+01] [ 1.47161984e-01 2.04567084e-02 9.88900841e-01 8.03286266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190371743 meters Centerline goodness : 0.981352 Centerline is valid? [True, True] Translation: X:120.04, Y:80.52, Z:8.03 [[ 5.43354255e-01 -8.35762895e-01 -7.91614596e-02 1.20038085e+02] [ 8.26722888e-01 5.49089260e-01 -1.22597921e-01 8.05243263e+01] [ 1.45929501e-01 1.16951154e-03 9.89294301e-01 8.02789358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.220371743 meters Centerline goodness : 0.987126 Centerline is valid? [True, True] Translation: X:120.07, Y:80.54, Z:8.03 [[ 5.44413902e-01 -8.32446937e-01 -1.03177523e-01 1.20069753e+02] [ 8.25951435e-01 5.53453631e-01 -1.07206835e-01 8.05431620e+01] [ 1.46347976e-01 -2.68547321e-02 9.88868593e-01 8.02612206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250371743 meters Centerline goodness : 0.987175 Centerline is valid? [True, True] Translation: X:120.08, Y:80.57, Z:8.04 [[ 5.43246671e-01 -8.34871299e-01 -8.87297532e-02 1.20081418e+02] [ 8.26663830e-01 5.50359855e-01 -1.17179102e-01 8.05689737e+01] [ 1.46662763e-01 -9.69252076e-03 9.89139065e-01 8.03742779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.280371743 meters Centerline goodness : 0.986587 Centerline is valid? [True, True] Translation: X:120.12, Y:80.59, Z:8.05 [[ 5.49976252e-01 -8.30332591e-01 -8.98549466e-02 1.20118402e+02] [ 8.22122099e-01 5.57185558e-01 -1.16873897e-01 8.05925046e+01] [ 1.47110084e-01 -9.59386960e-03 9.89073597e-01 8.04645687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310371743 meters Centerline goodness : 0.987774 Centerline is valid? [True, True] Translation: X:120.14, Y:80.62, Z:8.05 [[ 5.48305995e-01 -8.31932333e-01 -8.51418200e-02 1.20137723e+02] [ 8.23634363e-01 5.54846978e-01 -1.17351041e-01 8.06182611e+01] [ 1.44868807e-01 -5.78144933e-03 9.89433981e-01 8.04916474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.340371743 meters Centerline goodness : 0.986399 Centerline is valid? [True, True] Translation: X:120.16, Y:80.64, Z:8.05 [[ 5.47670293e-01 -8.32039212e-01 -8.81362628e-02 1.20156680e+02] [ 8.24434567e-01 5.54609623e-01 -1.12764405e-01 8.06368644e+01] [ 1.42705626e-01 -1.09048670e-02 9.89705102e-01 8.04952618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370371743 meters Centerline goodness : 0.987023 Centerline is valid? [True, True] Translation: X:120.18, Y:80.66, Z:8.05 [[ 5.44698552e-01 -8.33899294e-01 -8.89688450e-02 1.20175615e+02] [ 8.26500518e-01 5.51769086e-01 -1.11569575e-01 8.06578683e+01] [ 1.42128048e-01 -1.27610107e-02 9.89766020e-01 8.05249228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.400371743 meters Centerline goodness : 0.986509 Centerline is valid? [True, True] Translation: X:120.19, Y:80.68, Z:8.06 [[ 5.42117708e-01 -8.35416342e-01 -9.04871575e-02 1.20193539e+02] [ 8.28295177e-01 5.49403011e-01 -1.09924665e-01 8.06791418e+01] [ 1.41546778e-01 -1.53579686e-02 9.89812428e-01 8.05522364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430371743 meters Centerline goodness : 0.987337 Centerline is valid? [True, True] Translation: X:120.21, Y:80.70, Z:8.06 [[ 5.37534519e-01 -8.37983856e-01 -9.40196658e-02 1.20212775e+02] [ 8.31171933e-01 5.45334073e-01 -1.08461817e-01 8.06992299e+01] [ 1.42161379e-01 -1.98445368e-02 9.89644551e-01 8.05877588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.460371743 meters Centerline goodness : 0.986416 Centerline is valid? [True, True] Translation: X:120.23, Y:80.72, Z:8.06 [[ 5.35494981e-01 -8.39774285e-01 -8.95783248e-02 1.20228488e+02] [ 8.32268849e-01 5.42752764e-01 -1.12907038e-01 8.07209534e+01] [ 1.43435311e-01 -1.40920972e-02 9.89559359e-01 8.06481532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490371743 meters Centerline goodness : 0.986526 Centerline is valid? [True, True] Translation: X:120.25, Y:80.74, Z:8.07 [[ 5.32867716e-01 -8.41099372e-01 -9.27569093e-02 1.20247025e+02] [ 8.33938534e-01 5.40574533e-01 -1.11021150e-01 8.07419372e+01] [ 1.43521843e-01 -1.81939743e-02 9.89479894e-01 8.06785176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.520371743 meters Centerline goodness : 0.986954 Centerline is valid? [True, True] Translation: X:120.26, Y:80.76, Z:8.07 [[ 5.30001950e-01 -8.42404645e-01 -9.72231833e-02 1.20264060e+02] [ 8.35448755e-01 5.38366431e-01 -1.10394586e-01 8.07627881e+01] [ 1.45338610e-01 -2.27156414e-02 9.89121170e-01 8.07105406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550371743 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:120.28, Y:80.78, Z:8.08 [[ 5.26299923e-01 -8.45576373e-01 -8.94929502e-02 1.20279705e+02] [ 8.37927715e-01 5.33650294e-01 -1.14431235e-01 8.07842698e+01] [ 1.44518288e-01 -1.47634732e-02 9.89391987e-01 8.07862734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.580371743 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:120.30, Y:80.81, Z:8.08 [[ 5.24095337e-01 -8.46616291e-01 -9.25469279e-02 1.20297688e+02] [ 8.39241036e-01 5.31884359e-01 -1.13019965e-01 8.08053237e+01] [ 1.44908807e-01 -1.84359433e-02 9.89273245e-01 8.08262458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61037174300003 meters Centerline goodness : 0.986654 Centerline is valid? [True, True] Translation: X:120.31, Y:80.83, Z:8.09 [[ 5.21456527e-01 -8.48021744e-01 -9.45632725e-02 1.20314574e+02] [ 8.40923191e-01 5.29531262e-01 -1.11556394e-01 8.08259200e+01] [ 1.44676456e-01 -2.13486393e-02 9.89248684e-01 8.08528928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.640371743 meters Centerline goodness : 0.985932 Centerline is valid? [True, True] Translation: X:120.33, Y:80.85, Z:8.09 [[ 5.21428273e-01 -8.48223907e-01 -9.28911181e-02 1.20330490e+02] [ 8.40924620e-01 5.29284445e-01 -1.12710958e-01 8.08463891e+01] [ 1.44769953e-01 -1.93437481e-02 9.89276241e-01 8.09038173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67037174300003 meters Centerline goodness : 0.986203 Centerline is valid? [True, True] Translation: X:120.35, Y:80.87, Z:8.10 [[ 5.20595583e-01 -8.48838471e-01 -9.19428556e-02 1.20347585e+02] [ 8.41447370e-01 5.28332192e-01 -1.13275856e-01 8.08687441e+01] [ 1.44729275e-01 -1.83941638e-02 9.89300304e-01 8.09562859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.700371743 meters Centerline goodness : 0.986239 Centerline is valid? [True, True] Translation: X:120.36, Y:80.89, Z:8.10 [[ 5.22747810e-01 -8.48517673e-01 -8.21735131e-02 1.20362933e+02] [ 8.40523099e-01 5.29103912e-01 -1.16490219e-01 8.08920077e+01] [ 1.42322337e-01 -8.17372883e-03 9.89786615e-01 8.10052347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.730371743 meters Centerline goodness : 0.985288 Centerline is valid? [True, True] Translation: X:120.38, Y:80.91, Z:8.10 [[ 5.22430935e-01 -8.47799160e-01 -9.11180709e-02 1.20384218e+02] [ 8.40888443e-01 5.29966481e-01 -1.09736758e-01 8.09132378e+01] [ 1.41324255e-01 -1.92902556e-02 9.89775399e-01 8.10154563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.760371743 meters Centerline goodness : 0.984518 Centerline is valid? [True, True] Translation: X:120.40, Y:80.93, Z:8.11 [[ 5.25002787e-01 -8.46298515e-01 -9.02823161e-02 1.20398549e+02] [ 8.38955296e-01 5.32447551e-01 -1.12488295e-01 8.09328584e+01] [ 1.43269275e-01 -1.66861590e-02 9.89543070e-01 8.10694863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.790371743 meters Centerline goodness : 0.984066 Centerline is valid? [True, True] Translation: X:120.42, Y:80.96, Z:8.11 [[ 5.25567328e-01 -8.46356016e-01 -8.63740593e-02 1.20416370e+02] [ 8.38662231e-01 5.32476652e-01 -1.14517591e-01 8.09563602e+01] [ 1.42914822e-01 -1.22519570e-02 9.89659155e-01 8.11275988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.820371743 meters Centerline goodness : 0.985015 Centerline is valid? [True, True] Translation: X:120.44, Y:80.98, Z:8.11 [[ 5.27811286e-01 -8.45063777e-01 -8.53373329e-02 1.20435145e+02] [ 8.37411115e-01 5.34546583e-01 -1.14028834e-01 8.09789094e+01] [ 1.41978417e-01 -1.12767258e-02 9.89805519e-01 8.11489208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.850371743 meters Centerline goodness : 0.983867 Centerline is valid? [True, True] Translation: X:120.45, Y:81.00, Z:8.12 [[ 5.28911201e-01 -8.43429295e-01 -9.42335770e-02 1.20453155e+02] [ 8.36773640e-01 5.36799757e-01 -1.07962476e-01 8.09971533e+01] [ 1.41643276e-01 -2.17496104e-02 9.89678805e-01 8.11660876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880371743 meters Centerline goodness : 0.984496 Centerline is valid? [True, True] Translation: X:120.47, Y:81.02, Z:8.13 [[ 5.29180369e-01 -8.44241276e-01 -8.49988459e-02 1.20467269e+02] [ 8.36326222e-01 5.35873096e-01 -1.15751779e-01 8.10229600e+01] [ 1.43271025e-01 -9.83319438e-03 9.89634641e-01 8.12500092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.910371743 meters Centerline goodness : 0.984973 Centerline is valid? [True, True] Translation: X:120.49, Y:81.04, Z:8.13 [[ 5.31077720e-01 -8.42410341e-01 -9.11113156e-02 1.20486702e+02] [ 8.35311278e-01 5.38555063e-01 -1.10514761e-01 8.10424699e+01] [ 1.42167238e-01 -1.74143822e-02 9.89689454e-01 8.12634355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940371743 meters Centerline goodness : 0.984016 Centerline is valid? [True, True] Translation: X:120.50, Y:81.06, Z:8.13 [[ 5.31852884e-01 -8.41978760e-01 -9.05774731e-02 1.20502165e+02] [ 8.34604450e-01 5.39277505e-01 -1.12317344e-01 8.10639284e+01] [ 1.43415212e-01 -1.58600588e-02 9.89535515e-01 8.13144393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.970371743 meters Centerline goodness : 0.983143 Centerline is valid? [True, True] Translation: X:120.52, Y:81.08, Z:8.13 [[ 5.33273015e-01 -8.40512033e-01 -9.57048274e-02 1.20520276e+02] [ 8.33851938e-01 5.41335684e-01 -1.07919518e-01 8.10831946e+01] [ 1.42516092e-01 -2.22530888e-02 9.89542300e-01 8.13403240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000371743 meters Centerline goodness : 0.984977 Centerline is valid? [True, True] Translation: X:120.53, Y:81.11, Z:8.14 [[ 5.30596875e-01 -8.43238131e-01 -8.61185900e-02 1.20526492e+02] [ 8.35561315e-01 5.37418916e-01 -1.14097313e-01 8.11087200e+01] [ 1.42492964e-01 -1.14176847e-02 9.89729959e-01 8.14309887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.030371743 meters Centerline goodness : 0.984074 Centerline is valid? [True, True] Translation: X:120.55, Y:81.13, Z:8.15 [[ 5.34415647e-01 -8.40990516e-01 -8.44681480e-02 1.20551020e+02] [ 8.32820886e-01 5.40994816e-01 -1.17192066e-01 8.11319052e+01] [ 1.44254246e-01 -7.71756394e-03 9.89510562e-01 8.14932895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060371743 meters Centerline goodness : 0.984325 Centerline is valid? [True, True] Translation: X:120.56, Y:81.15, Z:8.15 [[ 5.32518730e-01 -8.41418416e-01 -9.18632212e-02 1.20564351e+02] [ 8.34509881e-01 5.40066776e-01 -1.09183954e-01 8.11499363e+01] [ 1.41481664e-01 -1.85182652e-02 9.89767656e-01 8.14808783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.090371743 meters Centerline goodness : 0.984363 Centerline is valid? [True, True] Translation: X:120.58, Y:81.17, Z:8.15 [[ 5.32386551e-01 -8.42103968e-01 -8.61711529e-02 1.20579034e+02] [ 8.34530851e-01 5.39190358e-01 -1.13278488e-01 8.11729374e+01] [ 1.41854919e-01 -1.16045418e-02 9.89819436e-01 8.15459678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120371743 meters Centerline goodness : 0.984049 Centerline is valid? [True, True] Translation: X:120.60, Y:81.20, Z:8.16 [[ 5.35340194e-01 -8.40168565e-01 -8.67620841e-02 1.20603464e+02] [ 8.32719649e-01 5.42189533e-01 -1.12287567e-01 8.11958058e+01] [ 1.41381978e-01 -1.21364444e-02 9.89880722e-01 8.15939388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.150371743 meters Centerline goodness : 0.983251 Centerline is valid? [True, True] Translation: X:120.62, Y:81.22, Z:8.16 [[ 5.35040661e-01 -8.39937876e-01 -9.07516107e-02 1.20622165e+02] [ 8.32915271e-01 5.42419464e-01 -1.09696292e-01 8.12153065e+01] [ 1.41363510e-01 -1.68964259e-02 9.89813553e-01 8.16328277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180371743 meters Centerline goodness : 0.984814 Centerline is valid? [True, True] Translation: X:120.63, Y:81.24, Z:8.17 [[ 5.31466805e-01 -8.42784320e-01 -8.51916913e-02 1.20630787e+02] [ 8.35034561e-01 5.38153069e-01 -1.14492602e-01 8.12368423e+01] [ 1.42338740e-01 -1.02889894e-02 9.89764528e-01 8.16888056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.210371743 meters Centerline goodness : 0.986182 Centerline is valid? [True, True] Translation: X:120.66, Y:81.26, Z:8.17 [[ 5.32656108e-01 -8.41986379e-01 -8.56528377e-02 1.20656624e+02] [ 8.34599959e-01 5.39368106e-01 -1.11914945e-01 8.12592580e+01] [ 1.40429268e-01 -1.18736757e-02 9.90019513e-01 8.17249912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240371743 meters Centerline goodness : 0.984793 Centerline is valid? [True, True] Translation: X:120.68, Y:81.28, Z:8.18 [[ 5.31962093e-01 -8.42074108e-01 -8.90366632e-02 1.20675129e+02] [ 8.35351801e-01 5.39088931e-01 -1.07566228e-01 8.12789190e+01] [ 1.38577415e-01 -1.71557812e-02 9.90202999e-01 8.17604492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.270371743 meters Centerline goodness : 0.984706 Centerline is valid? [True, True] Translation: X:120.69, Y:81.30, Z:8.18 [[ 5.31592041e-01 -8.42931764e-01 -8.29213047e-02 1.20691895e+02] [ 8.35762829e-01 5.37913899e-01 -1.10223100e-01 8.13028970e+01] [ 1.37515074e-01 -1.07088217e-02 9.90441783e-01 8.18157052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300371743 meters Centerline goodness : 0.985278 Centerline is valid? [True, True] Translation: X:120.71, Y:81.32, Z:8.18 [[ 5.31186757e-01 -8.42464560e-01 -8.99671877e-02 1.20710243e+02] [ 8.35434818e-01 5.38490177e-01 -1.09895379e-01 8.13208927e+01] [ 1.41029409e-01 -1.67867508e-02 9.89863077e-01 8.18306707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.330371743 meters Centerline goodness : 0.984322 Centerline is valid? [True, True] Translation: X:120.73, Y:81.34, Z:8.19 [[ 5.30632325e-01 -8.43406131e-01 -8.42344008e-02 1.20727437e+02] [ 8.35946210e-01 5.37169009e-01 -1.12442829e-01 8.13433435e+01] [ 1.40083081e-01 -1.07496281e-02 9.90081399e-01 8.19006031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36037174300003 meters Centerline goodness : 0.984840 Centerline is valid? [True, True] Translation: X:120.75, Y:81.36, Z:8.19 [[ 5.29591190e-01 -8.42763191e-01 -9.63502731e-02 1.20748436e+02] [ 8.36421086e-01 5.37729968e-01 -1.06048333e-01 8.13599595e+01] [ 1.41184061e-01 -2.44271371e-02 9.89681957e-01 8.19056387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.390371743 meters Centerline goodness : 0.984758 Centerline is valid? [True, True] Translation: X:120.76, Y:81.38, Z:8.20 [[ 5.28764030e-01 -8.44119630e-01 -8.87166935e-02 1.20764547e+02] [ 8.36934074e-01 5.35929143e-01 -1.11001392e-01 8.13839288e+01] [ 1.41244315e-01 -1.55564803e-02 9.89852534e-01 8.19722391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42037174300003 meters Centerline goodness : 0.984913 Centerline is valid? [True, True] Translation: X:120.78, Y:81.41, Z:8.20 [[ 5.28326695e-01 -8.44569940e-01 -8.70202230e-02 1.20781490e+02] [ 8.37226282e-01 5.35270037e-01 -1.11973841e-01 8.14055717e+01] [ 1.41149058e-01 -1.36968483e-02 9.89893600e-01 8.20169565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.450371743 meters Centerline goodness : 0.984604 Centerline is valid? [True, True] Translation: X:120.80, Y:81.43, Z:8.21 [[ 5.28446252e-01 -8.44735340e-01 -8.46567379e-02 1.20800445e+02] [ 8.37348662e-01 5.35057214e-01 -1.12075851e-01 8.14273127e+01] [ 1.39970630e-01 -1.16611428e-02 9.90086986e-01 8.20542821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.480371743 meters Centerline goodness : 0.982998 Centerline is valid? [True, True] Translation: X:120.82, Y:81.45, Z:8.21 [[ 5.29005751e-01 -8.44493830e-01 -8.35648645e-02 1.20816334e+02] [ 8.36847214e-01 5.35476919e-01 -1.13803387e-01 8.14468471e+01] [ 1.40853314e-01 -9.72837795e-03 9.89982678e-01 8.21128761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.510371743 meters Centerline goodness : 0.985229 Centerline is valid? [True, True] Translation: X:120.84, Y:81.47, Z:8.21 [[ 5.28478806e-01 -8.44370122e-01 -8.80298202e-02 1.20836092e+02] [ 8.37277090e-01 5.35538482e-01 -1.10297821e-01 8.14694049e+01] [ 1.40275541e-01 -1.54152913e-02 9.89992496e-01 8.21208556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.540371743 meters Centerline goodness : 0.982827 Centerline is valid? [True, True] Translation: X:120.85, Y:81.49, Z:8.22 [[ 5.30267950e-01 -8.44167654e-01 -7.87202198e-02 1.20851278e+02] [ 8.35836061e-01 5.36070635e-01 -1.18348445e-01 8.14913169e+01] [ 1.42105527e-01 -3.04081126e-03 9.89846843e-01 8.21850062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.570371743 meters Centerline goodness : 0.982827 Centerline is valid? [True, True] Translation: X:120.87, Y:81.51, Z:8.22 [[ 5.29915254e-01 -8.43545267e-01 -8.72995218e-02 1.20871140e+02] [ 8.36181893e-01 5.36885249e-01 -1.12044947e-01 8.15121812e+01] [ 1.41384810e-01 -1.36239528e-02 9.89860962e-01 8.21869408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.600371743 meters Centerline goodness : 0.983939 Centerline is valid? [True, True] Translation: X:120.89, Y:81.54, Z:8.22 [[ 5.29852177e-01 -8.43828850e-01 -8.49090288e-02 1.20892384e+02] [ 8.36972274e-01 5.36436910e-01 -1.08225937e-01 8.15365188e+01] [ 1.36872505e-01 -1.37227549e-02 9.90493616e-01 8.22080321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630371743 meters Centerline goodness : 0.980324 Centerline is valid? [True, True] Translation: X:120.90, Y:81.55, Z:8.22 [[ 5.33874463e-01 -8.41588628e-01 -8.18940675e-02 1.20904807e+02] [ 8.34079590e-01 5.40055909e-01 -1.12476008e-01 8.15528178e+01] [ 1.38885904e-01 -8.25810183e-03 9.90273957e-01 8.22433366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.660371743 meters Centerline goodness : 0.983553 Centerline is valid? [True, True] Translation: X:120.93, Y:81.58, Z:8.23 [[ 5.32497620e-01 -8.41819770e-01 -8.82369529e-02 1.20928988e+02] [ 8.35353620e-01 5.39475610e-01 -1.05595432e-01 8.15787753e+01] [ 1.36494006e-01 -1.74797419e-02 9.90486671e-01 8.22722360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690371743 meters Centerline goodness : 0.982375 Centerline is valid? [True, True] Translation: X:120.94, Y:81.60, Z:8.23 [[ 5.33599299e-01 -8.41337718e-01 -8.61546975e-02 1.20943471e+02] [ 8.34505592e-01 5.40320790e-01 -1.07953048e-01 8.15993613e+01] [ 1.37376146e-01 -1.42929059e-02 9.90415826e-01 8.23318516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.720371743 meters Centerline goodness : 0.982757 Centerline is valid? [True, True] Translation: X:120.96, Y:81.62, Z:8.24 [[ 5.34461424e-01 -8.41073630e-01 -8.33434702e-02 1.20959471e+02] [ 8.34094412e-01 5.40800377e-01 -1.08726560e-01 8.16212239e+01] [ 1.36519222e-01 -1.14061708e-02 9.90571755e-01 8.23776356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750371743 meters Centerline goodness : 0.982380 Centerline is valid? [True, True] Translation: X:120.98, Y:81.64, Z:8.24 [[ 5.36087004e-01 -8.39287053e-01 -9.05978301e-02 1.20978878e+02] [ 8.32920983e-01 5.43349439e-01 -1.04947712e-01 8.16393137e+01] [ 1.37307536e-01 -1.91997293e-02 9.90342371e-01 8.24076011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.780371743 meters Centerline goodness : 0.983045 Centerline is valid? [True, True] Translation: X:120.99, Y:81.66, Z:8.25 [[ 5.37284379e-01 -8.39235329e-01 -8.37231106e-02 1.20994813e+02] [ 8.32140442e-01 5.43659719e-01 -1.09436714e-01 8.16620529e+01] [ 1.37360039e-01 -1.08707495e-02 9.90461532e-01 8.24752405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810371743 meters Centerline goodness : 0.982102 Centerline is valid? [True, True] Translation: X:121.01, Y:81.68, Z:8.25 [[ 5.37532193e-01 -8.38548413e-01 -8.88577507e-02 1.21011544e+02] [ 8.31768214e-01 5.44590405e-01 -1.07624018e-01 8.16816415e+01] [ 1.38639028e-01 -1.60576783e-02 9.90212791e-01 8.25140234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.840371743 meters Centerline goodness : 0.982603 Centerline is valid? [True, True] Translation: X:121.03, Y:81.71, Z:8.26 [[ 5.37768093e-01 -8.38994163e-01 -8.30317564e-02 1.21027323e+02] [ 8.31621648e-01 5.44063211e-01 -1.11358237e-01 8.17056768e+01] [ 1.38603435e-01 -9.16609942e-03 9.90305544e-01 8.25668745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870371743 meters Centerline goodness : 0.982317 Centerline is valid? [True, True] Translation: X:121.04, Y:81.73, Z:8.26 [[ 5.39995134e-01 -8.37713191e-01 -8.14976353e-02 1.21043871e+02] [ 8.30148133e-01 5.46067035e-01 -1.12538306e-01 8.17265398e+01] [ 1.38777996e-01 -6.88497193e-03 9.90299584e-01 8.25931697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.900371743 meters Centerline goodness : 0.982059 Centerline is valid? [True, True] Translation: X:121.06, Y:81.75, Z:8.26 [[ 5.40397937e-01 -8.36574221e-01 -9.00757551e-02 1.21062441e+02] [ 8.29700513e-01 5.47612854e-01 -1.08246114e-01 8.17457617e+01] [ 1.39882550e-01 -1.62399234e-02 9.90034917e-01 8.26153590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930371743 meters Centerline goodness : 0.982667 Centerline is valid? [True, True] Translation: X:121.08, Y:81.77, Z:8.27 [[ 5.40262015e-01 -8.37014275e-01 -8.67413302e-02 1.21077323e+02] [ 8.29634221e-01 5.47055683e-01 -1.11521923e-01 8.17687323e+01] [ 1.40797779e-01 -1.17125172e-02 9.89969092e-01 8.26743553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.960371743 meters Centerline goodness : 0.983408 Centerline is valid? [True, True] Translation: X:121.09, Y:81.80, Z:8.27 [[ 5.42381478e-01 -8.36775450e-01 -7.50278530e-02 1.21094218e+02] [ 8.28763667e-01 5.47546000e-01 -1.15516932e-01 8.17952160e+01] [ 1.37742933e-01 4.73885563e-04 9.90467899e-01 8.27187427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990371743 meters Centerline goodness : 0.982967 Centerline is valid? [True, True] Translation: X:121.11, Y:81.81, Z:8.27 [[ 5.42560092e-01 -8.35770936e-01 -8.43533656e-02 1.21113075e+02] [ 8.28768345e-01 5.48967510e-01 -1.08525133e-01 8.18146719e+01] [ 1.37009409e-01 -1.10279932e-02 9.90508357e-01 8.27148975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.020371743 meters Centerline goodness : 0.982559 Centerline is valid? [True, True] Translation: X:121.13, Y:81.84, Z:8.28 [[ 5.43089116e-01 -8.36095841e-01 -7.74464813e-02 1.21129706e+02] [ 8.28737445e-01 5.48568576e-01 -1.10755429e-01 8.18400580e+01] [ 1.35086859e-01 -4.03273096e-03 9.90825554e-01 8.27545291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050371743 meters Centerline goodness : 0.982168 Centerline is valid? [True, True] Translation: X:121.15, Y:81.86, Z:8.28 [[ 5.42683330e-01 -8.35577926e-01 -8.54653844e-02 1.21147449e+02] [ 8.28880491e-01 5.49215652e-01 -1.06392197e-01 8.18594060e+01] [ 1.35837898e-01 -1.31033182e-02 9.90644421e-01 8.27721591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.080371743 meters Centerline goodness : 0.984275 Centerline is valid? [True, True] Translation: X:121.16, Y:81.88, Z:8.28 [[ 5.36932132e-01 -8.38111341e-01 -9.62977969e-02 1.21157076e+02] [ 8.32493071e-01 5.44866270e-01 -1.00379455e-01 8.18769969e+01] [ 1.36598581e-01 -2.62702938e-02 9.90278092e-01 8.27697461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11037174300003 meters Centerline goodness : 0.983873 Centerline is valid? [True, True] Translation: X:121.16, Y:81.90, Z:8.29 [[ 5.35110688e-01 -8.41997958e-01 -6.85272891e-02 1.21159402e+02] [ 8.33580730e-01 5.39441286e-01 -1.18938074e-01 8.19038571e+01] [ 1.37112065e-01 6.52200711e-03 9.90534071e-01 8.29099383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.140371743 meters Centerline goodness : 0.982541 Centerline is valid? [True, True] Translation: X:121.19, Y:81.92, Z:8.29 [[ 5.36865255e-01 -8.39175706e-01 -8.69472945e-02 1.21189923e+02] [ 8.32202712e-01 5.43682228e-01 -1.08849812e-01 8.19214787e+01] [ 1.38615817e-01 -1.39200920e-02 9.90248396e-01 8.29231086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17037174300003 meters Centerline goodness : 0.982408 Centerline is valid? [True, True] Translation: X:121.19, Y:81.94, Z:8.30 [[ 5.29903608e-01 -8.44880607e-01 -7.33411585e-02 1.21185242e+02] [ 8.37007621e-01 5.34954756e-01 -1.15072376e-01 8.19427308e+01] [ 1.36456620e-01 -4.09841487e-04 9.90645962e-01 8.29515538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.200371743 meters Centerline goodness : 0.983902 Centerline is valid? [True, True] Translation: X:121.22, Y:81.97, Z:8.30 [[ 5.34438748e-01 -8.40617673e-01 -8.79610863e-02 1.21219935e+02] [ 8.33812109e-01 5.41401950e-01 -1.07894839e-01 8.19655190e+01] [ 1.38320612e-01 -1.56798359e-02 9.90263375e-01 8.29807684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.230371743 meters Centerline goodness : 0.983111 Centerline is valid? [True, True] Translation: X:121.21, Y:81.99, Z:8.31 [[ 5.27770898e-01 -8.46364453e-01 -7.15897470e-02 1.21214187e+02] [ 8.38029186e-01 5.32598048e-01 -1.18517522e-01 8.19856710e+01] [ 1.38437577e-01 2.55580177e-03 9.90367864e-01 8.30510278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.260371743 meters Centerline goodness : 0.984959 Centerline is valid? [True, True] Translation: X:121.25, Y:82.01, Z:8.31 [[ 5.32893964e-01 -8.42049551e-01 -8.35259103e-02 1.21249902e+02] [ 8.34499474e-01 5.39315940e-01 -1.12911221e-01 8.20100435e+01] [ 1.40123698e-01 -9.53262016e-03 9.90088117e-01 8.31094951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.290371743 meters Centerline goodness : 0.981766 Centerline is valid? [True, True] Translation: X:121.25, Y:82.03, Z:8.32 [[ 5.26200163e-01 -8.47656590e-01 -6.77620440e-02 1.21245023e+02] [ 8.38856075e-01 5.30493945e-01 -1.22051878e-01 8.20315014e+01] [ 1.39405432e-01 7.38111567e-03 9.90207880e-01 8.31502527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.320371743 meters Centerline goodness : 0.982330 Centerline is valid? [True, True] Translation: X:121.28, Y:82.05, Z:8.31 [[ 5.30403122e-01 -8.42442463e-01 -9.46743072e-02 1.21284676e+02] [ 8.36216698e-01 5.38272368e-01 -1.04902296e-01 8.20532512e+01] [ 1.39334712e-01 -2.35277315e-02 9.89965799e-01 8.31262686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.350371743 meters Centerline goodness : 0.983341 Centerline is valid? [True, True] Translation: X:121.30, Y:82.07, Z:8.32 [[ 5.27591486e-01 -8.43536657e-01 -1.00464587e-01 1.21297236e+02] [ 8.37401451e-01 5.36315769e-01 -1.05471346e-01 8.20733444e+01] [ 1.42849689e-01 -2.84834068e-02 9.89334454e-01 8.32111836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380371743 meters Centerline goodness : 0.984569 Centerline is valid? [True, True] Translation: X:121.30, Y:82.10, Z:8.34 [[ 5.22945913e-01 -8.49228472e-01 -7.30655439e-02 1.21296112e+02] [ 8.39986890e-01 5.28010431e-01 -1.25008040e-01 8.21016971e+01] [ 1.44739756e-01 3.99834477e-03 9.89461680e-01 8.33538454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.410371743 meters Centerline goodness : 0.982077 Centerline is valid? [True, True] Translation: X:121.32, Y:82.12, Z:8.34 [[ 5.25060119e-01 -8.47169925e-01 -8.13325822e-02 1.21323081e+02] [ 8.39202654e-01 5.31272258e-01 -1.16140829e-01 8.21247828e+01] [ 1.41600762e-01 -7.27360113e-03 9.89897125e-01 8.33566929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440371743 meters Centerline goodness : 0.980606 Centerline is valid? [True, True] Translation: X:121.31, Y:82.15, Z:8.34 [[ 5.18464900e-01 -8.53201685e-01 -5.69300683e-02 1.21314654e+02] [ 8.43663606e-01 5.21248218e-01 -1.28576886e-01 8.21463327e+01] [ 1.39376712e-01 1.86327755e-02 9.90064115e-01 8.34179096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.470371743 meters Centerline goodness : 0.983712 Centerline is valid? [True, True] Translation: X:121.36, Y:82.16, Z:8.33 [[ 5.23106004e-01 -8.45203030e-01 -1.09507749e-01 1.21362678e+02] [ 8.41003082e-01 5.32734771e-01 -9.43794475e-02 8.21642013e+01] [ 1.38108381e-01 -4.27258989e-02 9.89495110e-01 8.32823690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500371743 meters Centerline goodness : 0.983277 Centerline is valid? [True, True] Translation: X:121.37, Y:82.19, Z:8.34 [[ 5.21726159e-01 -8.48993302e-01 -8.37388076e-02 1.21367464e+02] [ 8.41553287e-01 5.28275290e-01 -1.12753200e-01 8.21923852e+01] [ 1.39963854e-01 -1.16443748e-02 9.90088142e-01 8.34363139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.530371743 meters Centerline goodness : 0.982671 Centerline is valid? [True, True] Translation: X:121.38, Y:82.22, Z:8.35 [[ 5.21492976e-01 -8.49867080e-01 -7.59672514e-02 1.21379597e+02] [ 8.41755645e-01 5.26989446e-01 -1.17173192e-01 8.22179328e+01] [ 1.39615578e-01 -2.84086622e-03 9.90201707e-01 8.34975972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560371743 meters Centerline goodness : 0.983916 Centerline is valid? [True, True] Translation: X:121.40, Y:82.24, Z:8.35 [[ 5.20878948e-01 -8.49492704e-01 -8.39480039e-02 1.21398566e+02] [ 8.42372960e-01 5.27436727e-01 -1.10536399e-01 8.22407295e+01] [ 1.38177125e-01 -1.31394452e-02 9.90320371e-01 8.34859785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.590371743 meters Centerline goodness : 0.982890 Centerline is valid? [True, True] Translation: X:121.41, Y:82.27, Z:8.36 [[ 5.20000827e-01 -8.50678108e-01 -7.71096395e-02 1.21410980e+02] [ 8.43094703e-01 5.25652757e-01 -1.13492291e-01 8.22656015e+01] [ 1.37078302e-01 -5.99464352e-03 9.90542076e-01 8.35617085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620371743 meters Centerline goodness : 0.983295 Centerline is valid? [True, True] Translation: X:121.43, Y:82.29, Z:8.36 [[ 5.20818529e-01 -8.49763191e-01 -8.15510766e-02 1.21427005e+02] [ 8.42693109e-01 5.27040451e-01 -1.09984937e-01 8.22864448e+01] [ 1.36441867e-01 -1.14403371e-02 9.90582019e-01 8.35694923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.650371743 meters Centerline goodness : 0.985319 Centerline is valid? [True, True] Translation: X:121.44, Y:82.31, Z:8.36 [[ 5.19077830e-01 -8.50470323e-01 -8.51964579e-02 1.21443395e+02] [ 8.43732663e-01 5.25785096e-01 -1.08005677e-01 8.23117010e+01] [ 1.36650651e-01 -1.58196820e-02 9.90492977e-01 8.35847466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680371743 meters Centerline goodness : 0.984458 Centerline is valid? [True, True] Translation: X:121.45, Y:82.33, Z:8.36 [[ 5.17007525e-01 -8.52147497e-01 -8.09188696e-02 1.21450637e+02] [ 8.44664405e-01 5.23208617e-01 -1.13114041e-01 8.23338654e+01] [ 1.38727296e-01 -9.86847866e-03 9.90281450e-01 8.36489174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.710371743 meters Centerline goodness : 0.983012 Centerline is valid? [True, True] Translation: X:121.47, Y:82.36, Z:8.37 [[ 5.15992444e-01 -8.52783413e-01 -8.06985020e-02 1.21466026e+02] [ 8.45496613e-01 5.22157736e-01 -1.11744241e-01 8.23573381e+01] [ 1.37430983e-01 -1.05711261e-02 9.90454934e-01 8.36898788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740371743 meters Centerline goodness : 0.983390 Centerline is valid? [True, True] Translation: X:121.48, Y:82.38, Z:8.37 [[ 5.13512607e-01 -8.54258567e-01 -8.09141759e-02 1.21479445e+02] [ 8.46940627e-01 5.19732838e-01 -1.12113117e-01 8.23821891e+01] [ 1.37827345e-01 -1.09580040e-02 9.90395651e-01 8.37209342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.770371743 meters Centerline goodness : 0.982268 Centerline is valid? [True, True] Translation: X:121.48, Y:82.40, Z:8.37 [[ 5.07217224e-01 -8.58512110e-01 -7.54164720e-02 1.21477418e+02] [ 8.51339553e-01 5.12732558e-01 -1.11023824e-01 8.24012887e+01] [ 1.33983778e-01 -7.89182972e-03 9.90952101e-01 8.36853900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800371743 meters Centerline goodness : 0.987122 Centerline is valid? [True, True] Translation: X:121.51, Y:82.43, Z:8.37 [[ 5.12637464e-01 -8.53466520e-01 -9.37962131e-02 1.21513363e+02] [ 8.48116637e-01 5.20367640e-01 -9.95775528e-02 8.24254955e+01] [ 1.33794621e-01 -2.85029447e-02 9.90599102e-01 8.36696543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.830371743 meters Centerline goodness : 0.982732 Centerline is valid? [True, True] Translation: X:121.50, Y:82.45, Z:8.38 [[ 5.04022082e-01 -8.61484654e-01 -6.16922365e-02 1.21499939e+02] [ 8.52900410e-01 5.07709359e-01 -1.21622767e-01 8.24521856e+01] [ 1.36097873e-01 8.68322628e-03 9.90657343e-01 8.38407886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86037174300003 meters Centerline goodness : 0.982393 Centerline is valid? [True, True] Translation: X:121.52, Y:82.47, Z:8.38 [[ 5.04252908e-01 -8.60008669e-01 -7.81926744e-02 1.21522937e+02] [ 8.53241389e-01 5.10136398e-01 -1.08351222e-01 8.24729382e+01] [ 1.33071920e-01 -1.20808072e-02 9.91032753e-01 8.37814543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.890371743 meters Centerline goodness : 0.983449 Centerline is valid? [True, True] Translation: X:121.55, Y:82.50, Z:8.40 [[ 5.10837673e-01 -8.56589325e-01 -7.27983507e-02 1.21551003e+02] [ 8.48811154e-01 5.15990403e-01 -1.15210799e-01 8.24992928e+01] [ 1.36251591e-01 -2.93803557e-03 9.90669911e-01 8.39577411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92037174300003 meters Centerline goodness : 0.983947 Centerline is valid? [True, True] Translation: X:121.57, Y:82.52, Z:8.39 [[ 5.10233294e-01 -8.56392692e-01 -7.90793482e-02 1.21569020e+02] [ 8.49515498e-01 5.16194775e-01 -1.08932883e-01 8.25207920e+01] [ 1.34109671e-01 -1.15979482e-02 9.90898624e-01 8.39489217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.950371743 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:121.58, Y:82.55, Z:8.41 [[ 5.00039989e-01 -8.61220586e-01 -9.08796590e-02 1.21575872e+02] [ 8.52187313e-01 5.08015859e-01 -1.25286352e-01 8.25480024e+01] [ 1.54067494e-01 -1.47983064e-02 9.87949502e-01 8.40556952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.980371743 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:121.59, Y:82.57, Z:8.41 [[ 4.98996869e-01 -8.61859946e-01 -9.05514112e-02 1.21589674e+02] [ 8.52896295e-01 5.06926843e-01 -1.24872278e-01 8.25713338e+01] [ 1.53525356e-01 -1.49200871e-02 9.88032062e-01 8.40944064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.010371743 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:121.60, Y:82.59, Z:8.41 [[ 4.98431470e-01 -8.62218818e-01 -9.02484307e-02 1.21604071e+02] [ 8.53315883e-01 5.06314972e-01 -1.24487559e-01 8.25940568e+01] [ 1.53029648e-01 -1.49619022e-02 9.88108328e-01 8.41316199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.040371743 meters Centerline goodness : 0.985605 Centerline is valid? [True, True] Translation: X:121.64, Y:82.62, Z:8.41 [[ 5.12843384e-01 -8.55641324e-01 -6.97824288e-02 1.21640170e+02] [ 8.48546853e-01 5.17561644e-01 -1.09991740e-01 8.26205098e+01] [ 1.30230187e-01 -2.80512391e-03 9.91479818e-01 8.40832906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.070371743 meters Centerline goodness : 0.986404 Centerline is valid? [True, True] Translation: X:121.66, Y:82.64, Z:8.41 [[ 5.11417886e-01 -8.55944110e-01 -7.62327044e-02 1.21659157e+02] [ 8.49684685e-01 5.16938237e-01 -1.03974978e-01 8.26428019e+01] [ 1.28404370e-01 -1.15990980e-02 9.91654062e-01 8.40645067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.100371743 meters Centerline goodness : 0.984020 Centerline is valid? [True, True] Translation: X:121.67, Y:82.66, Z:8.41 [[ 5.11420435e-01 -8.56058243e-01 -7.49227836e-02 1.21670829e+02] [ 8.49415091e-01 5.16800841e-01 -1.06821784e-01 8.26631052e+01] [ 1.30165826e-01 -9.00969995e-03 9.91451301e-01 8.41166298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130371743 meters Centerline goodness : 0.986828 Centerline is valid? [True, True] Translation: X:121.69, Y:82.69, Z:8.41 [[ 5.06669147e-01 -8.57158796e-01 -9.25482286e-02 1.21691292e+02] [ 8.52169342e-01 5.14194435e-01 -9.70128604e-02 8.26859242e+01] [ 1.30743211e-01 -2.97133399e-02 9.90970903e-01 8.41105579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.160371743 meters Centerline goodness : 0.986444 Centerline is valid? [True, True] Translation: X:121.70, Y:82.71, Z:8.42 [[ 5.03824593e-01 -8.58847613e-01 -9.24205452e-02 1.21703648e+02] [ 8.53388602e-01 5.11457675e-01 -1.00692306e-01 8.27077470e+01] [ 1.33748544e-01 -2.81393795e-02 9.90615719e-01 8.42123628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190371743 meters Centerline goodness : 0.978057 Centerline is valid? [True, True] Translation: X:121.69, Y:82.74, Z:8.44 [[ 4.98021041e-01 -8.65860739e-01 -4.75418064e-02 1.21692738e+02] [ 8.56767407e-01 4.99774027e-01 -1.27183065e-01 8.27366532e+01] [ 1.33882983e-01 2.26075723e-02 9.90739242e-01 8.43717829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.220371743 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:121.74, Y:82.75, Z:8.42 [[ 5.03170186e-01 -8.55962385e-01 -1.18946032e-01 1.21744636e+02] [ 8.53980594e-01 5.13586604e-01 -8.33423398e-02 8.27451912e+01] [ 1.32426996e-01 -5.96422221e-02 9.89396733e-01 8.41696588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250371743 meters Centerline goodness : 0.979933 Centerline is valid? [True, True] Translation: X:121.72, Y:82.78, Z:8.45 [[ 4.97538344e-01 -8.66668532e-01 -3.66231113e-02 1.21718878e+02] [ 8.56357911e-01 4.97470609e-01 -1.38470653e-01 8.27827787e+01] [ 1.38227079e-01 3.75319680e-02 9.89689156e-01 8.45322162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.280371743 meters Centerline goodness : 0.979158 Centerline is valid? [True, True] Translation: X:121.75, Y:82.80, Z:8.44 [[ 4.98755977e-01 -8.63676267e-01 -7.28407971e-02 1.21748800e+02] [ 8.56442056e-01 5.04003082e-01 -1.11749270e-01 8.27981920e+01] [ 1.33227178e-01 -6.64830566e-03 9.91063227e-01 8.43893767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310371743 meters Centerline goodness : 0.987240 Centerline is valid? [True, True] Translation: X:121.79, Y:82.82, Z:8.43 [[ 5.03910102e-01 -8.56357218e-01 -1.12813667e-01 1.21790214e+02] [ 8.53775539e-01 5.13618368e-01 -8.52261747e-02 8.28161610e+01] [ 1.30927222e-01 -5.33712194e-02 9.89954330e-01 8.42918132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.340371743 meters Centerline goodness : 0.986890 Centerline is valid? [True, True] Translation: X:121.79, Y:82.85, Z:8.45 [[ 5.04406251e-01 -8.60636972e-01 -6.98450931e-02 1.21789148e+02] [ 8.53071207e-01 5.09214525e-01 -1.13886272e-01 8.28464743e+01] [ 1.33580872e-01 -2.13789060e-03 9.91035610e-01 8.45131005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370371743 meters Centerline goodness : 0.986121 Centerline is valid? [True, True] Translation: X:121.81, Y:82.87, Z:8.45 [[ 5.05607177e-01 -8.59014679e-01 -8.03440365e-02 1.21808261e+02] [ 8.52669673e-01 5.11723655e-01 -1.05324877e-01 8.28670097e+01] [ 1.31589559e-01 -1.52539098e-02 9.91186918e-01 8.45015793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.400371743 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:121.83, Y:82.89, Z:8.45 [[ 5.05287569e-01 -8.59409516e-01 -7.81009316e-02 1.21826344e+02] [ 8.53398288e-01 5.11072609e-01 -1.02548288e-01 8.28940316e+01] [ 1.28046221e-01 -1.48348263e-02 9.91657246e-01 8.45269019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430371743 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:121.84, Y:82.92, Z:8.46 [[ 5.07054835e-01 -8.57819803e-01 -8.39081653e-02 1.21838678e+02] [ 8.51489260e-01 5.13637920e-01 -1.05556277e-01 8.29157164e+01] [ 1.33646680e-01 -1.79240808e-02 9.90866940e-01 8.45660888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.460371743 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:121.83, Y:82.94, Z:8.48 [[ 4.95303380e-01 -8.64848204e-01 -8.19276896e-02 1.21831666e+02] [ 8.54771108e-01 5.02010643e-01 -1.31725727e-01 8.29423880e+01] [ 1.55051330e-01 -4.78522434e-03 9.87894826e-01 8.47524295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490371743 meters Centerline goodness : 0.981041 Centerline is valid? [True, True] Translation: X:121.84, Y:82.96, Z:8.46 [[ 5.02336249e-01 -8.62408702e-01 -6.25261901e-02 1.21837328e+02] [ 8.54655080e-01 5.06192018e-01 -1.15474392e-01 8.29603310e+01] [ 1.31236379e-01 4.56864720e-03 9.91340577e-01 8.46279040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.520371743 meters Centerline goodness : 0.981041 Centerline is valid? [True, True] Translation: X:121.86, Y:82.98, Z:8.46 [[ 5.02833413e-01 -8.61423205e-01 -7.14746135e-02 1.21857984e+02] [ 8.54455087e-01 5.07852326e-01 -1.09510363e-01 8.29816172e+01] [ 1.30633317e-01 -6.00637749e-03 9.91412558e-01 8.46271169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550371743 meters Centerline goodness : 0.986542 Centerline is valid? [True, True] Translation: X:121.89, Y:83.00, Z:8.46 [[ 5.08161343e-01 -8.55758753e-01 -9.72059989e-02 1.21889597e+02] [ 8.50984602e-01 5.16273140e-01 -9.63703904e-02 8.30008039e+01] [ 1.32654651e-01 -3.37491013e-02 9.90587574e-01 8.46328842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.580371743 meters Centerline goodness : 0.981105 Centerline is valid? [True, True] Translation: X:121.89, Y:83.03, Z:8.47 [[ 5.06581778e-01 -8.59685945e-01 -6.56884961e-02 1.21885604e+02] [ 8.52559669e-01 5.10822939e-01 -1.10462378e-01 8.30291622e+01] [ 1.28518144e-01 -4.51347803e-05 9.91707157e-01 8.47089899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61037174300003 meters Centerline goodness : 0.981588 Centerline is valid? [True, True] Translation: X:121.90, Y:83.05, Z:8.47 [[ 5.11830322e-01 -8.55985600e-01 -7.29271843e-02 1.21904182e+02] [ 8.49304524e-01 5.16949781e-01 -1.06980136e-01 8.30529664e+01] [ 1.29273148e-01 -7.18170989e-03 9.91583015e-01 8.47424971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.640371743 meters Centerline goodness : 0.987372 Centerline is valid? [True, True] Translation: X:121.94, Y:83.07, Z:8.47 [[ 5.19157416e-01 -8.49748657e-01 -9.16667753e-02 1.21937226e+02] [ 8.44687788e-01 5.26480313e-01 -9.65454335e-02 8.30744914e+01] [ 1.30300105e-01 -2.73075279e-02 9.91098472e-01 8.47494488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67037174300003 meters Centerline goodness : 0.985757 Centerline is valid? [True, True] Translation: X:121.93, Y:83.10, Z:8.49 [[ 5.18387806e-01 -8.52200954e-01 -7.09056933e-02 1.21934712e+02] [ 8.45206000e-01 5.23203463e-01 -1.09018136e-01 8.31033751e+01] [ 1.30003464e-01 -3.41624518e-03 9.91507654e-01 8.48698578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.700371743 meters Centerline goodness : 0.981132 Centerline is valid? [True, True] Translation: X:121.94, Y:83.13, Z:8.49 [[ 5.17386551e-01 -8.54154613e-01 -5.22594805e-02 1.21938000e+02] [ 8.46185536e-01 5.19753611e-01 -1.17584956e-01 8.31293155e+01] [ 1.27597786e-01 1.66156583e-02 9.91686808e-01 8.49407861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.730371743 meters Centerline goodness : 0.981439 Centerline is valid? [True, True] Translation: X:121.96, Y:83.15, Z:8.49 [[ 5.19469899e-01 -8.51585142e-01 -7.03830183e-02 1.21960613e+02] [ 8.45092555e-01 5.24193422e-01 -1.05070596e-01 8.31498653e+01] [ 1.26370874e-01 -4.89915273e-03 9.91970968e-01 8.48888148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.760371743 meters Centerline goodness : 0.980945 Centerline is valid? [True, True] Translation: X:121.98, Y:83.17, Z:8.49 [[ 5.20290373e-01 -8.50474789e-01 -7.73987208e-02 1.21978548e+02] [ 8.44517458e-01 5.25863240e-01 -1.01282356e-01 8.31698906e+01] [ 1.26839232e-01 -1.26683363e-02 9.91842388e-01 8.48997486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.790371743 meters Centerline goodness : 0.985001 Centerline is valid? [True, True] Translation: X:122.00, Y:83.19, Z:8.50 [[ 5.23762456e-01 -8.48005921e-01 -8.09867156e-02 1.22003472e+02] [ 8.42197168e-01 5.29755199e-01 -1.00316297e-01 8.31944652e+01] [ 1.27971948e-01 -1.56648723e-02 9.91654069e-01 8.49698378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.820371743 meters Centerline goodness : 0.986429 Centerline is valid? [True, True] Translation: X:122.02, Y:83.22, Z:8.50 [[ 5.23250419e-01 -8.48740723e-01 -7.64734217e-02 1.22018106e+02] [ 8.42656774e-01 5.28693800e-01 -1.02041304e-01 8.32198130e+01] [ 1.27037634e-01 -1.10476919e-02 9.91836372e-01 8.50175754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.850371743 meters Centerline goodness : 0.986844 Centerline is valid? [True, True] Translation: X:122.04, Y:83.25, Z:8.52 [[ 5.31742738e-01 -8.44872552e-01 -5.86517827e-02 1.22039678e+02] [ 8.36459778e-01 5.34766739e-01 -1.19831440e-01 8.32466513e+01] [ 1.32607317e-01 1.46596406e-02 9.91060238e-01 8.51845019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880371743 meters Centerline goodness : 0.981516 Centerline is valid? [True, True] Translation: X:122.05, Y:83.26, Z:8.49 [[ 5.19970478e-01 -8.48944763e-01 -9.44642387e-02 1.22053176e+02] [ 8.45447444e-01 5.27272039e-01 -8.48694119e-02 8.32601039e+01] [ 1.21857794e-01 -3.57349605e-02 9.91904073e-01 8.49059300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.910371743 meters Centerline goodness : 0.986272 Centerline is valid? [True, True] Translation: X:122.06, Y:83.29, Z:8.52 [[ 5.21002180e-01 -8.51043845e-01 -6.54301298e-02 1.22062796e+02] [ 8.43465472e-01 5.25080245e-01 -1.13387538e-01 8.32928657e+01] [ 1.30853835e-01 3.88709913e-03 9.91394051e-01 8.51967274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940371743 meters Centerline goodness : 0.985903 Centerline is valid? [True, True] Translation: X:122.08, Y:83.31, Z:8.52 [[ 5.21464031e-01 -8.49823062e-01 -7.66552463e-02 1.22083647e+02] [ 8.43356655e-01 5.26976170e-01 -1.05098377e-01 8.33120839e+01] [ 1.29710512e-01 -9.84268894e-03 9.91503053e-01 8.51740734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.970371743 meters Centerline goodness : 0.985819 Centerline is valid? [True, True] Translation: X:122.10, Y:83.34, Z:8.52 [[ 5.20421331e-01 -8.50678575e-01 -7.42132060e-02 1.22098441e+02] [ 8.44032297e-01 5.25635819e-01 -1.06378889e-01 8.33357804e+01] [ 1.29503361e-01 -7.27649979e-03 9.91552284e-01 8.52205812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000371743 meters Centerline goodness : 0.980427 Centerline is valid? [True, True] Translation: X:122.10, Y:83.36, Z:8.53 [[ 5.15492819e-01 -8.55141742e-01 -5.47700110e-02 1.22098521e+02] [ 8.47241802e-01 5.18210556e-01 -1.16786765e-01 8.33604079e+01] [ 1.28251636e-01 1.37992960e-02 9.91645651e-01 8.53011977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.030371743 meters Centerline goodness : 0.980286 Centerline is valid? [True, True] Translation: X:122.12, Y:83.38, Z:8.53 [[ 5.14784778e-01 -8.54657178e-01 -6.75110398e-02 1.22120417e+02] [ 8.47795763e-01 5.19190306e-01 -1.08091493e-01 8.33819325e+01] [ 1.27432248e-01 -1.59171837e-03 9.91846001e-01 8.52799760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060371743 meters Centerline goodness : 0.986396 Centerline is valid? [True, True] Translation: X:122.15, Y:83.41, Z:8.53 [[ 5.18484847e-01 -8.51277185e-01 -8.06264104e-02 1.22152608e+02] [ 8.45607897e-01 5.24453587e-01 -9.94772324e-02 8.34053829e+01] [ 1.26967508e-01 -1.66008917e-02 9.91767948e-01 8.52719201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.090371743 meters Centerline goodness : 0.985658 Centerline is valid? [True, True] Translation: X:122.15, Y:83.43, Z:8.53 [[ 5.11475613e-01 -8.55345494e-01 -8.23212161e-02 1.22154042e+02] [ 8.49544800e-01 5.17737350e-01 -1.01102270e-01 8.34251828e+01] [ 1.29098139e-01 -1.82242157e-02 9.91464346e-01 8.53408417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120371743 meters Centerline goodness : 0.987074 Centerline is valid? [True, True] Translation: X:122.18, Y:83.45, Z:8.54 [[ 5.16295650e-01 -8.53392542e-01 -7.18329388e-02 1.22179529e+02] [ 8.47083690e-01 5.21218499e-01 -1.03829177e-01 8.34527957e+01] [ 1.26047702e-01 -7.24195850e-03 9.91997747e-01 8.53814902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.150371743 meters Centerline goodness : 0.987464 Centerline is valid? [True, True] Translation: X:122.19, Y:83.47, Z:8.54 [[ 5.14222447e-01 -8.54154360e-01 -7.74312887e-02 1.22194629e+02] [ 8.48081526e-01 5.19857968e-01 -1.02495945e-01 8.34744553e+01] [ 1.27800631e-01 -1.29623296e-02 9.91715169e-01 8.54012789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180371743 meters Centerline goodness : 0.984647 Centerline is valid? [True, True] Translation: X:122.21, Y:83.50, Z:8.54 [[ 5.17309916e-01 -8.53782613e-01 -5.87000900e-02 1.22208258e+02] [ 8.46787127e-01 5.20584903e-01 -1.09283668e-01 8.34986552e+01] [ 1.23862876e-01 6.82704444e-03 9.92275859e-01 8.54270468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.210371743 meters Centerline goodness : 0.987994 Centerline is valid? [True, True] Translation: X:122.23, Y:83.52, Z:8.54 [[ 5.12562378e-01 -8.53701947e-01 -9.20477772e-02 1.22231745e+02] [ 8.49207597e-01 5.19858962e-01 -9.26990652e-02 8.35182499e+01] [ 1.26989234e-01 -3.06536183e-02 9.91430325e-01 8.53920804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240371743 meters Centerline goodness : 0.986681 Centerline is valid? [True, True] Translation: X:122.23, Y:83.54, Z:8.55 [[ 5.07089185e-01 -8.57876298e-01 -8.31192830e-02 1.22230086e+02] [ 8.51719182e-01 5.13541746e-01 -1.04160021e-01 8.35414999e+01] [ 1.32041635e-01 -1.79758677e-02 9.91081165e-01 8.55263317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.270371743 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:122.25, Y:83.57, Z:8.56 [[ 5.10971808e-01 -8.56359754e-01 -7.45371210e-02 1.22251279e+02] [ 8.49269424e-01 5.16332274e-01 -1.10192688e-01 8.35678949e+01] [ 1.32850505e-01 -6.99674055e-03 9.91111391e-01 8.55946701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300371743 meters Centerline goodness : 0.988617 Centerline is valid? [True, True] Translation: X:122.27, Y:83.60, Z:8.56 [[ 5.13664419e-01 -8.56310019e-01 -5.36844043e-02 1.22265096e+02] [ 8.48583545e-01 5.16277071e-01 -1.15602569e-01 8.35988712e+01] [ 1.26707666e-01 1.38252246e-02 9.91843753e-01 8.56133085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.330371743 meters Centerline goodness : 0.988890 Centerline is valid? [True, True] Translation: X:122.29, Y:83.62, Z:8.55 [[ 5.13815726e-01 -8.54122752e-01 -8.04221650e-02 1.22289799e+02] [ 8.48654001e-01 5.19765776e-01 -9.81321823e-02 8.36171233e+01] [ 1.25617619e-01 -1.78287336e-02 9.91918520e-01 8.55265805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36037174300003 meters Centerline goodness : 0.989520 Centerline is valid? [True, True] Translation: X:122.30, Y:83.64, Z:8.56 [[ 5.13780681e-01 -8.54531205e-01 -7.61960035e-02 1.22302439e+02] [ 8.48731530e-01 5.19233323e-01 -1.00257399e-01 8.36434896e+01] [ 1.25236580e-01 -1.31596359e-02 9.92039628e-01 8.56061761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.390371743 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:122.32, Y:83.66, Z:8.56 [[ 5.11202230e-01 -8.53128346e-01 -1.04135994e-01 1.22322083e+02] [ 8.49617681e-01 5.19909373e-01 -8.85665906e-02 8.36597675e+01] [ 1.29699948e-01 -4.32003434e-02 9.90611757e-01 8.56174508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42037174300003 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:122.32, Y:83.69, Z:8.58 [[ 5.07918209e-01 -8.57804237e-01 -7.86828117e-02 1.22319200e+02] [ 8.51287589e-01 5.13812745e-01 -1.06329221e-01 8.36874567e+01] [ 1.31637887e-01 -1.29751538e-02 9.91212950e-01 8.58040035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.450371743 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:122.33, Y:83.72, Z:8.60 [[ 5.10861003e-01 -8.57810906e-01 -5.64046643e-02 1.22332377e+02] [ 8.49037918e-01 5.13743618e-01 -1.23296832e-01 8.37202814e+01] [ 1.34742903e-01 1.50978443e-02 9.90765565e-01 8.59875637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.480371743 meters Centerline goodness : 0.986871 Centerline is valid? [True, True] Translation: X:122.35, Y:83.73, Z:8.59 [[ 5.13412108e-01 -8.53486903e-01 -8.92642922e-02 1.22353411e+02] [ 8.47534354e-01 5.20619876e-01 -1.03152621e-01 8.37294424e+01] [ 1.34512175e-01 -2.26947498e-02 9.90652019e-01 8.58658965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.510371743 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:122.37, Y:83.76, Z:8.60 [[ 5.10490207e-01 -8.56540823e-01 -7.57467306e-02 1.22367280e+02] [ 8.49137677e-01 5.16033835e-01 -1.12580134e-01 8.37620984e+01] [ 1.35517357e-01 -6.84834680e-03 9.90751304e-01 8.59838552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.540371743 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:122.38, Y:83.78, Z:8.60 [[ 5.11498990e-01 -8.55527742e-01 -8.02562569e-02 1.22381636e+02] [ 8.48490733e-01 5.17623331e-01 -1.10134299e-01 8.37832517e+01] [ 1.35765460e-01 -1.17631074e-02 9.90671171e-01 8.59920885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.570371743 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:122.40, Y:83.81, Z:8.60 [[ 5.11367055e-01 -8.55225595e-01 -8.42194557e-02 1.22397044e+02] [ 8.48361654e-01 5.18021650e-01 -1.09252340e-01 8.38058811e+01] [ 1.37062899e-01 -1.55805094e-02 9.90439806e-01 8.60288641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.600371743 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:122.41, Y:83.83, Z:8.61 [[ 5.13363354e-01 -8.54415480e-01 -8.02013347e-02 1.22408862e+02] [ 8.47187134e-01 5.19479295e-01 -1.11423616e-01 8.38304332e+01] [ 1.36864995e-01 -1.07447375e-02 9.90531435e-01 8.60794999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630371743 meters Centerline goodness : 0.988754 Centerline is valid? [True, True] Translation: X:122.42, Y:83.85, Z:8.61 [[ 5.14776256e-01 -8.53729487e-01 -7.84306598e-02 1.22422659e+02] [ 8.46450764e-01 5.20640069e-01 -1.11602070e-01 8.38526975e+01] [ 1.36112122e-01 -8.93759611e-03 9.90653123e-01 8.61043921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.660371743 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:122.44, Y:83.88, Z:8.62 [[ 5.16865904e-01 -8.52584950e-01 -7.71267814e-02 1.22436524e+02] [ 8.45202668e-01 5.22539009e-01 -1.12184825e-01 8.38769227e+01] [ 1.35948845e-01 -7.20325036e-03 9.90689671e-01 8.61581525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690371743 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:122.45, Y:83.90, Z:8.62 [[ 5.17317779e-01 -8.52204315e-01 -7.82950857e-02 1.22452266e+02] [ 8.44928450e-01 5.23140085e-01 -1.11446695e-01 8.39018358e+01] [ 1.35934652e-01 -8.50038868e-03 9.90681338e-01 8.61955057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.720371743 meters Centerline goodness : 0.989755 Centerline is valid? [True, True] Translation: X:122.47, Y:83.93, Z:8.62 [[ 5.19636524e-01 -8.50845560e-01 -7.77156088e-02 1.22465883e+02] [ 8.43615856e-01 5.25356450e-01 -1.10963450e-01 8.39281896e+01] [ 1.35241155e-01 -7.90145834e-03 9.90781205e-01 8.62389501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750371743 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:122.48, Y:83.95, Z:8.63 [[ 5.20463729e-01 -8.49669993e-01 -8.47254992e-02 1.22482533e+02] [ 8.43041455e-01 5.27081184e-01 -1.07081891e-01 8.39502139e+01] [ 1.35641486e-01 -1.56948677e-02 9.90633665e-01 8.62584758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.780371743 meters Centerline goodness : 0.989790 Centerline is valid? [True, True] Translation: X:122.49, Y:83.98, Z:8.63 [[ 5.21989055e-01 -8.49743322e-01 -7.39169291e-02 1.22493296e+02] [ 8.42313493e-01 5.27183631e-01 -1.12184667e-01 8.39754483e+01] [ 1.34295966e-01 -3.70205861e-03 9.90934351e-01 8.63285806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810371743 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:122.51, Y:84.00, Z:8.63 [[ 5.24504234e-01 -8.47550174e-01 -8.09568502e-02 1.22509962e+02] [ 8.40813475e-01 5.30584278e-01 -1.07298763e-01 8.39986885e+01] [ 1.33895517e-01 -1.17909552e-02 9.90925307e-01 8.63384142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.840371743 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:122.52, Y:84.02, Z:8.64 [[ 5.25523944e-01 -8.46418480e-01 -8.60252372e-02 1.22524222e+02] [ 8.39924369e-01 5.32260331e-01 -1.05952788e-01 8.40207357e+01] [ 1.35468219e-01 -1.65739659e-02 9.90643056e-01 8.63829887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870371743 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:122.54, Y:84.05, Z:8.65 [[ 5.29162527e-01 -8.44671501e-01 -8.07284080e-02 1.22535399e+02] [ 8.37614456e-01 5.35196530e-01 -1.09392398e-01 8.40465345e+01] [ 1.35606205e-01 -9.73292362e-03 9.90715008e-01 8.64542882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.900371743 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:122.55, Y:84.07, Z:8.65 [[ 5.30049658e-01 -8.43774215e-01 -8.42165849e-02 1.22551497e+02] [ 8.36864850e-01 5.36542073e-01 -1.08534911e-01 8.40710475e+01] [ 1.36764701e-01 -1.29490070e-02 9.90518925e-01 8.64963940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930371743 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:122.56, Y:84.09, Z:8.66 [[ 5.31144560e-01 -8.43348697e-01 -8.15379186e-02 1.22564584e+02] [ 8.36138960e-01 5.37282507e-01 -1.10449746e-01 8.40947936e+01] [ 1.36956547e-01 -9.51224872e-03 9.90531383e-01 8.65524769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.960371743 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:122.58, Y:84.12, Z:8.66 [[ 5.33873116e-01 -8.42343199e-01 -7.37389449e-02 1.22578459e+02] [ 8.34565898e-01 5.38941194e-01 -1.14202238e-01 8.41205393e+01] [ 1.35938434e-01 -5.70503990e-04 9.90717123e-01 8.66141650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990371743 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:122.60, Y:84.14, Z:8.66 [[ 5.33770913e-01 -8.41679402e-01 -8.16357615e-02 1.22595424e+02] [ 8.34605893e-01 5.39889056e-01 -1.09328908e-01 8.41427207e+01] [ 1.36094144e-01 -9.77709679e-03 9.90647663e-01 8.66140483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.020371743 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:122.61, Y:84.17, Z:8.67 [[ 5.34018710e-01 -8.42176317e-01 -7.45859857e-02 1.22606923e+02] [ 8.34520663e-01 5.39199449e-01 -1.13310266e-01 8.41661353e+01] [ 1.35643945e-01 -1.73374396e-03 9.90756133e-01 8.66765348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050371743 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:122.63, Y:84.19, Z:8.67 [[ 5.32794273e-01 -8.41998930e-01 -8.46644217e-02 1.22625669e+02] [ 8.35123131e-01 5.39320874e-01 -1.08177405e-01 8.41874003e+01] [ 1.36746549e-01 -1.30689152e-02 9.90519856e-01 8.66846379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.080371743 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:122.64, Y:84.21, Z:8.68 [[ 5.32252086e-01 -8.42871878e-01 -7.92130897e-02 1.22637704e+02] [ 8.35479199e-01 5.38071532e-01 -1.11595406e-01 8.42096649e+01] [ 1.36682938e-01 -6.78400090e-03 9.90591617e-01 8.67529614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11037174300003 meters Centerline goodness : 0.989885 Centerline is valid? [True, True] Translation: X:122.65, Y:84.23, Z:8.68 [[ 5.28706689e-01 -8.44922905e-01 -8.10834246e-02 1.22653232e+02] [ 8.37720912e-01 5.34803615e-01 -1.10493292e-01 8.42317228e+01] [ 1.36722022e-01 -9.50673761e-03 9.90563835e-01 8.67914427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.140371743 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:122.67, Y:84.26, Z:8.68 [[ 5.27452175e-01 -8.46484080e-01 -7.25183197e-02 1.22667815e+02] [ 8.38963464e-01 5.32412055e-01 -1.12595339e-01 8.42565846e+01] [ 1.33919789e-01 -1.45156435e-03 9.90991111e-01 8.68451862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17037174300003 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:122.69, Y:84.28, Z:8.69 [[ 5.23043924e-01 -8.48323871e-01 -8.22901160e-02 1.22686466e+02] [ 8.41619902e-01 5.29314092e-01 -1.07249865e-01 8.42764405e+01] [ 1.34539939e-01 -1.31606089e-02 9.90820773e-01 8.68546893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.200371743 meters Centerline goodness : 0.989904 Centerline is valid? [True, True] Translation: X:122.70, Y:84.30, Z:8.69 [[ 5.20404611e-01 -8.50490808e-01 -7.64488481e-02 1.22700298e+02] [ 8.43311756e-01 5.25943732e-01 -1.10491959e-01 8.43007976e+01] [ 1.34180188e-01 -6.96968716e-03 9.90932440e-01 8.69199988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.230371743 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:122.72, Y:84.32, Z:8.70 [[ 5.16894660e-01 -8.52803086e-01 -7.44768851e-02 1.22717352e+02] [ 8.45386186e-01 5.22209655e-01 -1.12335534e-01 8.43248708e+01] [ 1.34692639e-01 -4.89609205e-03 9.90875331e-01 8.69681306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.260371743 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:122.74, Y:84.35, Z:8.70 [[ 5.10564681e-01 -8.55917931e-01 -8.20256145e-02 1.22735433e+02] [ 8.49268459e-01 5.16900578e-01 -1.07502918e-01 8.43471795e+01] [ 1.34412762e-01 -1.47745742e-02 9.90815281e-01 8.69812124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.290371743 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:122.75, Y:84.37, Z:8.70 [[ 5.08339453e-01 -8.57288337e-01 -8.15334771e-02 1.22748895e+02] [ 8.50445783e-01 5.14647975e-01 -1.08992810e-01 8.43681693e+01] [ 1.35399304e-01 -1.39344562e-02 9.90693121e-01 8.70315680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.320371743 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:122.76, Y:84.39, Z:8.71 [[ 5.04553004e-01 -8.59890115e-01 -7.75580808e-02 1.22764558e+02] [ 8.52778253e-01 5.10376919e-01 -1.10836144e-01 8.43940525e+01] [ 1.34890759e-01 -1.02171355e-02 9.90807798e-01 8.70898005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.350371743 meters Centerline goodness : 0.989846 Centerline is valid? [True, True] Translation: X:122.78, Y:84.42, Z:8.71 [[ 4.99640566e-01 -8.62380104e-01 -8.16079671e-02 1.22780711e+02] [ 8.55575369e-01 5.06031184e-01 -1.09193544e-01 8.44164463e+01] [ 1.35462516e-01 -1.52642426e-02 9.90664883e-01 8.71243696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380371743 meters Centerline goodness : 0.989394 Centerline is valid? [True, True] Translation: X:122.79, Y:84.44, Z:8.72 [[ 4.98149806e-01 -8.63216452e-01 -8.18787376e-02 1.22792983e+02] [ 8.56276963e-01 5.04605929e-01 -1.10284266e-01 8.44373333e+01] [ 1.36515689e-01 -1.51727912e-02 9.90521708e-01 8.71769080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.410371743 meters Centerline goodness : 0.989394 Centerline is valid? [True, True] Translation: X:122.81, Y:84.46, Z:8.72 [[ 4.97619699e-01 -8.63852295e-01 -7.83188841e-02 1.22806832e+02] [ 8.56536860e-01 5.03625280e-01 -1.12721713e-01 8.44613133e+01] [ 1.36818281e-01 -1.09904661e-02 9.90535193e-01 8.72388488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440371743 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:122.82, Y:84.49, Z:8.73 [[ 4.95763900e-01 -8.65056955e-01 -7.67764284e-02 1.22821936e+02] [ 8.57710648e-01 5.01576659e-01 -1.12930509e-01 8.44859101e+01] [ 1.36200587e-01 -9.86509039e-03 9.90632162e-01 8.72899831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.470371743 meters Centerline goodness : 0.987394 Centerline is valid? [True, True] Translation: X:122.83, Y:84.50, Z:8.73 [[ 4.96469988e-01 -8.64702949e-01 -7.61994886e-02 1.22833074e+02] [ 8.57155517e-01 5.02210671e-01 -1.14319127e-01 8.45035625e+01] [ 1.37120282e-01 -8.55879648e-03 9.90517428e-01 8.73155984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500371743 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:122.85, Y:84.53, Z:8.74 [[ 4.94552709e-01 -8.65270912e-01 -8.19991896e-02 1.22851888e+02] [ 8.58368342e-01 5.01053171e-01 -1.10224810e-01 8.45330106e+01] [ 1.36460276e-01 -1.58735299e-02 9.90518361e-01 8.73552156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.530371743 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:122.86, Y:84.56, Z:8.74 [[ 4.94542007e-01 -8.65405674e-01 -8.06301639e-02 1.22864315e+02] [ 8.58202668e-01 5.00885101e-01 -1.12259954e-01 8.45558912e+01] [ 1.37536849e-01 -1.36797589e-02 9.90402181e-01 8.74135536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560371743 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:122.88, Y:84.58, Z:8.75 [[ 4.95721229e-01 -8.65059220e-01 -7.70260357e-02 1.22877729e+02] [ 8.57524773e-01 5.01581952e-01 -1.14310147e-01 8.45822462e+01] [ 1.37519916e-01 -9.38576717e-03 9.90454532e-01 8.74745206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.590371743 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:122.89, Y:84.60, Z:8.75 [[ 4.96274592e-01 -8.64428515e-01 -8.04665871e-02 1.22893938e+02] [ 8.57332186e-01 5.02568777e-01 -1.11382885e-01 8.46048606e+01] [ 1.36722536e-01 -1.37100991e-02 9.90514503e-01 8.74963367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620371743 meters Centerline goodness : 0.989452 Centerline is valid? [True, True] Translation: X:122.91, Y:84.63, Z:8.76 [[ 4.97091596e-01 -8.64242184e-01 -7.73653195e-02 1.22906565e+02] [ 8.56846335e-01 5.02976831e-01 -1.13263699e-01 8.46294821e+01] [ 1.36800229e-01 -9.98775774e-03 9.90548304e-01 8.75557110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.650371743 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:122.92, Y:84.65, Z:8.76 [[ 4.99587088e-01 -8.62531017e-01 -8.03304827e-02 1.22917326e+02] [ 8.55136006e-01 5.05860306e-01 -1.13347969e-01 8.46526739e+01] [ 1.38402141e-01 -1.20663065e-02 9.90302606e-01 8.76028248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680371743 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:122.93, Y:84.68, Z:8.77 [[ 5.01438212e-01 -8.61973556e-01 -7.45741813e-02 1.22931047e+02] [ 8.54274957e-01 5.06917852e-01 -1.15102518e-01 8.46774255e+01] [ 1.37018311e-01 -5.99005456e-03 9.90550403e-01 8.76578431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.710371743 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:122.95, Y:84.70, Z:8.77 [[ 5.03037235e-01 -8.61066078e-01 -7.42882926e-02 1.22945102e+02] [ 8.53435006e-01 5.08460139e-01 -1.14529379e-01 8.47043859e+01] [ 1.36389998e-01 -5.78768747e-03 9.90638315e-01 8.76956768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740371743 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:122.96, Y:84.73, Z:8.77 [[ 5.03544708e-01 -8.60530330e-01 -7.70083034e-02 1.22960411e+02] [ 8.53259228e-01 5.09314255e-01 -1.12016426e-01 8.47279824e+01] [ 1.35614959e-01 -9.30276707e-03 9.90717943e-01 8.77190847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.770371743 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:122.97, Y:84.75, Z:8.78 [[ 5.05538889e-01 -8.59811627e-01 -7.17941403e-02 1.22971745e+02] [ 8.52314198e-01 5.10596618e-01 -1.13364906e-01 8.47531326e+01] [ 1.34130310e-01 -3.88079633e-03 9.90956104e-01 8.77697416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800371743 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:122.99, Y:84.78, Z:8.78 [[ 5.06244681e-01 -8.59599752e-01 -6.93151483e-02 1.22987702e+02] [ 8.52177240e-01 5.10964071e-01 -1.12737172e-01 8.47796004e+01] [ 1.32326395e-01 -1.99619822e-03 9.91204187e-01 8.77992214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.830371743 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:123.00, Y:84.80, Z:8.78 [[ 5.05143783e-01 -8.58829988e-01 -8.50929518e-02 1.23004510e+02] [ 8.52580531e-01 5.11893376e-01 -1.05221719e-01 8.47994099e+01] [ 1.33926086e-01 -1.93964968e-02 9.90801483e-01 8.77839648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86037174300003 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:123.01, Y:84.82, Z:8.79 [[ 5.05536879e-01 -8.59407905e-01 -7.64886710e-02 1.23014453e+02] [ 8.52085287e-01 5.11221231e-01 -1.12265386e-01 8.48235815e+01] [ 1.35584393e-01 -8.42057835e-03 9.90730017e-01 8.78746459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.890371743 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:123.03, Y:84.85, Z:8.79 [[ 5.06651499e-01 -8.58555532e-01 -7.86553057e-02 1.23029337e+02] [ 8.51384933e-01 5.12610852e-01 -1.11237632e-01 8.48467075e+01] [ 1.35823248e-01 -1.06072289e-02 9.90676300e-01 8.78931065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92037174300003 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:123.04, Y:84.87, Z:8.79 [[ 5.08629203e-01 -8.57602013e-01 -7.62569418e-02 1.23041194e+02] [ 8.49937288e-01 5.14272435e-01 -1.14588257e-01 8.48706120e+01] [ 1.37487963e-01 -6.53068436e-03 9.90481908e-01 8.79470636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.950371743 meters Centerline goodness : 0.991713 Centerline is valid? [True, True] Translation: X:123.05, Y:84.90, Z:8.80 [[ 5.08366827e-01 -8.58198679e-01 -7.11209962e-02 1.23053843e+02] [ 8.50070032e-01 5.13317370e-01 -1.17839804e-01 8.48981262e+01] [ 1.37637607e-01 -5.51980082e-04 9.90482501e-01 8.80032666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.980371743 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:123.07, Y:84.92, Z:8.80 [[ 5.09515578e-01 -8.56382724e-01 -8.36809788e-02 1.23071667e+02] [ 8.49448124e-01 5.16119784e-01 -1.09810073e-01 8.49171002e+01] [ 1.37228858e-01 -1.51327078e-02 9.90423769e-01 8.79825011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.010371743 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:123.08, Y:84.94, Z:8.81 [[ 5.09602891e-01 -8.57067159e-01 -7.57679297e-02 1.23083224e+02] [ 8.49440434e-01 5.15168127e-01 -1.14248629e-01 8.49435674e+01] [ 1.36951970e-01 -6.13891135e-03 9.90558666e-01 8.80677766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.040371743 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:123.10, Y:84.97, Z:8.81 [[ 5.10383117e-01 -8.56738467e-01 -7.42177421e-02 1.23096700e+02] [ 8.48997963e-01 5.15732980e-01 -1.14986747e-01 8.49692896e+01] [ 1.36790107e-01 -4.32341754e-03 9.90590619e-01 8.81179830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.070371743 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:123.11, Y:84.99, Z:8.81 [[ 5.12634343e-01 -8.55408449e-01 -7.40433343e-02 1.23110934e+02] [ 8.47734566e-01 5.17937611e-01 -1.14397279e-01 8.49920479e+01] [ 1.36206227e-01 -4.12511972e-03 9.90671917e-01 8.81443687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.100371743 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:123.13, Y:85.02, Z:8.82 [[ 5.11638220e-01 -8.55262572e-01 -8.21721629e-02 1.23129717e+02] [ 8.48258920e-01 5.18021624e-01 -1.10047273e-01 8.50176191e+01] [ 1.36686271e-01 -1.33988793e-02 9.90523767e-01 8.81598840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130371743 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:123.14, Y:85.04, Z:8.82 [[ 5.13190986e-01 -8.54809168e-01 -7.70473802e-02 1.23140572e+02] [ 8.47440155e-01 5.18885624e-01 -1.12262608e-01 8.50403663e+01] [ 1.35941885e-01 -7.68088528e-03 9.90687038e-01 8.82288048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.160371743 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:123.16, Y:85.07, Z:8.83 [[ 5.11838071e-01 -8.55839642e-01 -7.45673917e-02 1.23157708e+02] [ 8.48093089e-01 5.17222597e-01 -1.14973462e-01 8.50692379e+01] [ 1.36966787e-01 -4.39229445e-03 9.90565902e-01 8.82988633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190371743 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:123.18, Y:85.10, Z:8.83 [[ 5.10768984e-01 -8.56181507e-01 -7.78991100e-02 1.23175769e+02] [ 8.48652931e-01 5.16611733e-01 -1.13580455e-01 8.50963310e+01] [ 1.37489079e-01 -8.09593455e-03 9.90470196e-01 8.83312793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.220371743 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:123.19, Y:85.12, Z:8.83 [[ 5.12346456e-01 -8.54932181e-01 -8.11916014e-02 1.23191551e+02] [ 8.47872920e-01 5.18593605e-01 -1.10327623e-01 8.51174649e+01] [ 1.36428080e-01 -1.23141937e-02 9.90573440e-01 8.83467130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250371743 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:123.20, Y:85.14, Z:8.85 [[ 5.10913329e-01 -8.56822179e-01 -6.94501603e-02 1.23204443e+02] [ 8.48595423e-01 5.15609576e-01 -1.18459165e-01 8.51447493e+01] [ 1.37307608e-01 1.58727826e-03 9.90527184e-01 8.84528405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.280371743 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:123.22, Y:85.17, Z:8.84 [[ 5.10758225e-01 -8.56125938e-01 -7.85774432e-02 1.23222588e+02] [ 8.48617606e-01 5.16693571e-01 -1.13472079e-01 8.51653772e+01] [ 1.37746850e-01 -8.72540384e-03 9.90429035e-01 8.84466213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310371743 meters Centerline goodness : 0.990788 Centerline is valid? [True, True] Translation: X:123.24, Y:85.19, Z:8.85 [[ 5.11009648e-01 -8.55884989e-01 -7.95614587e-02 1.23238776e+02] [ 8.48578661e-01 5.17064657e-01 -1.12064251e-01 8.51882492e+01] [ 1.37052529e-01 -1.02482426e-02 9.90510766e-01 8.84656294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.340371743 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:123.25, Y:85.21, Z:8.85 [[ 5.10023853e-01 -8.56852732e-01 -7.53595712e-02 1.23253003e+02] [ 8.48695352e-01 5.15547474e-01 -1.18012721e-01 8.52127513e+01] [ 1.39970959e-01 -3.76801507e-03 9.90148440e-01 8.85474819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370371743 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:123.27, Y:85.24, Z:8.86 [[ 5.08267784e-01 -8.57806720e-01 -7.63642065e-02 1.23270582e+02] [ 8.49714864e-01 5.13947228e-01 -1.17655841e-01 8.52389656e+01] [ 1.40173143e-01 -5.08712805e-03 9.90113939e-01 8.85767252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.400371743 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:123.29, Y:85.26, Z:8.86 [[ 5.07963948e-01 -8.57569347e-01 -8.09162666e-02 1.23290616e+02] [ 8.49824736e-01 5.14268666e-01 -1.15436815e-01 8.52649072e+01] [ 1.40607774e-01 -1.01269047e-02 9.90013586e-01 8.85979181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430371743 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:123.31, Y:85.29, Z:8.86 [[ 5.08117561e-01 -8.57138350e-01 -8.44416491e-02 1.23305224e+02] [ 8.49320193e-01 5.14930264e-01 -1.16198248e-01 8.52868036e+01] [ 1.43079535e-01 -1.26756273e-02 9.89630019e-01 8.86491947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.460371743 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:123.32, Y:85.32, Z:8.87 [[ 5.07776531e-01 -8.58381969e-01 -7.30984922e-02 1.23324127e+02] [ 8.49752772e-01 5.13010894e-01 -1.21408603e-01 8.53172143e+01] [ 1.41715279e-01 -4.67207053e-04 9.89907350e-01 8.87193136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490371743 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:123.35, Y:85.34, Z:8.87 [[ 5.08556079e-01 -8.57199839e-01 -8.11119703e-02 1.23346782e+02] [ 8.49192767e-01 5.14900859e-01 -1.17255063e-01 8.53415917e+01] [ 1.42275644e-01 -9.24892366e-03 9.89783865e-01 8.87282472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.520371743 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:123.36, Y:85.36, Z:8.88 [[ 5.11423083e-01 -8.55452006e-01 -8.15370794e-02 1.23362400e+02] [ 8.47501516e-01 5.17796771e-01 -1.16737673e-01 8.53626075e+01] [ 1.42083113e-01 -9.40045759e-03 9.89810093e-01 8.87599665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550371743 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:123.38, Y:85.39, Z:8.88 [[ 5.12501873e-01 -8.54622991e-01 -8.34348478e-02 1.23378842e+02] [ 8.46705630e-01 5.19134564e-01 -1.16571354e-01 8.53861705e+01] [ 1.42938472e-01 -1.09017182e-02 9.89671534e-01 8.88131477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.580371743 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:123.39, Y:85.41, Z:8.89 [[ 5.13620478e-01 -8.54399054e-01 -7.87163330e-02 1.23393223e+02] [ 8.46071560e-01 5.19589184e-01 -1.19121768e-01 8.54097926e+01] [ 1.42677681e-01 -5.41627102e-03 9.89754385e-01 8.88732175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61037174300003 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:123.41, Y:85.44, Z:8.89 [[ 5.15555207e-01 -8.53708133e-01 -7.33842782e-02 1.23410933e+02] [ 8.45129200e-01 5.20751741e-01 -1.20723899e-01 8.54350094e+01] [ 1.41277965e-01 2.20638521e-04 9.89969943e-01 8.89136465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.640371743 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:123.43, Y:85.46, Z:8.89 [[ 5.15340800e-01 -8.52988724e-01 -8.26685924e-02 1.23429451e+02] [ 8.44912883e-01 5.21846268e-01 -1.17467839e-01 8.54576758e+01] [ 1.43339038e-01 -9.31178872e-03 9.89629835e-01 8.89310326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67037174300003 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:123.45, Y:85.48, Z:8.90 [[ 5.17455650e-01 -8.51867082e-01 -8.10069404e-02 1.23446640e+02] [ 8.43521458e-01 5.23715395e-01 -1.19137463e-01 8.54807395e+01] [ 1.43913864e-01 -6.68273928e-03 9.89567653e-01 8.89729534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.700371743 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:123.46, Y:85.50, Z:8.90 [[ 5.17976838e-01 -8.51719608e-01 -7.92067244e-02 1.23462795e+02] [ 8.42983644e-01 5.23984641e-01 -1.21731970e-01 8.55044645e+01] [ 1.45184613e-01 -3.71563240e-03 9.89397606e-01 8.90247468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.730371743 meters Centerline goodness : 0.991003 Centerline is valid? [True, True] Translation: X:123.48, Y:85.53, Z:8.91 [[ 5.21710040e-01 -8.49846835e-01 -7.46926429e-02 1.23479056e+02] [ 8.40588255e-01 5.27023843e-01 -1.25128954e-01 8.55261627e+01] [ 1.45705249e-01 2.49527326e-03 9.89324898e-01 8.90546637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.760371743 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:123.50, Y:85.55, Z:8.91 [[ 5.21773290e-01 -8.49365135e-01 -7.95707256e-02 1.23498773e+02] [ 8.40328529e-01 5.27800348e-01 -1.23591088e-01 8.55504449e+01] [ 1.46971417e-01 -2.37902234e-03 9.89137879e-01 8.90775259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.790371743 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:123.52, Y:85.57, Z:8.91 [[ 5.22766740e-01 -8.48206426e-01 -8.52102959e-02 1.23518605e+02] [ 8.40021472e-01 5.29573099e-01 -1.17967194e-01 8.55720399e+01] [ 1.45185613e-01 -9.90915280e-03 9.89354813e-01 8.90846735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.820371743 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:123.54, Y:85.60, Z:8.92 [[ 5.24105349e-01 -8.48172678e-01 -7.69200360e-02 1.23536142e+02] [ 8.39329940e-01 5.29719567e-01 -1.22157411e-01 8.55978138e+01] [ 1.44356626e-01 -5.37936846e-04 9.89525581e-01 8.91614260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.850371743 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:123.55, Y:85.62, Z:8.92 [[ 5.25302200e-01 -8.47150049e-01 -7.99649511e-02 1.23553854e+02] [ 8.38665472e-01 5.31337134e-01 -1.19670698e-01 8.56194429e+01] [ 1.43867386e-01 -4.20056224e-03 9.89588061e-01 8.91758659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880371743 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:123.58, Y:85.64, Z:8.92 [[ 5.22546625e-01 -8.47553481e-01 -9.27260586e-02 1.23575015e+02] [ 8.39601881e-01 5.30447095e-01 -1.17023761e-01 8.56399550e+01] [ 1.48370164e-01 -1.67026019e-02 9.88790836e-01 8.92139872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.910371743 meters Centerline goodness : 0.989681 Centerline is valid? [True, True] Translation: X:123.59, Y:85.66, Z:8.93 [[ 5.21560652e-01 -8.48712270e-01 -8.75326763e-02 1.23588236e+02] [ 8.40036450e-01 5.28756952e-01 -1.21469541e-01 8.56615922e+01] [ 1.49376201e-01 -1.01769056e-02 9.88728062e-01 8.92972815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940371743 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:123.61, Y:85.68, Z:8.93 [[ 5.19514678e-01 -8.49725813e-01 -8.98361920e-02 1.23605524e+02] [ 8.41141166e-01 5.27073533e-01 -1.21140537e-01 8.56831587e+01] [ 1.50286520e-01 -1.26306324e-02 9.88561798e-01 8.93301061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.970371743 meters Centerline goodness : 0.989171 Centerline is valid? [True, True] Translation: X:123.62, Y:85.71, Z:8.94 [[ 5.16972168e-01 -8.51474646e-01 -8.79244294e-02 1.23617840e+02] [ 8.42104763e-01 5.24322587e-01 -1.26275072e-01 8.57061262e+01] [ 1.53620786e-01 -8.76088320e-03 9.88091039e-01 8.94460724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000371743 meters Centerline goodness : 0.987914 Centerline is valid? [True, True] Translation: X:123.63, Y:85.73, Z:8.95 [[ 5.16814869e-01 -8.52409563e-01 -7.93746115e-02 1.23633158e+02] [ 8.42554344e-01 5.22874680e-01 -1.29244912e-01 8.57298985e+01] [ 1.51672573e-01 -8.17316478e-05 9.88430789e-01 8.95037547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.030371743 meters Centerline goodness : 0.988559 Centerline is valid? [True, True] Translation: X:123.65, Y:85.75, Z:8.95 [[ 5.14865347e-01 -8.53058210e-01 -8.48844245e-02 1.23650665e+02] [ 8.43635743e-01 5.21776171e-01 -1.26603165e-01 8.57516044e+01] [ 1.52290539e-01 -6.42795216e-03 9.88314865e-01 8.95274131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060371743 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:123.67, Y:85.77, Z:8.96 [[ 5.11263351e-01 -8.53478816e-01 -1.00914302e-01 1.23672336e+02] [ 8.45183346e-01 5.20600563e-01 -1.20996550e-01 8.57688552e+01] [ 1.55804035e-01 -2.34299854e-02 9.87510070e-01 8.95716442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.090371743 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:123.69, Y:85.80, Z:8.97 [[ 5.06507563e-01 -8.57610780e-01 -8.91842957e-02 1.23687267e+02] [ 8.47998309e-01 5.14190994e-01 -1.28477587e-01 8.57953223e+01] [ 1.56041526e-01 -1.05532624e-02 9.87694118e-01 8.97065924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120371743 meters Centerline goodness : 0.988284 Centerline is valid? [True, True] Translation: X:123.70, Y:85.81, Z:8.98 [[ 5.04179761e-01 -8.57700150e-01 -1.00763194e-01 1.23703483e+02] [ 8.48410918e-01 5.13715880e-01 -1.27651511e-01 8.58146180e+01] [ 1.61250373e-01 -2.11292857e-02 9.86687322e-01 8.97670514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.150371743 meters Centerline goodness : 0.988954 Centerline is valid? [True, True] Translation: X:123.71, Y:85.84, Z:8.99 [[ 5.03305018e-01 -8.60153326e-01 -8.25851963e-02 1.23714802e+02] [ 8.49248833e-01 5.10033578e-01 -1.36536329e-01 8.58408511e+01] [ 1.59563400e-01 -1.41596220e-03 9.87186667e-01 8.98827599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180371743 meters Centerline goodness : 0.989246 Centerline is valid? [True, True] Translation: X:123.74, Y:85.86, Z:8.99 [[ 5.00723089e-01 -8.61385588e-01 -8.53888567e-02 1.23736925e+02] [ 8.51019685e-01 5.07917486e-01 -1.33361622e-01 8.58625723e+01] [ 1.58246273e-01 -5.89035443e-03 9.87382105e-01 8.98963512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.210371743 meters Centerline goodness : 0.988925 Centerline is valid? [True, True] Translation: X:123.75, Y:85.88, Z:8.99 [[ 4.99367730e-01 -8.61879217e-01 -8.82954396e-02 1.23752343e+02] [ 8.51609160e-01 5.07037194e-01 -1.32947823e-01 8.58817545e+01] [ 1.59354038e-01 -8.80335244e-03 9.87182248e-01 8.99341405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240371743 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:123.77, Y:85.90, Z:9.00 [[ 4.95914460e-01 -8.63621116e-01 -9.07051053e-02 1.23771916e+02] [ 8.53386424e-01 5.04011991e-01 -1.33054593e-01 8.59033094e+01] [ 1.60625217e-01 -1.14228087e-02 9.86949370e-01 8.99795882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.270371743 meters Centerline goodness : 0.987359 Centerline is valid? [True, True] Translation: X:123.78, Y:85.93, Z:9.01 [[ 4.95233571e-01 -8.65730751e-01 -7.24843283e-02 1.23779852e+02] [ 8.52851989e-01 5.00363676e-01 -1.49263780e-01 8.59265973e+01] [ 1.65490769e-01 1.21020311e-02 9.86137083e-01 9.01206600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300371743 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:123.81, Y:85.95, Z:9.00 [[ 4.93989094e-01 -8.63152314e-01 -1.04608115e-01 1.23810115e+02] [ 8.54462794e-01 5.04193082e-01 -1.25230468e-01 8.59463619e+01] [ 1.60835656e-01 -2.75212572e-02 9.86597422e-01 9.00093542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.330371743 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:123.82, Y:85.97, Z:9.01 [[ 4.93237134e-01 -8.65457490e-01 -8.77522847e-02 1.23817476e+02] [ 8.54801831e-01 5.00916695e-01 -1.35632938e-01 8.59728517e+01] [ 1.61341127e-01 -8.11161197e-03 9.86865362e-01 9.01371706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36037174300003 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:123.84, Y:86.00, Z:9.02 [[ 4.91372759e-01 -8.67059108e-01 -8.22272164e-02 1.23835285e+02] [ 8.56071999e-01 4.98197590e-01 -1.37622289e-01 8.59971776e+01] [ 1.60292061e-01 -2.76857338e-03 9.87065748e-01 9.01923381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.390371743 meters Centerline goodness : 0.987780 Centerline is valid? [True, True] Translation: X:123.85, Y:86.02, Z:9.02 [[ 4.91890587e-01 -8.66456908e-01 -8.54170726e-02 1.23851702e+02] [ 8.55790094e-01 4.99211414e-01 -1.35688167e-01 8.60174934e+01] [ 1.60209127e-01 -6.35535244e-03 9.87062635e-01 9.02082147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42037174300003 meters Centerline goodness : 0.987691 Centerline is valid? [True, True] Translation: X:123.87, Y:86.04, Z:9.03 [[ 4.91125893e-01 -8.67163497e-01 -8.26004069e-02 1.23869828e+02] [ 8.56339371e-01 4.98010334e-01 -1.36633044e-01 8.60403691e+01] [ 1.59619045e-01 -3.62995456e-03 9.87172013e-01 9.02628290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.450371743 meters Centerline goodness : 0.987419 Centerline is valid? [True, True] Translation: X:123.89, Y:86.06, Z:9.03 [[ 4.89805971e-01 -8.66977120e-01 -9.18737439e-02 1.23888170e+02] [ 8.57162255e-01 4.98133084e-01 -1.30905686e-01 8.60622335e+01] [ 1.59257586e-01 -1.46323192e-02 9.87128622e-01 9.02847080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.480371743 meters Centerline goodness : 0.987303 Centerline is valid? [True, True] Translation: X:123.90, Y:86.09, Z:9.04 [[ 4.89958334e-01 -8.67949465e-01 -8.12684301e-02 1.23899964e+02] [ 8.57337309e-01 4.96641173e-01 -1.35352445e-01 8.60865203e+01] [ 1.57840330e-01 -3.35739875e-03 9.87458940e-01 9.03641355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.510371743 meters Centerline goodness : 0.986733 Centerline is valid? [True, True] Translation: X:123.92, Y:86.11, Z:9.04 [[ 4.89802809e-01 -8.67649297e-01 -8.53106433e-02 1.23917868e+02] [ 8.57267841e-01 4.97120345e-01 -1.34026903e-01 8.61085974e+01] [ 1.58698005e-01 -7.48731740e-03 9.87298781e-01 9.03970647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.540371743 meters Centerline goodness : 0.987528 Centerline is valid? [True, True] Translation: X:123.94, Y:86.13, Z:9.04 [[ 4.90181215e-01 -8.67702883e-01 -8.25474672e-02 1.23936249e+02] [ 8.57169493e-01 4.97061490e-01 -1.34871550e-01 8.61337318e+01] [ 1.58059600e-01 -4.64567057e-03 9.87418645e-01 9.04462052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.570371743 meters Centerline goodness : 0.986383 Centerline is valid? [True, True] Translation: X:123.95, Y:86.15, Z:9.04 [[ 4.90366922e-01 -8.66210657e-01 -9.60176005e-02 1.23951817e+02] [ 8.56829626e-01 4.99309269e-01 -1.28581673e-01 8.61513059e+01] [ 1.59321293e-01 -1.92185255e-02 9.87039702e-01 9.04342081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.600371743 meters Centerline goodness : 0.987514 Centerline is valid? [True, True] Translation: X:123.96, Y:86.18, Z:9.05 [[ 4.89959132e-01 -8.66939730e-01 -9.14087128e-02 1.23964277e+02] [ 8.56730754e-01 4.98243255e-01 -1.33289437e-01 8.61765833e+01] [ 1.61097683e-01 -1.30062783e-02 9.86852762e-01 9.05142741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630371743 meters Centerline goodness : 0.984586 Centerline is valid? [True, True] Translation: X:123.98, Y:86.19, Z:9.06 [[ 4.92783468e-01 -8.65230663e-01 -9.24140328e-02 1.23976897e+02] [ 8.54946775e-01 5.01201602e-01 -1.33652410e-01 8.61933326e+01] [ 1.61958224e-01 -1.31473814e-02 9.86710028e-01 9.05953156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.660371743 meters Centerline goodness : 0.985934 Centerline is valid? [True, True] Translation: X:123.99, Y:86.22, Z:9.07 [[ 4.93747512e-01 -8.65506850e-01 -8.43284520e-02 1.23986658e+02] [ 8.54234180e-01 5.00886409e-01 -1.39272295e-01 8.62171477e+01] [ 1.62780101e-01 -3.27089706e-03 9.86656952e-01 9.06908921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690371743 meters Centerline goodness : 0.984519 Centerline is valid? [True, True] Translation: X:124.00, Y:86.24, Z:9.07 [[ 4.97034983e-01 -8.63741484e-01 -8.31076070e-02 1.24003068e+02] [ 8.52763730e-01 5.03928300e-01 -1.37296358e-01 8.62399641e+01] [ 1.60468835e-01 -2.63005992e-03 9.87037403e-01 9.07151644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.720371743 meters Centerline goodness : 0.983649 Centerline is valid? [True, True] Translation: X:124.02, Y:86.26, Z:9.08 [[ 5.01046696e-01 -8.61384027e-01 -8.34851249e-02 1.24019472e+02] [ 8.50256972e-01 5.07950989e-01 -1.38017659e-01 8.62614512e+01] [ 1.61292558e-01 -1.83051759e-03 9.86904940e-01 9.07682897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750371743 meters Centerline goodness : 0.986300 Centerline is valid? [True, True] Translation: X:124.04, Y:86.29, Z:9.08 [[ 5.02079981e-01 -8.60682880e-01 -8.45024965e-02 1.24036357e+02] [ 8.49411766e-01 5.09137229e-01 -1.38848599e-01 8.62877248e+01] [ 1.62527979e-01 -2.06431305e-03 9.86701776e-01 9.08243766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.780371743 meters Centerline goodness : 0.984066 Centerline is valid? [True, True] Translation: X:124.03, Y:86.31, Z:9.08 [[ 4.97465848e-01 -8.64825543e-01 -6.78565363e-02 1.24034724e+02] [ 8.52928579e-01 5.01889406e-01 -1.43596179e-01 8.63087398e+01] [ 1.58242120e-01 1.35574157e-02 9.87307261e-01 9.08430887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810371743 meters Centerline goodness : 0.988145 Centerline is valid? [True, True] Translation: X:124.08, Y:86.33, Z:9.08 [[ 5.01604823e-01 -8.58786764e-01 -1.04297153e-01 1.24075992e+02] [ 8.49973928e-01 5.11685460e-01 -1.25388643e-01 8.63297714e+01] [ 1.61049443e-01 -2.57543132e-02 9.86610253e-01 9.07817607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.840371743 meters Centerline goodness : 0.984552 Centerline is valid? [True, True] Translation: X:124.07, Y:86.35, Z:9.09 [[ 4.95852292e-01 -8.65788938e-01 -6.73796655e-02 1.24067810e+02] [ 8.53674545e-01 5.00202118e-01 -1.45043485e-01 8.63508109e+01] [ 1.59280496e-01 1.43998390e-02 9.87128344e-01 9.09468991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870371743 meters Centerline goodness : 0.987470 Centerline is valid? [True, True] Translation: X:124.10, Y:86.37, Z:9.09 [[ 4.99732313e-01 -8.60799254e-01 -9.63963702e-02 1.24104156e+02] [ 8.50702857e-01 5.08698143e-01 -1.32404110e-01 8.63718696e+01] [ 1.63010014e-01 -1.58380555e-02 9.86497284e-01 9.09321527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.900371743 meters Centerline goodness : 0.984654 Centerline is valid? [True, True] Translation: X:124.10, Y:86.40, Z:9.11 [[ 4.93332025e-01 -8.67799214e-01 -5.95654109e-02 1.24097424e+02] [ 8.55480647e-01 4.96440308e-01 -1.47308805e-01 8.63969210e+01] [ 1.57405136e-01 2.17150946e-02 9.87295335e-01 9.10784269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930371743 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:124.13, Y:86.42, Z:9.12 [[ 4.85449397e-01 -8.68510546e-01 -1.00141478e-01 1.24128461e+02] [ 8.55411438e-01 4.95514006e-01 -1.50788401e-01 8.64189500e+01] [ 1.80582821e-01 -1.24620273e-02 9.83480830e-01 9.11741867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.960371743 meters Centerline goodness : 0.988051 Centerline is valid? [True, True] Translation: X:124.16, Y:86.43, Z:9.11 [[ 4.91018783e-01 -8.63134179e-01 -1.17898021e-01 1.24159346e+02] [ 8.55569431e-01 5.03281346e-01 -1.21279985e-01 8.64347541e+01] [ 1.64016775e-01 -4.13191925e-02 9.85591813e-01 9.10728243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990371743 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:124.15, Y:86.47, Z:9.15 [[ 4.81140775e-01 -8.74458009e-01 -6.18606824e-02 1.24148528e+02] [ 8.57274873e-01 4.84088906e-01 -1.75321769e-01 8.64681586e+01] [ 1.83257595e-01 3.13228433e-02 9.82565791e-01 9.14520113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.020371743 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:124.18, Y:86.49, Z:9.14 [[ 4.79131275e-01 -8.72605822e-01 -9.48277367e-02 1.24177197e+02] [ 8.58482176e-01 4.88382821e-01 -1.56494643e-01 8.64852763e+01] [ 1.82870374e-01 -6.42644399e-03 9.83116029e-01 9.13516741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050371743 meters Centerline goodness : 0.984457 Centerline is valid? [True, True] Translation: X:124.19, Y:86.50, Z:9.12 [[ 4.81194954e-01 -8.73048388e-01 -7.89805568e-02 1.24191182e+02] [ 8.62266178e-01 4.87628289e-01 -1.36805297e-01 8.65002757e+01] [ 1.57950798e-01 -2.27224455e-03 9.87444369e-01 9.12406551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.080371743 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:124.21, Y:86.53, Z:9.15 [[ 4.75810270e-01 -8.74603650e-01 -9.31291637e-02 1.24210412e+02] [ 8.60043034e-01 4.84818193e-01 -1.58988362e-01 8.65274666e+01] [ 1.84202515e-01 -4.44679278e-03 9.82878253e-01 9.14559356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11037174300003 meters Centerline goodness : 0.985618 Centerline is valid? [True, True] Translation: X:124.23, Y:86.54, Z:9.12 [[ 4.78880222e-01 -8.71140947e-01 -1.08568794e-01 1.24231630e+02] [ 8.63010584e-01 4.89820673e-01 -1.23646431e-01 8.65387046e+01] [ 1.60892709e-01 -3.44841880e-02 9.86369290e-01 9.12367405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.140371743 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:124.23, Y:86.57, Z:9.17 [[ 4.76364312e-01 -8.76781502e-01 -6.58121549e-02 1.24233489e+02] [ 8.59224635e-01 4.80093171e-01 -1.76758517e-01 8.65744040e+01] [ 1.86574564e-01 2.76540245e-02 9.82051520e-01 9.16788704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17037174300003 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:124.26, Y:86.59, Z:9.16 [[ 4.77013271e-01 -8.73647591e-01 -9.59073817e-02 1.24260679e+02] [ 8.59116540e-01 4.86513955e-01 -1.58817322e-01 8.65919052e+01] [ 1.85410650e-01 -6.63764784e-03 9.82638709e-01 9.15969504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.200371743 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:124.28, Y:86.61, Z:9.16 [[ 4.78793548e-01 -8.72708574e-01 -9.55849537e-02 1.24277142e+02] [ 8.58244239e-01 4.88201901e-01 -1.58353178e-01 8.66143336e+01] [ 1.84860932e-01 -6.21675600e-03 9.82745027e-01 9.16397949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.230371743 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:124.30, Y:86.62, Z:9.16 [[ 4.81672381e-01 -8.66435066e-01 -1.31461000e-01 1.24300541e+02] [ 8.58415022e-01 4.96669678e-01 -1.28229800e-01 8.66239564e+01] [ 1.76395488e-01 -5.10833441e-02 9.82992942e-01 9.16216456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.260371743 meters Centerline goodness : 0.986345 Centerline is valid? [True, True] Translation: X:124.31, Y:86.67, Z:9.19 [[ 4.98297310e-01 -8.66062306e-01 -4.04459282e-02 1.24311741e+02] [ 8.50889278e-01 4.97454981e-01 -1.68896352e-01 8.66668804e+01] [ 1.66394793e-01 4.97455914e-02 9.84803609e-01 9.18718362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.290371743 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:124.34, Y:86.67, Z:9.17 [[ 4.87606130e-01 -8.61874624e-01 -1.39328373e-01 1.24339978e+02] [ 8.55167091e-01 5.03636384e-01 -1.22636209e-01 8.66690645e+01] [ 1.75867874e-01 -5.93508718e-02 9.82623002e-01 9.16944454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.320371743 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:124.35, Y:86.71, Z:9.20 [[ 5.01948392e-01 -8.63910463e-01 -4.13100962e-02 1.24345146e+02] [ 8.48810421e-01 5.01219170e-01 -1.68226673e-01 8.67130462e+01] [ 1.66038195e-01 4.93766677e-02 9.84882360e-01 9.19603034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.350371743 meters Centerline goodness : 0.986823 Centerline is valid? [True, True] Translation: X:124.38, Y:86.73, Z:9.18 [[ 5.04398040e-01 -8.59615325e-01 -8.15114115e-02 1.24378258e+02] [ 8.47847537e-01 5.10936137e-01 -1.41770297e-01 8.67304673e+01] [ 1.63515046e-01 2.39941061e-03 9.86537923e-01 9.18236520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380371743 meters Centerline goodness : 0.985175 Centerline is valid? [True, True] Translation: X:124.40, Y:86.74, Z:9.19 [[ 5.04067466e-01 -8.57613998e-01 -1.02050090e-01 1.24400719e+02] [ 8.47317485e-01 5.13942851e-01 -1.33850012e-01 8.67445729e+01] [ 1.67239558e-01 -1.89993890e-02 9.85733206e-01 9.18563482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.410371743 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:124.41, Y:86.77, Z:9.19 [[ 5.04855536e-01 -8.59274342e-01 -8.22708570e-02 1.24412266e+02] [ 8.47099089e-01 5.11505655e-01 -1.44170381e-01 8.67732940e+01] [ 1.65963918e-01 3.09364704e-03 9.86126973e-01 9.19497987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440371743 meters Centerline goodness : 0.986038 Centerline is valid? [True, True] Translation: X:124.43, Y:86.79, Z:9.20 [[ 5.03329987e-01 -8.58871140e-01 -9.48645814e-02 1.24433094e+02] [ 8.47507107e-01 5.12091674e-01 -1.39620274e-01 8.67919243e+01] [ 1.68495187e-01 -1.01233360e-02 9.85650491e-01 9.19830460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.470371743 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:124.45, Y:86.82, Z:9.20 [[ 5.03731631e-01 -8.59506156e-01 -8.66233907e-02 1.24448237e+02] [ 8.47647780e-01 5.11122401e-01 -1.42292416e-01 8.68172873e+01] [ 1.66576363e-01 -1.74893397e-03 9.86027006e-01 9.20398683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500371743 meters Centerline goodness : 0.987399 Centerline is valid? [True, True] Translation: X:124.47, Y:86.84, Z:9.21 [[ 5.03308933e-01 -8.59883315e-01 -8.53276167e-02 1.24465069e+02] [ 8.47890099e-01 5.10490532e-01 -1.43114628e-01 8.68408362e+01] [ 1.66620822e-01 -3.17570606e-04 9.86020994e-01 9.20908622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.530371743 meters Centerline goodness : 0.985435 Centerline is valid? [True, True] Translation: X:124.49, Y:86.86, Z:9.21 [[ 5.01391289e-01 -8.59520437e-01 -9.91533848e-02 1.24486503e+02] [ 8.48654840e-01 5.10869195e-01 -1.37104441e-01 8.68566132e+01] [ 1.68498479e-01 -1.54040278e-02 9.85581543e-01 9.21128796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560371743 meters Centerline goodness : 0.985456 Centerline is valid? [True, True] Translation: X:124.50, Y:86.88, Z:9.22 [[ 5.00229422e-01 -8.60993065e-01 -9.19862392e-02 1.24499836e+02] [ 8.49289753e-01 5.08564899e-01 -1.41663893e-01 8.68790246e+01] [ 1.68752602e-01 -7.25852301e-03 9.85631713e-01 9.21936587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.590371743 meters Centerline goodness : 0.985603 Centerline is valid? [True, True] Translation: X:124.52, Y:86.90, Z:9.23 [[ 4.97958736e-01 -8.61068779e-01 -1.02944909e-01 1.24516743e+02] [ 8.49941455e-01 5.08162930e-01 -1.39176005e-01 8.68972022e+01] [ 1.72152899e-01 -1.81932377e-02 9.84902221e-01 9.22549469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620371743 meters Centerline goodness : 0.984070 Centerline is valid? [True, True] Translation: X:124.53, Y:86.92, Z:9.23 [[ 4.95072308e-01 -8.64310311e-01 -8.87192051e-02 1.24531883e+02] [ 8.51684530e-01 5.02951805e-01 -1.47217336e-01 8.69214647e+01] [ 1.71862946e-01 -2.67754823e-03 9.85117231e-01 9.23446815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.650371743 meters Centerline goodness : 0.983382 Centerline is valid? [True, True] Translation: X:124.55, Y:86.94, Z:9.24 [[ 4.94210574e-01 -8.65647974e-01 -8.00593135e-02 1.24546412e+02] [ 8.52596513e-01 5.00619489e-01 -1.49864316e-01 8.69447850e+01] [ 1.69808994e-01 5.80623791e-03 9.85459889e-01 9.23818888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680371743 meters Centerline goodness : 0.982662 Centerline is valid? [True, True] Translation: X:124.57, Y:86.96, Z:9.24 [[ 4.90898363e-01 -8.66680715e-01 -8.87881534e-02 1.24569343e+02] [ 8.54624086e-01 4.98836999e-01 -1.44150336e-01 8.69647089e+01] [ 1.69223132e-01 -5.11733054e-03 9.85564480e-01 9.23921781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.710371743 meters Centerline goodness : 0.983327 Centerline is valid? [True, True] Translation: X:124.59, Y:86.98, Z:9.24 [[ 4.87558338e-01 -8.67445767e-01 -9.91196663e-02 1.24587635e+02] [ 8.56190706e-01 4.97258634e-01 -1.40254507e-01 8.69846142e+01] [ 1.70951288e-01 -1.64830828e-02 9.85141597e-01 9.24382661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740371743 meters Centerline goodness : 0.982479 Centerline is valid? [True, True] Translation: X:124.60, Y:87.01, Z:9.25 [[ 4.85859050e-01 -8.69480810e-01 -8.91297074e-02 1.24599846e+02] [ 8.56952198e-01 4.93942567e-01 -1.47151863e-01 8.70075169e+01] [ 1.71970677e-01 -4.88483456e-03 9.85089958e-01 9.25196826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.770371743 meters Centerline goodness : 0.981765 Centerline is valid? [True, True] Translation: X:124.61, Y:87.03, Z:9.25 [[ 4.83898559e-01 -8.72518387e-01 -6.74822151e-02 1.24614828e+02] [ 8.58998872e-01 4.88302619e-01 -1.53887913e-01 8.70345544e+01] [ 1.67221776e-01 1.64989929e-02 9.85781244e-01 9.25444738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800371743 meters Centerline goodness : 0.982379 Centerline is valid? [True, True] Translation: X:124.64, Y:87.05, Z:9.25 [[ 4.80734707e-01 -8.72279762e-01 -8.95664982e-02 1.24638280e+02] [ 8.60897982e-01 4.88916136e-01 -1.40768163e-01 8.70529970e+01] [ 1.66579726e-01 -9.43547597e-03 9.85982843e-01 9.25337192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.830371743 meters Centerline goodness : 0.980507 Centerline is valid? [True, True] Translation: X:124.65, Y:87.08, Z:9.26 [[ 4.77839287e-01 -8.74910240e-01 -7.87507931e-02 1.24653857e+02] [ 8.62998304e-01 4.84284468e-01 -1.43883573e-01 8.70780823e+01] [ 1.64022997e-01 7.91422881e-04 9.86456198e-01 9.25798161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86037174300003 meters Centerline goodness : 0.980109 Centerline is valid? [True, True] Translation: X:124.67, Y:87.10, Z:9.26 [[ 4.76357017e-01 -8.75220705e-01 -8.40994047e-02 1.24672072e+02] [ 8.64025413e-01 4.83684971e-01 -1.39674392e-01 8.71007124e+01] [ 1.62923538e-01 -6.12914613e-03 9.86619660e-01 9.25997093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.890371743 meters Centerline goodness : 0.980165 Centerline is valid? [True, True] Translation: X:124.69, Y:87.12, Z:9.26 [[ 4.73809536e-01 -8.75743854e-01 -9.26133114e-02 1.24689320e+02] [ 8.65264013e-01 4.82520566e-01 -1.35985630e-01 8.71222607e+01] [ 1.63776407e-01 -1.57036772e-02 9.86372487e-01 9.26490847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92037174300003 meters Centerline goodness : 0.980725 Centerline is valid? [True, True] Translation: X:124.70, Y:87.14, Z:9.27 [[ 4.70272184e-01 -8.77867979e-01 -9.05090323e-02 1.24703984e+02] [ 8.67059711e-01 4.78710162e-01 -1.38000140e-01 8.71439702e+01] [ 1.64473498e-01 -1.35791080e-02 9.86288029e-01 9.27165532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.950371743 meters Centerline goodness : 0.980425 Centerline is valid? [True, True] Translation: X:124.72, Y:87.17, Z:9.28 [[ 4.69411510e-01 -8.79174266e-01 -8.18867811e-02 1.24716167e+02] [ 8.67666785e-01 4.76479468e-01 -1.41850862e-01 8.71676422e+01] [ 1.63728997e-01 -4.46401298e-03 9.86495255e-01 9.27743874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.980371743 meters Centerline goodness : 0.981080 Centerline is valid? [True, True] Translation: X:124.74, Y:87.19, Z:9.28 [[ 4.66654519e-01 -8.78653304e-01 -1.01004610e-01 1.24735843e+02] [ 8.68769782e-01 4.76789712e-01 -1.33830627e-01 8.71874353e+01] [ 1.65748682e-01 -2.52970862e-02 9.85843513e-01 9.28233044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.010371743 meters Centerline goodness : 0.980917 Centerline is valid? [True, True] Translation: X:124.75, Y:87.21, Z:9.29 [[ 4.63975335e-01 -8.81303402e-01 -8.96169739e-02 1.24748002e+02] [ 8.70231094e-01 4.72369544e-01 -1.39874434e-01 8.72130035e+01] [ 1.65604143e-01 -1.30891901e-02 9.86105441e-01 9.29082117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.040371743 meters Centerline goodness : 0.979706 Centerline is valid? [True, True] Translation: X:124.76, Y:87.24, Z:9.30 [[ 4.63553329e-01 -8.82632099e-01 -7.79672355e-02 1.24759026e+02] [ 8.70363870e-01 4.70064426e-01 -1.46649821e-01 8.72369902e+01] [ 1.66087463e-01 1.20147972e-04 9.86111018e-01 9.29873062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.070371743 meters Centerline goodness : 0.981073 Centerline is valid? [True, True] Translation: X:124.78, Y:87.26, Z:9.30 [[ 4.62238546e-01 -8.82601518e-01 -8.57326439e-02 1.24776600e+02] [ 8.71080123e-01 4.70038578e-01 -1.42418940e-01 8.72603284e+01] [ 1.65996823e-01 -8.84847825e-03 9.86086588e-01 9.30055092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.100371743 meters Centerline goodness : 0.981810 Centerline is valid? [True, True] Translation: X:124.79, Y:87.28, Z:9.30 [[ 4.60614716e-01 -8.82843415e-01 -9.17692078e-02 1.24794595e+02] [ 8.72023290e-01 4.69390691e-01 -1.38736298e-01 8.72841131e+01] [ 1.65558039e-01 -1.61209059e-02 9.86068280e-01 9.30225588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130371743 meters Centerline goodness : 0.981001 Centerline is valid? [True, True] Translation: X:124.80, Y:87.31, Z:9.31 [[ 4.60480512e-01 -8.84290770e-01 -7.73791460e-02 1.24803493e+02] [ 8.72041769e-01 4.66936645e-01 -1.46674205e-01 8.73089314e+01] [ 1.65833804e-01 6.27656053e-05 9.86153713e-01 9.31109903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.160371743 meters Centerline goodness : 0.981571 Centerline is valid? [True, True] Translation: X:124.82, Y:87.33, Z:9.31 [[ 4.58660877e-01 -8.84271356e-01 -8.77175527e-02 1.24822139e+02] [ 8.73392147e-01 4.66794888e-01 -1.38883726e-01 8.73313550e+01] [ 1.63757006e-01 -1.29112900e-02 9.86416211e-01 9.31154264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190371743 meters Centerline goodness : 0.979144 Centerline is valid? [True, True] Translation: X:124.83, Y:87.36, Z:9.32 [[ 4.59674943e-01 -8.85932492e-01 -6.18269106e-02 1.24829810e+02] [ 8.73445068e-01 4.63588896e-01 -1.48926318e-01 8.73592696e+01] [ 1.60600933e-01 1.44552864e-02 9.86913565e-01 9.31667204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.220371743 meters Centerline goodness : 0.979144 Centerline is valid? [True, True] Translation: X:124.85, Y:87.38, Z:9.32 [[ 4.59447773e-01 -8.84276839e-01 -8.34398899e-02 1.24851667e+02] [ 8.73738705e-01 4.66851755e-01 -1.36492176e-01 8.73800019e+01] [ 1.59650929e-01 -1.01936352e-02 9.87120900e-01 9.31510800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250371743 meters Centerline goodness : 0.978889 Centerline is valid? [True, True] Translation: X:124.87, Y:87.40, Z:9.32 [[ 4.58254081e-01 -8.84658189e-01 -8.59248905e-02 1.24866131e+02] [ 8.74181068e-01 4.66068854e-01 -1.36335192e-01 8.74037052e+01] [ 1.60656960e-01 -1.26377543e-02 9.86929394e-01 9.32026178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.280371743 meters Centerline goodness : 0.980277 Centerline is valid? [True, True] Translation: X:124.88, Y:87.43, Z:9.33 [[ 4.56466621e-01 -8.85649324e-01 -8.52261599e-02 1.24877473e+02] [ 8.74753695e-01 4.64221280e-01 -1.38940909e-01 8.74271215e+01] [ 1.62616719e-01 -1.11300113e-02 9.86626538e-01 9.32591005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310371743 meters Centerline goodness : 0.979738 Centerline is valid? [True, True] Translation: X:124.89, Y:87.46, Z:9.33 [[ 4.56827340e-01 -8.86689545e-01 -7.13472655e-02 1.24890299e+02] [ 8.75184487e-01 4.62357915e-01 -1.42398283e-01 8.74563864e+01] [ 1.59251042e-01 2.60940898e-03 9.87234672e-01 9.32935602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.340371743 meters Centerline goodness : 0.981046 Centerline is valid? [True, True] Translation: X:124.91, Y:87.48, Z:9.33 [[ 4.54395848e-01 -8.85899380e-01 -9.33097129e-02 1.24907866e+02] [ 8.76109390e-01 4.63388615e-01 -1.33053855e-01 8.74785263e+01] [ 1.61110986e-01 -2.12903965e-02 9.86706628e-01 9.33069532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370371743 meters Centerline goodness : 0.980580 Centerline is valid? [True, True] Translation: X:124.92, Y:87.50, Z:9.34 [[ 4.53115289e-01 -8.86960557e-01 -8.93728481e-02 1.24917717e+02] [ 8.76395001e-01 4.61566149e-01 -1.37435410e-01 8.75029539e+01] [ 1.63151269e-01 -1.60518315e-02 9.86470477e-01 9.33854719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.400371743 meters Centerline goodness : 0.981409 Centerline is valid? [True, True] Translation: X:124.93, Y:87.53, Z:9.35 [[ 4.53199119e-01 -8.88058481e-01 -7.72184698e-02 1.24927358e+02] [ 8.76492802e-01 4.59721196e-01 -1.42887335e-01 8.75302595e+01] [ 1.62391277e-01 -2.92501875e-03 9.86722108e-01 9.34607276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430371743 meters Centerline goodness : 0.980594 Centerline is valid? [True, True] Translation: X:124.94, Y:87.55, Z:9.35 [[ 4.51588865e-01 -8.88081632e-01 -8.58982608e-02 1.24941470e+02] [ 8.77299092e-01 4.59507912e-01 -1.38559671e-01 8.75540070e+01] [ 1.62523229e-01 -1.27864616e-02 9.86621866e-01 9.35025137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.460371743 meters Centerline goodness : 0.980882 Centerline is valid? [True, True] Translation: X:124.95, Y:87.58, Z:9.36 [[ 4.50774090e-01 -8.88446090e-01 -8.64075556e-02 1.24954076e+02] [ 8.77673367e-01 4.58786243e-01 -1.38580821e-01 8.75785168e+01] [ 1.62764186e-01 -1.33689669e-02 9.86574422e-01 9.35595369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490371743 meters Centerline goodness : 0.980924 Centerline is valid? [True, True] Translation: X:124.97, Y:87.60, Z:9.36 [[ 4.47769779e-01 -8.87743706e-01 -1.06833224e-01 1.24970144e+02] [ 8.78745601e-01 4.58985660e-01 -1.30913457e-01 8.75989327e+01] [ 1.65252515e-01 -3.52601353e-02 9.85620784e-01 9.36094077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.520371743 meters Centerline goodness : 0.980497 Centerline is valid? [True, True] Translation: X:124.97, Y:87.63, Z:9.37 [[ 4.47179478e-01 -8.90854416e-01 -8.00557590e-02 1.24974176e+02] [ 8.78977043e-01 4.54255781e-01 -1.45089779e-01 8.76286788e+01] [ 1.65619661e-01 -5.48600268e-03 9.86174443e-01 9.37381330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550371743 meters Centerline goodness : 0.981453 Centerline is valid? [True, True] Translation: X:124.98, Y:87.65, Z:9.37 [[ 4.41395517e-01 -8.92300945e-01 -9.47049205e-02 1.24981165e+02] [ 8.81855904e-01 4.50874677e-01 -1.37993442e-01 8.76464541e+01] [ 1.65831729e-01 -2.26064065e-02 9.85894917e-01 9.37418713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.580371743 meters Centerline goodness : 0.982727 Centerline is valid? [True, True] Translation: X:124.99, Y:87.67, Z:9.38 [[ 4.41921105e-01 -8.93875239e-01 -7.54506016e-02 1.24990618e+02] [ 8.82000045e-01 4.48309572e-01 -1.45239280e-01 8.76745042e+01] [ 1.63651023e-01 -2.36313086e-03 9.86515463e-01 9.38148557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61037174300003 meters Centerline goodness : 0.981570 Centerline is valid? [True, True] Translation: X:125.00, Y:87.70, Z:9.38 [[ 4.39846680e-01 -8.94680385e-01 -7.79865778e-02 1.25004934e+02] [ 8.82796309e-01 4.46680160e-01 -1.45421842e-01 8.76998483e+01] [ 1.64941127e-01 -4.88294851e-03 9.86291327e-01 9.38493562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.640371743 meters Centerline goodness : 0.982003 Centerline is valid? [True, True] Translation: X:125.02, Y:87.73, Z:9.39 [[ 4.36773115e-01 -8.96515414e-01 -7.40902016e-02 1.25015752e+02] [ 8.84268486e-01 4.43011386e-01 -1.47682624e-01 8.77256672e+01] [ 1.65222552e-01 -1.01183067e-03 9.86255791e-01 9.39035285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67037174300003 meters Centerline goodness : 0.979386 Centerline is valid? [True, True] Translation: X:125.03, Y:87.75, Z:9.40 [[ 4.39463276e-01 -8.95072907e-01 -7.56076747e-02 1.25034307e+02] [ 8.82485826e-01 4.45918735e-01 -1.49583581e-01 8.77499821e+01] [ 1.67603089e-01 -9.86210787e-04 9.85854062e-01 9.39571181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.700371743 meters Centerline goodness : 0.982024 Centerline is valid? [True, True] Translation: X:125.05, Y:87.77, Z:9.39 [[ 4.33074216e-01 -8.95574043e-01 -1.01950262e-01 1.25050074e+02] [ 8.86695709e-01 4.43613751e-01 -1.30297961e-01 8.77689620e+01] [ 1.61918010e-01 -3.39701721e-02 9.86219339e-01 9.39083085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.730371743 meters Centerline goodness : 0.982169 Centerline is valid? [True, True] Translation: X:125.03, Y:87.80, Z:9.41 [[ 4.21670687e-01 -9.05391126e-01 -4.96058471e-02 1.25026865e+02] [ 8.90909718e-01 4.23865155e-01 -1.63150864e-01 8.77970599e+01] [ 1.68741534e-01 2.46016056e-02 9.85353264e-01 9.41112959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.760371743 meters Centerline goodness : 0.982214 Centerline is valid? [True, True] Translation: X:125.08, Y:87.82, Z:9.40 [[ 4.29708092e-01 -8.96620446e-01 -1.06877185e-01 1.25075312e+02] [ 8.88204670e-01 4.41026958e-01 -1.28793193e-01 8.78168294e+01] [ 1.62614330e-01 -3.95853374e-02 9.85895319e-01 9.39825256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.790371743 meters Centerline goodness : 0.981315 Centerline is valid? [True, True] Translation: X:125.05, Y:87.84, Z:9.42 [[ 4.23382705e-01 -9.04339561e-01 -5.40096635e-02 1.25051154e+02] [ 8.90527192e-01 4.26388301e-01 -1.58601189e-01 8.78442974e+01] [ 1.66458418e-01 1.90519263e-02 9.85864402e-01 9.41794228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.820371743 meters Centerline goodness : 0.980374 Centerline is valid? [True, True] Translation: X:125.09, Y:87.87, Z:9.41 [[ 4.30759887e-01 -8.97283671e-01 -9.65812219e-02 1.25092043e+02] [ 8.87424837e-01 4.40605375e-01 -1.35440252e-01 8.78669780e+01] [ 1.64082532e-01 -2.73663474e-02 9.86066938e-01 9.41451147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.850371743 meters Centerline goodness : 0.980914 Centerline is valid? [True, True] Translation: X:125.09, Y:87.90, Z:9.43 [[ 4.35189281e-01 -8.96878773e-01 -7.88590885e-02 1.25093641e+02] [ 8.84939554e-01 4.42232254e-01 -1.45988423e-01 8.78970298e+01] [ 1.65807950e-01 -6.25292967e-03 9.86138238e-01 9.42554488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880371743 meters Centerline goodness : 0.982894 Centerline is valid? [True, True] Translation: X:125.11, Y:87.92, Z:9.42 [[ 4.38010177e-01 -8.93682907e-01 -9.73547408e-02 1.25112286e+02] [ 8.84058807e-01 4.47854319e-01 -1.33665759e-01 8.79206652e+01] [ 1.63055546e-01 -2.75203529e-02 9.86232994e-01 9.42298503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.910371743 meters Centerline goodness : 0.983437 Centerline is valid? [True, True] Translation: X:125.12, Y:87.95, Z:9.44 [[ 4.40019426e-01 -8.94715111e-01 -7.66014022e-02 1.25115631e+02] [ 8.82014667e-01 4.46634899e-01 -1.50224478e-01 8.79503264e+01] [ 1.68620970e-01 -1.46187173e-03 9.85679883e-01 9.43540546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940371743 meters Centerline goodness : 0.987847 Centerline is valid? [True, True] Translation: X:125.11, Y:87.98, Z:9.45 [[ 4.37998043e-01 -8.96595944e-01 -6.53714519e-02 1.25114406e+02] [ 8.81362157e-01 4.42603599e-01 -1.65235596e-01 8.79848708e+01] [ 1.77083205e-01 1.47569438e-02 9.84085246e-01 9.44641028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.970371743 meters Centerline goodness : 0.982775 Centerline is valid? [True, True] Translation: X:125.15, Y:88.00, Z:9.43 [[ 4.51376676e-01 -8.86081093e-01 -1.05448532e-01 1.25147651e+02] [ 8.77560158e-01 4.62207464e-01 -1.27485017e-01 8.79953814e+01] [ 1.61701162e-01 -3.49936670e-02 9.86219133e-01 9.43443234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000371743 meters Centerline goodness : 0.982363 Centerline is valid? [True, True] Translation: X:125.15, Y:88.02, Z:9.45 [[ 4.53544886e-01 -8.86662454e-01 -9.01483671e-02 1.25151417e+02] [ 8.75145738e-01 4.62205915e-01 -1.43128019e-01 8.80239851e+01] [ 1.68573349e-01 -1.39779784e-02 9.85589997e-01 9.44680106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.030371743 meters Centerline goodness : 0.987115 Centerline is valid? [True, True] Translation: X:125.15, Y:88.06, Z:9.47 [[ 4.48154321e-01 -8.92301246e-01 -5.43708614e-02 1.25145309e+02] [ 8.75974165e-01 4.50464227e-01 -1.72485486e-01 8.80645855e+01] [ 1.78401142e-01 2.96726461e-02 9.83510329e-01 9.46566278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060371743 meters Centerline goodness : 0.981424 Centerline is valid? [True, True] Translation: X:125.18, Y:88.07, Z:9.45 [[ 4.60426955e-01 -8.81526263e-01 -1.04491467e-01 1.25183091e+02] [ 8.72888491e-01 4.71009654e-01 -1.27340443e-01 8.80733279e+01] [ 1.61470435e-01 -3.25784267e-02 9.86339670e-01 9.44871774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.090371743 meters Centerline goodness : 0.981488 Centerline is valid? [True, True] Translation: X:125.15, Y:88.10, Z:9.47 [[ 4.54052258e-01 -8.90319976e-01 -3.41597212e-02 1.25154574e+02] [ 8.75672814e-01 4.53001090e-01 -1.67293560e-01 8.81045673e+01] [ 1.64419190e-01 4.60472796e-02 9.85315167e-01 9.47327329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120371743 meters Centerline goodness : 0.982229 Centerline is valid? [True, True] Translation: X:125.21, Y:88.12, Z:9.45 [[ 4.60124583e-01 -8.79313953e-01 -1.22850887e-01 1.25211517e+02] [ 8.73364257e-01 4.73157846e-01 -1.15570444e-01 8.81206761e+01] [ 1.59750565e-01 -5.41167711e-02 9.85672934e-01 9.44943765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.150371743 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:125.19, Y:88.16, Z:9.48 [[ 4.50378958e-01 -8.91014180e-01 -5.70309128e-02 1.25193918e+02] [ 8.75320730e-01 4.53231969e-01 -1.68506388e-01 8.81645583e+01] [ 1.75989814e-01 2.59713913e-02 9.84049324e-01 9.48017156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180371743 meters Centerline goodness : 0.983325 Centerline is valid? [True, True] Translation: X:125.23, Y:88.18, Z:9.47 [[ 4.59563535e-01 -8.81707501e-01 -1.06739122e-01 1.25228859e+02] [ 8.73255046e-01 4.70498193e-01 -1.26716518e-01 8.81758290e+01] [ 1.61947468e-01 -3.49761856e-02 9.86179337e-01 9.46521696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.210371743 meters Centerline goodness : 0.988963 Centerline is valid? [True, True] Translation: X:125.22, Y:88.22, Z:9.49 [[ 4.49235734e-01 -8.91380703e-01 -6.02303658e-02 1.25218835e+02] [ 8.75827850e-01 4.52701406e-01 -1.67293197e-01 8.82154792e+01] [ 1.76388299e-01 2.24026505e-02 9.84065694e-01 9.48887494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240371743 meters Centerline goodness : 0.984680 Centerline is valid? [True, True] Translation: X:125.26, Y:88.23, Z:9.47 [[ 4.55597305e-01 -8.82764590e-01 -1.14707340e-01 1.25258209e+02] [ 8.75497965e-01 4.67655744e-01 -1.21661075e-01 8.82255104e+01] [ 1.61041636e-01 -4.49975844e-02 9.85921300e-01 9.47129364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.270371743 meters Centerline goodness : 0.983365 Centerline is valid? [True, True] Translation: X:125.26, Y:88.26, Z:9.49 [[ 4.52883676e-01 -8.87499595e-01 -8.50931588e-02 1.25262764e+02] [ 8.77379471e-01 4.60601473e-01 -1.34356048e-01 8.82563343e+01] [ 1.58434972e-01 -1.38113297e-02 9.87272813e-01 9.48577549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300371743 meters Centerline goodness : 0.984306 Centerline is valid? [True, True] Translation: X:125.27, Y:88.28, Z:9.49 [[ 4.49774116e-01 -8.89674989e-01 -7.86235263e-02 1.25273540e+02] [ 8.79246335e-01 4.56525388e-01 -1.36053124e-01 8.82821244e+01] [ 1.56936698e-01 -7.93627380e-03 9.87576776e-01 9.49152322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.330371743 meters Centerline goodness : 0.983678 Centerline is valid? [True, True] Translation: X:125.27, Y:88.31, Z:9.50 [[ 4.39518008e-01 -8.96575057e-01 -5.45626920e-02 1.25267646e+02] [ 8.84673098e-01 4.42598512e-01 -1.46492547e-01 8.83057544e+01] [ 1.55490930e-01 1.61159668e-02 9.87705850e-01 9.49879850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36037174300003 meters Centerline goodness : 0.982757 Centerline is valid? [True, True] Translation: X:125.27, Y:88.33, Z:9.51 [[ 4.36426448e-01 -8.98708141e-01 -4.30770534e-02 1.25273908e+02] [ 8.85338690e-01 4.37480332e-01 -1.57436855e-01 8.83291461e+01] [ 1.60335147e-01 3.05718253e-02 9.86589076e-01 9.51139486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.390371743 meters Centerline goodness : 0.981931 Centerline is valid? [True, True] Translation: X:125.32, Y:88.35, Z:9.50 [[ 4.37391850e-01 -8.93256608e-01 -1.03831598e-01 1.25323232e+02] [ 8.85901766e-01 4.47842868e-01 -1.20891797e-01 8.83525377e+01] [ 1.54487637e-01 -3.91075097e-02 9.87220428e-01 9.49693763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42037174300003 meters Centerline goodness : 0.983280 Centerline is valid? [True, True] Translation: X:125.31, Y:88.38, Z:9.50 [[ 4.23848867e-01 -9.02977239e-01 -7.05991749e-02 1.25312369e+02] [ 8.92877182e-01 4.29647896e-01 -1.34807359e-01 8.83764611e+01] [ 1.52060764e-01 -5.89844572e-03 9.88353546e-01 9.50435637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.450371743 meters Centerline goodness : 0.988690 Centerline is valid? [True, True] Translation: X:125.33, Y:88.41, Z:9.53 [[ 4.19011155e-01 -9.05241792e-01 -7.04765929e-02 1.25327056e+02] [ 8.90646514e-01 4.24866180e-01 -1.61979987e-01 8.84064658e+01] [ 1.76574175e-01 5.10168980e-03 9.84274115e-01 9.52898074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.480371743 meters Centerline goodness : 0.983559 Centerline is valid? [True, True] Translation: X:125.35, Y:88.42, Z:9.51 [[ 4.13543717e-01 -9.06095517e-01 -8.92889014e-02 1.25345732e+02] [ 8.97958328e-01 4.22099468e-01 -1.24510564e-01 8.84202001e+01] [ 1.50507262e-01 -2.86871510e-02 9.88192598e-01 9.50612957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.510371743 meters Centerline goodness : 0.985296 Centerline is valid? [True, True] Translation: X:125.37, Y:88.45, Z:9.52 [[ 4.16168486e-01 -9.05044402e-01 -8.77406528e-02 1.25368812e+02] [ 8.96595871e-01 4.24510578e-01 -1.26121420e-01 8.84470786e+01] [ 1.51392320e-01 -2.61801466e-02 9.88126999e-01 9.51571667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.540371743 meters Centerline goodness : 0.983231 Centerline is valid? [True, True] Translation: X:125.36, Y:88.47, Z:9.53 [[ 4.07999859e-01 -9.11676724e-01 -4.88023230e-02 1.25357581e+02] [ 9.00112214e-01 4.10617025e-01 -1.45573556e-01 8.84728560e+01] [ 1.52755087e-01 1.54664231e-02 9.88143043e-01 9.52982852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.570371743 meters Centerline goodness : 0.983058 Centerline is valid? [True, True] Translation: X:125.38, Y:88.49, Z:9.52 [[ 4.06590365e-01 -9.10269924e-01 -7.80572924e-02 1.25382213e+02] [ 9.01221241e-01 4.13632862e-01 -1.29259936e-01 8.84925032e+01] [ 1.49948493e-01 -1.77910453e-02 9.88533726e-01 9.52241362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.600371743 meters Centerline goodness : 0.985791 Centerline is valid? [True, True] Translation: X:125.41, Y:88.52, Z:9.53 [[ 4.08661850e-01 -9.08682249e-01 -8.53935737e-02 1.25406963e+02] [ 8.99969034e-01 4.16764422e-01 -1.27918547e-01 8.85193539e+01] [ 1.51826317e-01 -2.45761418e-02 9.88101606e-01 9.52800732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630371743 meters Centerline goodness : 0.984622 Centerline is valid? [True, True] Translation: X:125.42, Y:88.54, Z:9.54 [[ 4.06510950e-01 -9.10543785e-01 -7.52254169e-02 1.25415899e+02] [ 9.00778293e-01 4.13194716e-01 -1.33673461e-01 8.85446270e+01] [ 1.52798284e-01 -1.34216971e-02 9.88166252e-01 9.53671977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.660371743 meters Centerline goodness : 0.985462 Centerline is valid? [True, True] Translation: X:125.43, Y:88.57, Z:9.54 [[ 4.07370606e-01 -9.09679770e-01 -8.08202020e-02 1.25432378e+02] [ 9.00518955e-01 4.14842407e-01 -1.30274280e-01 8.85681192e+01] [ 1.52035524e-01 -1.97102115e-02 9.88178479e-01 9.53767195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690371743 meters Centerline goodness : 0.982857 Centerline is valid? [True, True] Translation: X:125.43, Y:88.59, Z:9.54 [[ 4.01418867e-01 -9.13672668e-01 -6.37585260e-02 1.25428362e+02] [ 9.03520063e-01 4.06439216e-01 -1.35862651e-01 8.85905900e+01] [ 1.50047956e-01 -3.06927591e-03 9.88673956e-01 9.54386638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.720371743 meters Centerline goodness : 0.984242 Centerline is valid? [True, True] Translation: X:125.46, Y:88.62, Z:9.55 [[ 4.07471164e-01 -9.10360370e-01 -7.21889679e-02 1.25455109e+02] [ 9.00669177e-01 4.13673970e-01 -1.32924342e-01 8.86170025e+01] [ 1.50871750e-01 -1.08555418e-02 9.88493739e-01 9.55019977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750371743 meters Centerline goodness : 0.984510 Centerline is valid? [True, True] Translation: X:125.47, Y:88.64, Z:9.55 [[ 4.06776389e-01 -9.10264424e-01 -7.71469189e-02 1.25465015e+02] [ 9.00920706e-01 4.13711176e-01 -1.31091356e-01 8.86400513e+01] [ 1.51244340e-01 -1.61783883e-02 9.88364007e-01 9.55351540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.780371743 meters Centerline goodness : 0.985606 Centerline is valid? [True, True] Translation: X:125.48, Y:88.67, Z:9.56 [[ 4.09508669e-01 -9.09468717e-01 -7.18978586e-02 1.25479826e+02] [ 8.99795193e-01 4.15643468e-01 -1.32699354e-01 8.86674559e+01] [ 1.50569787e-01 -1.03518117e-02 9.88545183e-01 9.55794038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810371743 meters Centerline goodness : 0.982974 Centerline is valid? [True, True] Translation: X:125.49, Y:88.69, Z:9.56 [[ 4.08831557e-01 -9.09728673e-01 -7.24603358e-02 1.25487237e+02] [ 8.99716449e-01 4.15082480e-01 -1.34969797e-01 8.86919651e+01] [ 1.52862910e-01 -1.00138438e-02 9.88196668e-01 9.56214098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.840371743 meters Centerline goodness : 0.984552 Centerline is valid? [True, True] Translation: X:125.50, Y:88.72, Z:9.56 [[ 4.08841238e-01 -9.09626880e-01 -7.36734764e-02 1.25500275e+02] [ 9.00067381e-01 4.15244022e-01 -1.32102660e-01 8.87167249e+01] [ 1.50756601e-01 -1.23020778e-02 9.88494363e-01 9.56458611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870371743 meters Centerline goodness : 0.983596 Centerline is valid? [True, True] Translation: X:125.51, Y:88.74, Z:9.57 [[ 4.09310756e-01 -9.09596299e-01 -7.14092294e-02 1.25513584e+02] [ 8.99692251e-01 4.15388579e-01 -1.34187118e-01 8.87427790e+01] [ 1.51718684e-01 -9.32209963e-03 9.88379755e-01 9.57102825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.900371743 meters Centerline goodness : 0.983386 Centerline is valid? [True, True] Translation: X:125.53, Y:88.77, Z:9.57 [[ 4.10451039e-01 -9.08582552e-01 -7.75092952e-02 1.25525662e+02] [ 8.99219380e-01 4.17402618e-01 -1.31070823e-01 8.87656958e+01] [ 1.51441245e-01 -1.58997050e-02 9.88338378e-01 9.57228018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930371743 meters Centerline goodness : 0.989178 Centerline is valid? [True, True] Translation: X:125.52, Y:88.80, Z:9.59 [[ 4.03171735e-01 -9.12803704e-01 -6.51302616e-02 1.25523716e+02] [ 8.98941905e-01 4.08363130e-01 -1.58565461e-01 8.87966354e+01] [ 1.71335937e-01 5.38079048e-03 9.85197972e-01 9.59224547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.960371743 meters Centerline goodness : 0.983432 Centerline is valid? [True, True] Translation: X:125.55, Y:88.81, Z:9.58 [[ 4.12645072e-01 -9.05949639e-01 -9.47591485e-02 1.25554311e+02] [ 8.98380257e-01 4.21951900e-01 -1.21940588e-01 8.88141516e+01] [ 1.50455835e-01 -3.48115655e-02 9.88003642e-01 9.57585110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990371743 meters Centerline goodness : 0.985726 Centerline is valid? [True, True] Translation: X:125.55, Y:88.84, Z:9.59 [[ 4.09571246e-01 -9.09718013e-01 -6.82973714e-02 1.25552245e+02] [ 8.99617606e-01 4.15182986e-01 -1.35319074e-01 8.88436129e+01] [ 1.51458106e-01 -6.01871595e-03 9.88445354e-01 9.58959226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.020371743 meters Centerline goodness : 0.985948 Centerline is valid? [True, True] Translation: X:125.57, Y:88.87, Z:9.59 [[ 4.09915608e-01 -9.08876152e-01 -7.68982074e-02 1.25565309e+02] [ 8.99723371e-01 4.16757605e-01 -1.29657064e-01 8.88661561e+01] [ 1.49890126e-01 -1.60386601e-02 9.88572563e-01 9.58887742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050371743 meters Centerline goodness : 0.984310 Centerline is valid? [True, True] Translation: X:125.58, Y:88.89, Z:9.60 [[ 4.11902138e-01 -9.08329574e-01 -7.26224049e-02 1.25576400e+02] [ 8.98561902e-01 4.18126640e-01 -1.33253975e-01 8.88933300e+01] [ 1.51403889e-01 -1.03681290e-02 9.88417606e-01 9.59544699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.080371743 meters Centerline goodness : 0.983048 Centerline is valid? [True, True] Translation: X:125.57, Y:88.91, Z:9.60 [[ 4.07537915e-01 -9.10555392e-01 -6.92944936e-02 1.25574444e+02] [ 9.00669483e-01 4.13313755e-01 -1.34038140e-01 8.89136980e+01] [ 1.50689519e-01 -7.78581152e-03 9.88550479e-01 9.59804759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11037174300003 meters Centerline goodness : 0.983824 Centerline is valid? [True, True] Translation: X:125.60, Y:88.94, Z:9.60 [[ 4.16372605e-01 -9.06177570e-01 -7.40004386e-02 1.25602187e+02] [ 8.96733180e-01 4.22732610e-01 -1.31021924e-01 8.89417448e+01] [ 1.50011527e-01 -1.18047088e-02 9.88613772e-01 9.60235536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.140371743 meters Centerline goodness : 0.983824 Centerline is valid? [True, True] Translation: X:125.62, Y:88.97, Z:9.61 [[ 4.16230938e-01 -9.06238073e-01 -7.40564799e-02 1.25615394e+02] [ 8.96857990e-01 4.22595828e-01 -1.30608241e-01 8.89653458e+01] [ 1.49658120e-01 -1.20549550e-02 9.88664314e-01 9.60617770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17037174300003 meters Centerline goodness : 0.984597 Centerline is valid? [True, True] Translation: X:125.62, Y:88.99, Z:9.61 [[ 4.16038086e-01 -9.06988046e-01 -6.54598758e-02 1.25616728e+02] [ 8.97077709e-01 4.21145114e-01 -1.33747440e-01 8.89916866e+01] [ 1.48875436e-01 -3.07856630e-03 9.88851165e-01 9.61166467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.200371743 meters Centerline goodness : 0.984357 Centerline is valid? [True, True] Translation: X:125.63, Y:89.02, Z:9.61 [[ 4.18991979e-01 -9.05271347e-01 -7.02104618e-02 1.25631658e+02] [ 8.95493064e-01 4.24772945e-01 -1.32891375e-01 8.90158661e+01] [ 1.50126259e-01 -7.19256120e-03 9.88640670e-01 9.61483787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.230371743 meters Centerline goodness : 0.984522 Centerline is valid? [True, True] Translation: X:125.64, Y:89.04, Z:9.62 [[ 4.22847292e-01 -9.03971082e-01 -6.35330629e-02 1.25638806e+02] [ 8.93974035e-01 4.27593582e-01 -1.34067722e-01 8.90418598e+01] [ 1.48359674e-01 -1.06735196e-04 9.88933464e-01 9.62178570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.260371743 meters Centerline goodness : 0.985479 Centerline is valid? [True, True] Translation: X:125.66, Y:89.07, Z:9.62 [[ 4.24668217e-01 -9.02452286e-01 -7.23655852e-02 1.25656501e+02] [ 8.92912708e-01 4.30697650e-01 -1.31173281e-01 8.90674288e+01] [ 1.49545314e-01 -8.91102754e-03 9.88714718e-01 9.62391486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.290371743 meters Centerline goodness : 0.984859 Centerline is valid? [True, True] Translation: X:125.67, Y:89.09, Z:9.62 [[ 4.27184034e-01 -9.00396498e-01 -8.24617912e-02 1.25673540e+02] [ 8.92223864e-01 4.34558834e-01 -1.22862513e-01 8.90913514e+01] [ 1.46459476e-01 -2.10894742e-02 9.88991838e-01 9.62292560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.320371743 meters Centerline goodness : 0.982300 Centerline is valid? [True, True] Translation: X:125.66, Y:89.12, Z:9.64 [[ 4.25892314e-01 -9.02830945e-01 -5.92623111e-02 1.25662781e+02] [ 8.92331501e-01 4.29958718e-01 -1.37404491e-01 8.91155932e+01] [ 1.49533374e-01 5.63788972e-03 9.88740605e-01 9.63619933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.350371743 meters Centerline goodness : 0.981671 Centerline is valid? [True, True] Translation: X:125.67, Y:89.14, Z:9.64 [[ 4.29208775e-01 -9.01691680e-01 -5.22679825e-02 1.25674541e+02] [ 8.90792180e-01 4.32161822e-01 -1.40447330e-01 8.91425186e+01] [ 1.49228416e-01 1.37213165e-02 9.88707543e-01 9.64304655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380371743 meters Centerline goodness : 0.982593 Centerline is valid? [True, True] Translation: X:125.70, Y:89.16, Z:9.63 [[ 4.33755964e-01 -8.96966376e-01 -8.54814856e-02 1.25698404e+02] [ 8.89092567e-01 4.41470677e-01 -1.20905126e-01 8.91631586e+01] [ 1.46185402e-01 -2.35576339e-02 9.88976676e-01 9.63159571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.410371743 meters Centerline goodness : 0.986762 Centerline is valid? [True, True] Translation: X:125.71, Y:89.19, Z:9.65 [[ 4.39403990e-01 -8.95421804e-01 -7.17211753e-02 1.25714876e+02] [ 8.85710303e-01 4.45182582e-01 -1.31642426e-01 8.91940365e+01] [ 1.49804517e-01 -5.67997643e-03 9.88699320e-01 9.64701195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440371743 meters Centerline goodness : 0.982527 Centerline is valid? [True, True] Translation: X:125.71, Y:89.22, Z:9.66 [[ 4.36770819e-01 -8.97967053e-01 -5.37254435e-02 1.25711774e+02] [ 8.87135533e-01 4.39860108e-01 -1.39691202e-01 8.92164184e+01] [ 1.49069776e-01 1.33512906e-02 9.88736540e-01 9.65544012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.470371743 meters Centerline goodness : 0.985685 Centerline is valid? [True, True] Translation: X:125.74, Y:89.24, Z:9.65 [[ 4.43712947e-01 -8.92105101e-01 -8.52485130e-02 1.25744661e+02] [ 8.83334460e-01 4.51416546e-01 -1.26266919e-01 8.92404245e+01] [ 1.51125952e-01 -1.92766825e-02 9.88326543e-01 9.65388539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500371743 meters Centerline goodness : 0.984396 Centerline is valid? [True, True] Translation: X:125.76, Y:89.26, Z:9.66 [[ 4.46610809e-01 -8.91556243e-01 -7.52745090e-02 1.25755481e+02] [ 8.81460850e-01 4.52862933e-01 -1.33947505e-01 8.92641256e+01] [ 1.53510769e-01 -6.52912928e-03 9.88125404e-01 9.66382778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.530371743 meters Centerline goodness : 0.984400 Centerline is valid? [True, True] Translation: X:125.77, Y:89.29, Z:9.67 [[ 4.45089170e-01 -8.92345723e-01 -7.49315762e-02 1.25766371e+02] [ 8.82347076e-01 4.51302060e-01 -1.33379487e-01 8.92901031e+01] [ 1.52837389e-01 -6.74989213e-03 9.88228299e-01 9.66712567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560371743 meters Centerline goodness : 0.983235 Centerline is valid? [True, True] Translation: X:125.76, Y:89.31, Z:9.66 [[ 4.37089106e-01 -8.96216043e-01 -7.58282155e-02 1.25764888e+02] [ 8.86892170e-01 4.43488809e-01 -1.29382975e-01 8.93136191e+01] [ 1.49584063e-01 -1.06995617e-02 9.88691118e-01 9.66333112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.590371743 meters Centerline goodness : 0.983921 Centerline is valid? [True, True] Translation: X:125.77, Y:89.34, Z:9.67 [[ 4.36755523e-01 -8.97335459e-01 -6.35113180e-02 1.25772755e+02] [ 8.86661525e-01 4.41331192e-01 -1.38051144e-01 8.93394438e+01] [ 1.51907712e-01 3.98155743e-03 9.88386662e-01 9.67448435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620371743 meters Centerline goodness : 0.984467 Centerline is valid? [True, True] Translation: X:125.80, Y:89.37, Z:9.68 [[ 4.40636656e-01 -8.95309442e-01 -6.52712833e-02 1.25798057e+02] [ 8.84496305e-01 4.45431637e-01 -1.38769392e-01 8.93691869e+01] [ 1.53315442e-01 3.41467200e-03 9.88171400e-01 9.68309660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.650371743 meters Centerline goodness : 0.983436 Centerline is valid? [True, True] Translation: X:125.80, Y:89.39, Z:9.67 [[ 4.30284151e-01 -8.98912159e-01 -8.25377425e-02 1.25803055e+02] [ 8.90327096e-01 4.37694699e-01 -1.25463194e-01 8.93867590e+01] [ 1.48906723e-01 -1.95007646e-02 9.88658944e-01 9.67339954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680371743 meters Centerline goodness : 0.983083 Centerline is valid? [True, True] Translation: X:125.81, Y:89.41, Z:9.69 [[ 4.27274702e-01 -9.01965577e-01 -6.24053429e-02 1.25807237e+02] [ 8.91337302e-01 4.31794698e-01 -1.38098347e-01 8.94134289e+01] [ 1.51506252e-01 3.38172013e-03 9.88450515e-01 9.68851775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.710371743 meters Centerline goodness : 0.982867 Centerline is valid? [True, True] Translation: X:125.82, Y:89.44, Z:9.69 [[ 4.24725444e-01 -9.02782392e-01 -6.77661425e-02 1.25823033e+02] [ 8.92792537e-01 4.30082570e-01 -1.33979363e-01 8.94372405e+01] [ 1.50099246e-01 -3.59666205e-03 9.88664392e-01 9.69045860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740371743 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:125.85, Y:89.47, Z:9.70 [[ 4.27180524e-01 -9.01129881e-01 -7.40387550e-02 1.25849247e+02] [ 8.91062917e-01 4.33466294e-01 -1.34587706e-01 8.94661080e+01] [ 1.53374308e-01 -8.47994237e-03 9.88131779e-01 9.69928413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.770371743 meters Centerline goodness : 0.986148 Centerline is valid? [True, True] Translation: X:125.87, Y:89.49, Z:9.70 [[ 4.25699411e-01 -9.02064999e-01 -7.11248928e-02 1.25865020e+02] [ 8.91965263e-01 4.31557379e-01 -1.34744939e-01 8.94932839e+01] [ 1.52243166e-01 -6.08009253e-03 9.88324365e-01 9.70373366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800371743 meters Centerline goodness : 0.985049 Centerline is valid? [True, True] Translation: X:125.88, Y:89.51, Z:9.70 [[ 4.19220657e-01 -9.03914268e-01 -8.48117696e-02 1.25878891e+02] [ 8.94898850e-01 4.27160848e-01 -1.29188457e-01 8.95149281e+01] [ 1.53003557e-01 -2.17394852e-02 9.87986491e-01 9.70401169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.830371743 meters Centerline goodness : 0.986230 Centerline is valid? [True, True] Translation: X:125.89, Y:89.54, Z:9.71 [[ 4.14553829e-01 -9.06096234e-01 -8.44673728e-02 1.25889114e+02] [ 8.96823490e-01 4.22529015e-01 -1.31060520e-01 8.95399480e+01] [ 1.54443359e-01 -2.14206836e-02 9.87769408e-01 9.71004643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86037174300003 meters Centerline goodness : 0.984084 Centerline is valid? [True, True] Translation: X:125.90, Y:89.56, Z:9.72 [[ 4.16408878e-01 -9.06863213e-01 -6.48286946e-02 1.25898887e+02] [ 8.95863694e-01 4.21424726e-01 -1.40817053e-01 8.95645789e+01] [ 1.55022220e-01 5.59797343e-04 9.87910825e-01 9.72080755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.890371743 meters Centerline goodness : 0.985383 Centerline is valid? [True, True] Translation: X:125.91, Y:89.59, Z:9.72 [[ 4.07875451e-01 -9.08813498e-01 -8.77248095e-02 1.25912018e+02] [ 8.99659393e-01 4.16427012e-01 -1.31154565e-01 8.95852446e+01] [ 1.55726019e-01 -2.54277216e-02 9.87472956e-01 9.71873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92037174300003 meters Centerline goodness : 0.987565 Centerline is valid? [True, True] Translation: X:125.93, Y:89.62, Z:9.73 [[ 4.07520363e-01 -9.09962086e-01 -7.67864293e-02 1.25925278e+02] [ 8.99986592e-01 4.14453375e-01 -1.35101942e-01 8.96153618e+01] [ 1.54762040e-01 -1.40499642e-02 9.87851866e-01 9.72686506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.950371743 meters Centerline goodness : 0.986834 Centerline is valid? [True, True] Translation: X:125.94, Y:89.64, Z:9.73 [[ 4.04420214e-01 -9.11204594e-01 -7.84249856e-02 1.25936870e+02] [ 9.01416590e-01 4.11626833e-01 -1.34206860e-01 8.96405249e+01] [ 1.54571736e-01 -1.64176160e-02 9.87845150e-01 9.73092579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.980371743 meters Centerline goodness : 0.987177 Centerline is valid? [True, True] Translation: X:125.95, Y:89.66, Z:9.74 [[ 4.03827766e-01 -9.11464342e-01 -7.84594741e-02 1.25948233e+02] [ 9.01643062e-01 4.11050191e-01 -1.34452705e-01 8.96636768e+01] [ 1.54799628e-01 -1.64467049e-02 9.87808980e-01 9.73561495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.010371743 meters Centerline goodness : 0.987129 Centerline is valid? [True, True] Translation: X:125.96, Y:89.69, Z:9.74 [[ 4.03433542e-01 -9.12566217e-01 -6.68152488e-02 1.25959128e+02] [ 9.02118485e-01 4.08902036e-01 -1.37772871e-01 8.96921391e+01] [ 1.53047759e-01 -4.69307359e-03 9.88207650e-01 9.74136813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.040371743 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:125.97, Y:89.71, Z:9.74 [[ 4.03117020e-01 -9.11647830e-01 -7.99681351e-02 1.25972855e+02] [ 9.02227689e-01 4.10537168e-01 -1.32077368e-01 8.97136552e+01] [ 1.53237938e-01 -1.89068306e-02 9.88008434e-01 9.74361265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.070371743 meters Centerline goodness : 0.988009 Centerline is valid? [True, True] Translation: X:125.98, Y:89.74, Z:9.75 [[ 4.03861857e-01 -9.11965242e-01 -7.22149441e-02 1.25983300e+02] [ 9.02054563e-01 4.10124898e-01 -1.34518155e-01 8.97421668e+01] [ 1.52293028e-01 -1.08150681e-02 9.88276210e-01 9.74697368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.100371743 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:126.00, Y:89.77, Z:9.75 [[ 4.02645691e-01 -9.11645639e-01 -8.23327186e-02 1.25996173e+02] [ 9.02256315e-01 4.10437285e-01 -1.32192198e-01 8.97664555e+01] [ 1.54304858e-01 -2.10585964e-02 9.87798839e-01 9.75174138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130371743 meters Centerline goodness : 0.987494 Centerline is valid? [True, True] Translation: X:126.01, Y:89.79, Z:9.76 [[ 4.03115819e-01 -9.11792153e-01 -7.83115986e-02 1.26006097e+02] [ 9.02056543e-01 4.10314180e-01 -1.33926353e-01 8.97913204e+01] [ 1.54245357e-01 -1.66536583e-02 9.87892214e-01 9.75745399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.160371743 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:126.02, Y:89.82, Z:9.76 [[ 4.02242587e-01 -9.12179545e-01 -7.82903511e-02 1.26018338e+02] [ 9.02464095e-01 4.09445503e-01 -1.33839224e-01 8.98177663e+01] [ 1.54141035e-01 -1.68183951e-02 9.87905706e-01 9.76069845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190371743 meters Centerline goodness : 0.987937 Centerline is valid? [True, True] Translation: X:126.03, Y:89.84, Z:9.77 [[ 4.02313068e-01 -9.12682033e-01 -7.18032139e-02 1.26026647e+02] [ 9.02545359e-01 4.08546027e-01 -1.36022128e-01 8.98425700e+01] [ 1.53479870e-01 -1.00821777e-02 9.88100339e-01 9.76814789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.220371743 meters Centerline goodness : 0.989302 Centerline is valid? [True, True] Translation: X:126.04, Y:89.87, Z:9.77 [[ 4.01974636e-01 -9.12441900e-01 -7.65909325e-02 1.26041448e+02] [ 9.02673788e-01 4.08921596e-01 -1.34026717e-01 8.98688936e+01] [ 1.53611279e-01 -1.52612865e-02 9.88013496e-01 9.76876982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250371743 meters Centerline goodness : 0.989052 Centerline is valid? [True, True] Translation: X:126.05, Y:89.89, Z:9.77 [[ 4.00923223e-01 -9.11826642e-01 -8.85027964e-02 1.26053793e+02] [ 9.02650535e-01 4.09684616e-01 -1.31835226e-01 8.98899229e+01] [ 1.56469105e-01 -2.70312930e-02 9.87312883e-01 9.77265191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.280371743 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:126.06, Y:89.92, Z:9.78 [[ 4.01947294e-01 -9.13151819e-01 -6.77652506e-02 1.26059439e+02] [ 9.02332340e-01 4.07591591e-01 -1.40233530e-01 8.99192562e+01] [ 1.55675049e-01 -4.78028942e-03 9.87796754e-01 9.78247941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310371743 meters Centerline goodness : 0.988033 Centerline is valid? [True, True] Translation: X:126.08, Y:89.94, Z:9.78 [[ 4.01352887e-01 -9.12525815e-01 -7.88193987e-02 1.26075691e+02] [ 9.02843603e-01 4.08644993e-01 -1.33726203e-01 8.99439151e+01] [ 1.54237765e-01 -1.74901923e-02 9.87878943e-01 9.78175070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.340371743 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:126.08, Y:89.97, Z:9.79 [[ 4.03105798e-01 -9.12259910e-01 -7.27156967e-02 1.26083779e+02] [ 9.02053379e-01 4.09475349e-01 -1.36490443e-01 8.99705113e+01] [ 1.54290044e-01 -1.05733509e-02 9.87969021e-01 9.78766341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370371743 meters Centerline goodness : 0.988179 Centerline is valid? [True, True] Translation: X:126.10, Y:90.00, Z:9.79 [[ 4.02924277e-01 -9.12072911e-01 -7.59936364e-02 1.26097915e+02] [ 9.02180650e-01 4.09779457e-01 -1.34725172e-01 8.99969839e+01] [ 1.54019810e-01 -1.42759459e-02 9.87964623e-01 9.79049187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.400371743 meters Centerline goodness : 0.986948 Centerline is valid? [True, True] Translation: X:126.11, Y:90.02, Z:9.79 [[ 4.04905109e-01 -9.11171762e-01 -7.62749824e-02 1.26110585e+02] [ 9.01973200e-01 4.11711977e-01 -1.30144515e-01 9.00203658e+01] [ 1.49987331e-01 -1.61018109e-02 9.88556793e-01 9.79471655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430371743 meters Centerline goodness : 0.987158 Centerline is valid? [True, True] Translation: X:126.12, Y:90.05, Z:9.80 [[ 4.05877674e-01 -9.11106478e-01 -7.17516555e-02 1.26119506e+02] [ 9.01371635e-01 4.12034984e-01 -1.33252947e-01 9.00452172e+01] [ 1.50971815e-01 -1.05905110e-02 9.88481336e-01 9.80072096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.460371743 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:126.13, Y:90.07, Z:9.80 [[ 4.08453481e-01 -9.10188822e-01 -6.87172554e-02 1.26130969e+02] [ 9.00778256e-01 4.14107051e-01 -1.30820042e-01 9.00747532e+01] [ 1.47527240e-01 -8.46510778e-03 9.89021767e-01 9.80371420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490371743 meters Centerline goodness : 0.987053 Centerline is valid? [True, True] Translation: X:126.15, Y:90.10, Z:9.80 [[ 4.09388035e-01 -9.08622778e-01 -8.24989942e-02 1.26146475e+02] [ 9.00213132e-01 4.16988900e-01 -1.25445502e-01 9.00961680e+01] [ 1.48383805e-01 -2.29107904e-02 9.88664423e-01 9.80407015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.520371743 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:126.16, Y:90.12, Z:9.81 [[ 4.08665041e-01 -9.09727144e-01 -7.34125870e-02 1.26155028e+02] [ 9.00324237e-01 4.15017339e-01 -1.31060585e-01 9.01235745e+01] [ 1.49696868e-01 -1.25352520e-02 9.88652474e-01 9.81339712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550371743 meters Centerline goodness : 0.987801 Centerline is valid? [True, True] Translation: X:126.17, Y:90.15, Z:9.82 [[ 4.10356887e-01 -9.08409695e-01 -7.99940682e-02 1.26167559e+02] [ 8.99498919e-01 4.17636651e-01 -1.28379604e-01 9.01463628e+01] [ 1.50029732e-01 -1.92731232e-02 9.88493615e-01 9.81567994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.580371743 meters Centerline goodness : 0.987303 Centerline is valid? [True, True] Translation: X:126.18, Y:90.17, Z:9.82 [[ 4.11909327e-01 -9.08824275e-01 -6.60994998e-02 1.26175046e+02] [ 8.98740140e-01 4.17162084e-01 -1.35062788e-01 9.01726969e+01] [ 1.50322546e-01 -3.77265144e-03 9.88629809e-01 9.82414642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61037174300003 meters Centerline goodness : 0.988598 Centerline is valid? [True, True] Translation: X:126.19, Y:90.20, Z:9.83 [[ 4.11857841e-01 -9.08217565e-01 -7.42561362e-02 1.26189358e+02] [ 8.98731458e-01 4.18309614e-01 -1.31525028e-01 9.01987008e+01] [ 1.50515396e-01 -1.25667114e-02 9.88527791e-01 9.82553368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.640371743 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:126.20, Y:90.22, Z:9.83 [[ 4.12964991e-01 -9.07726127e-01 -7.41160904e-02 1.26201260e+02] [ 8.98238007e-01 4.19383486e-01 -1.31476135e-01 9.02235376e+01] [ 1.50427387e-01 -1.22788485e-02 9.88544805e-01 9.82960494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67037174300003 meters Centerline goodness : 0.988659 Centerline is valid? [True, True] Translation: X:126.21, Y:90.25, Z:9.84 [[ 4.11318078e-01 -9.08669765e-01 -7.16707502e-02 1.26213737e+02] [ 8.98910769e-01 4.17404002e-01 -1.33166543e-01 9.02499899e+01] [ 1.50920070e-01 -9.65180255e-03 9.88498849e-01 9.83569383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.700371743 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:126.23, Y:90.27, Z:9.84 [[ 4.13344561e-01 -9.07345374e-01 -7.66201411e-02 1.26225878e+02] [ 8.97931423e-01 4.20133122e-01 -1.31176670e-01 9.02744250e+01] [ 1.51213204e-01 -1.45784692e-02 9.88393664e-01 9.83731001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.730371743 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:126.24, Y:90.30, Z:9.84 [[ 4.13502631e-01 -9.07330156e-01 -7.59444727e-02 1.26237950e+02] [ 8.97867973e-01 4.20190855e-01 -1.31425824e-01 9.02990566e+01] [ 1.51157787e-01 -1.38431857e-02 9.88412712e-01 9.84296339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.760371743 meters Centerline goodness : 0.989834 Centerline is valid? [True, True] Translation: X:126.25, Y:90.32, Z:9.85 [[ 4.13436860e-01 -9.06991464e-01 -8.02274733e-02 1.26250982e+02] [ 8.97657727e-01 4.20770404e-01 -1.31007148e-01 9.03240517e+01] [ 1.52579711e-01 -1.78536274e-02 9.88129890e-01 9.84790530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.790371743 meters Centerline goodness : 0.989172 Centerline is valid? [True, True] Translation: X:126.26, Y:90.35, Z:9.86 [[ 4.13941756e-01 -9.06749692e-01 -8.03568185e-02 1.26260470e+02] [ 8.97037676e-01 4.21332393e-01 -1.33425722e-01 9.03455375e+01] [ 1.54840663e-01 -1.68526160e-02 9.87795707e-01 9.85551500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.820371743 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:126.27, Y:90.37, Z:9.86 [[ 4.13603115e-01 -9.07031492e-01 -7.89071393e-02 1.26271468e+02] [ 8.96839459e-01 4.20817450e-01 -1.36351234e-01 9.03711981e+01] [ 1.56880364e-01 -1.43717410e-02 9.87513040e-01 9.86306508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.850371743 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:126.28, Y:90.39, Z:9.87 [[ 4.15345245e-01 -9.06168804e-01 -7.96644528e-02 1.26283703e+02] [ 8.96095794e-01 4.22647415e-01 -1.35578353e-01 9.03948407e+01] [ 1.56526849e-01 -1.50751570e-02 9.87558649e-01 9.86832627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880371743 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:126.30, Y:90.42, Z:9.87 [[ 4.15748390e-01 -9.05158832e-01 -8.85481004e-02 1.26295418e+02] [ 8.95252928e-01 4.24454159e-01 -1.35502255e-01 9.04162641e+01] [ 1.60235672e-01 -2.29381020e-02 9.86812228e-01 9.87246460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.910371743 meters Centerline goodness : 0.988787 Centerline is valid? [True, True] Translation: X:126.30, Y:90.44, Z:9.89 [[ 4.16405607e-01 -9.06068032e-01 -7.51471369e-02 1.26302544e+02] [ 8.94695970e-01 4.23064462e-01 -1.43302416e-01 9.04418563e+01] [ 1.61633821e-01 -7.56191124e-03 9.86821831e-01 9.88573029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940371743 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:126.32, Y:90.47, Z:9.89 [[ 4.19772620e-01 -9.04681022e-01 -7.30971634e-02 1.26316880e+02] [ 8.93687761e-01 4.26043709e-01 -1.40744247e-01 9.04696702e+01] [ 1.58471236e-01 -6.24545898e-03 9.87343842e-01 9.88888125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.970371743 meters Centerline goodness : 0.988695 Centerline is valid? [True, True] Translation: X:126.33, Y:90.49, Z:9.89 [[ 4.21406761e-01 -9.03675498e-01 -7.60719138e-02 1.26329825e+02] [ 8.92672068e-01 4.28132532e-01 -1.40851389e-01 9.04920979e+01] [ 1.59852810e-01 -8.55154514e-03 9.87103819e-01 9.89278798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000371743 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:126.34, Y:90.52, Z:9.90 [[ 4.24528476e-01 -9.02721770e-01 -6.97780649e-02 1.26342607e+02] [ 8.91305654e-01 4.30222435e-01 -1.43118436e-01 9.05178423e+01] [ 1.59216217e-01 -1.43573244e-03 9.87242693e-01 9.89836855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.030371743 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:126.36, Y:90.54, Z:9.90 [[ 4.24078518e-01 -9.02341220e-01 -7.70566885e-02 1.26357747e+02] [ 8.91566126e-01 4.30915476e-01 -1.39361742e-01 9.05418802e+01] [ 1.58956764e-01 -9.60081235e-03 9.87238863e-01 9.89936357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060371743 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:126.37, Y:90.56, Z:9.90 [[ 4.25024783e-01 -9.01290499e-01 -8.38413369e-02 1.26370906e+02] [ 8.90823831e-01 4.32916788e-01 -1.37898356e-01 9.05644985e+01] [ 1.60582800e-01 -1.60776421e-02 9.86891419e-01 9.90241999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.090371743 meters Centerline goodness : 0.989666 Centerline is valid? [True, True] Translation: X:126.38, Y:90.59, Z:9.91 [[ 4.27370202e-01 -9.01564381e-01 -6.73526382e-02 1.26380433e+02] [ 8.90091434e-01 4.32642936e-01 -1.43378275e-01 9.05931717e+01] [ 1.58404389e-01 1.32559613e-03 9.87373431e-01 9.91091918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120371743 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:126.40, Y:90.62, Z:9.91 [[ 4.29834158e-01 -8.99679226e-01 -7.62881893e-02 1.26399603e+02] [ 8.89080728e-01 4.36468254e-01 -1.37952612e-01 9.06172213e+01] [ 1.57410472e-01 -8.52961414e-03 9.87496425e-01 9.91127526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.150371743 meters Centerline goodness : 0.988483 Centerline is valid? [True, True] Translation: X:126.41, Y:90.64, Z:9.92 [[ 4.31395616e-01 -8.99035409e-01 -7.50543480e-02 1.26411186e+02] [ 8.88337274e-01 4.37820858e-01 -1.38454991e-01 9.06401633e+01] [ 1.57336298e-01 -6.94469892e-03 9.87520663e-01 9.91595811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180371743 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:126.43, Y:90.67, Z:9.92 [[ 4.33648489e-01 -8.98514689e-01 -6.79730945e-02 1.26425867e+02] [ 8.87731150e-01 4.38943423e-01 -1.38787884e-01 9.06678046e+01] [ 1.54539295e-01 -1.56677114e-04 9.87986630e-01 9.92140833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.210371743 meters Centerline goodness : 0.987607 Centerline is valid? [True, True] Translation: X:126.44, Y:90.69, Z:9.92 [[ 4.32948482e-01 -8.97467912e-01 -8.43027757e-02 1.26443092e+02] [ 8.87628397e-01 4.40752744e-01 -1.33614553e-01 9.06885348e+01] [ 1.57071453e-01 -1.69813199e-02 9.87441235e-01 9.92243621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240371743 meters Centerline goodness : 0.988133 Centerline is valid? [True, True] Translation: X:126.45, Y:90.71, Z:9.93 [[ 4.32441719e-01 -8.98231359e-01 -7.85785275e-02 1.26452982e+02] [ 8.87836651e-01 4.39393611e-01 -1.36672366e-01 9.07107998e+01] [ 1.57290308e-01 -1.06620639e-02 9.87494850e-01 9.93010693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.270371743 meters Centerline goodness : 0.986093 Centerline is valid? [True, True] Translation: X:126.46, Y:90.73, Z:9.94 [[ 4.29490441e-01 -8.99613763e-01 -7.89495903e-02 1.26462969e+02] [ 8.88729402e-01 4.36569954e-01 -1.39881112e-01 9.07283859e+01] [ 1.60305993e-01 -1.00872215e-02 9.87015824e-01 9.93751989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300371743 meters Centerline goodness : 0.987788 Centerline is valid? [True, True] Translation: X:126.48, Y:90.76, Z:9.94 [[ 4.29897342e-01 -9.00140309e-01 -7.02545258e-02 1.26478239e+02] [ 8.88825609e-01 4.35598196e-01 -1.42278772e-01 9.07585729e+01] [ 1.58673602e-01 -1.27875588e-03 9.87330265e-01 9.94338065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.330371743 meters Centerline goodness : 0.983103 Centerline is valid? [True, True] Translation: X:126.49, Y:90.77, Z:9.93 [[ 4.21612028e-01 -9.02621728e-01 -8.67024416e-02 1.26487691e+02] [ 8.93274121e-01 4.29870149e-01 -1.31426781e-01 9.07704144e+01] [ 1.55899459e-01 -2.20379358e-02 9.87527057e-01 9.93072909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36037174300003 meters Centerline goodness : 0.984959 Centerline is valid? [True, True] Translation: X:126.51, Y:90.80, Z:9.96 [[ 4.27388952e-01 -9.02093951e-01 -5.97091863e-02 1.26506447e+02] [ 8.89763555e-01 4.31410444e-01 -1.49016255e-01 9.07997797e+01] [ 1.60185829e-01 1.05608431e-02 9.87030379e-01 9.95723382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.390371743 meters Centerline goodness : 0.985089 Centerline is valid? [True, True] Translation: X:126.53, Y:90.82, Z:9.95 [[ 4.22244695e-01 -9.03507389e-01 -7.33744834e-02 1.26527805e+02] [ 8.92458251e-01 4.28531210e-01 -1.40993872e-01 9.08198472e+01] [ 1.58832262e-01 -5.94974858e-03 9.87287655e-01 9.95429317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42037174300003 meters Centerline goodness : 0.983514 Centerline is valid? [True, True] Translation: X:126.55, Y:90.84, Z:9.96 [[ 4.17354670e-01 -9.05645373e-01 -7.49769210e-02 1.26545867e+02] [ 8.94124798e-01 4.23980204e-01 -1.44158358e-01 9.08409263e+01] [ 1.62345080e-01 -6.87356037e-03 9.86710104e-01 9.96206285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.450371743 meters Centerline goodness : 0.986946 Centerline is valid? [True, True] Translation: X:126.57, Y:90.86, Z:9.96 [[ 4.10011377e-01 -9.06866407e-01 -9.73857857e-02 1.26567064e+02] [ 8.98218803e-01 4.20016195e-01 -1.29573829e-01 9.08627845e+01] [ 1.58409760e-01 -3.43469997e-02 9.86775877e-01 9.95512912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.480371743 meters Centerline goodness : 0.985265 Centerline is valid? [True, True] Translation: X:126.58, Y:90.89, Z:9.97 [[ 4.07607156e-01 -9.09845168e-01 -7.77057072e-02 1.26575414e+02] [ 8.98902104e-01 4.14765989e-01 -1.41223873e-01 9.08892548e+01] [ 1.60721543e-01 -1.22859625e-02 9.86923321e-01 9.97069333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.510371743 meters Centerline goodness : 0.985329 Centerline is valid? [True, True] Translation: X:126.59, Y:90.91, Z:9.98 [[ 4.05667994e-01 -9.11381583e-01 -6.94052546e-02 1.26586694e+02] [ 8.99936620e-01 4.11542680e-01 -1.44037159e-01 9.09126348e+01] [ 1.59836039e-01 -4.02906482e-03 9.87135354e-01 9.97735611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.540371743 meters Centerline goodness : 0.985329 Centerline is valid? [True, True] Translation: X:126.60, Y:90.94, Z:9.98 [[ 4.05399162e-01 -9.11127673e-01 -7.41477166e-02 1.26601127e+02] [ 9.00182856e-01 4.12013874e-01 -1.41121908e-01 9.09369810e+01] [ 1.59129964e-01 -9.53579995e-03 9.87211590e-01 9.97926476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.570371743 meters Centerline goodness : 0.986320 Centerline is valid? [True, True] Translation: X:126.62, Y:90.96, Z:9.98 [[ 3.98448453e-01 -9.13761174e-01 -7.92423352e-02 1.26615698e+02] [ 9.03226097e-01 4.05933608e-01 -1.39285764e-01 9.09596669e+01] [ 1.59441050e-01 -1.60755480e-02 9.87076557e-01 9.97987369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.600371743 meters Centerline goodness : 0.986698 Centerline is valid? [True, True] Translation: X:126.63, Y:90.98, Z:9.98 [[ 3.96612657e-01 -9.14568577e-01 -7.91373438e-02 1.26631345e+02] [ 9.04452222e-01 4.04059111e-01 -1.36756768e-01 9.09840109e+01] [ 1.57049607e-01 -1.73364815e-02 9.87438539e-01 9.98397553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630371743 meters Centerline goodness : 0.986570 Centerline is valid? [True, True] Translation: X:126.64, Y:91.01, Z:10.00 [[ 3.91701077e-01 -9.18323060e-01 -5.70352923e-02 1.26636837e+02] [ 9.06494718e-01 3.95787882e-01 -1.47034956e-01 9.10103622e+01] [ 1.57599469e-01 5.89155952e-03 9.87485543e-01 9.99647020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.660371743 meters Centerline goodness : 0.986361 Centerline is valid? [True, True] Translation: X:126.66, Y:91.03, Z:9.99 [[ 3.89508923e-01 -9.17635490e-01 -7.89170879e-02 1.26656589e+02] [ 9.07324751e-01 3.97027462e-01 -1.38314823e-01 9.10308161e+01] [ 1.58254841e-01 -1.77285696e-02 9.87239132e-01 9.99065524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690371743 meters Centerline goodness : 0.986960 Centerline is valid? [True, True] Translation: X:126.67, Y:91.06, Z:10.00 [[ 3.87506451e-01 -9.19272696e-01 -6.91119399e-02 1.26665917e+02] [ 9.08360357e-01 3.93540643e-01 -1.41446894e-01 9.10554908e+01] [ 1.57226624e-01 -7.96696267e-03 9.87530413e-01 9.99875871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.720371743 meters Centerline goodness : 0.985988 Centerline is valid? [True, True] Translation: X:126.68, Y:91.08, Z:10.00 [[ 3.84933682e-01 -9.20575794e-01 -6.60777377e-02 1.26677877e+02] [ 9.09631915e-01 3.90524013e-01 -1.41636066e-01 9.10806270e+01] [ 1.56191678e-01 -5.58592647e-03 9.87710969e-01 1.00028963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750371743 meters Centerline goodness : 0.985683 Centerline is valid? [True, True] Translation: X:126.70, Y:91.10, Z:10.01 [[ 3.86519635e-01 -9.19514349e-01 -7.13858078e-02 1.26695490e+02] [ 9.08952901e-01 3.92902330e-01 -1.39400078e-01 9.11039831e+01] [ 1.56228022e-01 -1.10054698e-02 9.87659701e-01 1.00060016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.780371743 meters Centerline goodness : 0.987743 Centerline is valid? [True, True] Translation: X:126.71, Y:91.13, Z:10.00 [[ 3.84385436e-01 -9.19267369e-01 -8.48253493e-02 1.26710731e+02] [ 9.09750992e-01 3.92805726e-01 -1.34375568e-01 9.11279523e+01] [ 1.56846958e-01 -2.55179342e-02 9.87293202e-01 1.00048689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810371743 meters Centerline goodness : 0.987359 Centerline is valid? [True, True] Translation: X:126.72, Y:91.16, Z:10.02 [[ 3.85603357e-01 -9.20488957e-01 -6.33255921e-02 1.26716714e+02] [ 9.09359062e-01 3.90760270e-01 -1.42732295e-01 9.11552716e+01] [ 1.56128627e-01 -2.54764900e-03 9.87733447e-01 1.00184665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.840371743 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:126.73, Y:91.18, Z:10.02 [[ 3.84819856e-01 -9.19780808e-01 -7.69216774e-02 1.26731120e+02] [ 9.10066646e-01 3.92009261e-01 -1.34563886e-01 9.11788408e+01] [ 1.53923290e-01 -1.82209975e-02 9.87914782e-01 1.00155147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870371743 meters Centerline goodness : 0.986702 Centerline is valid? [True, True] Translation: X:126.74, Y:91.21, Z:10.03 [[ 3.86607653e-01 -9.20255705e-01 -6.05306518e-02 1.26740390e+02] [ 9.09308671e-01 3.91317428e-01 -1.41521772e-01 9.12063933e+01] [ 1.53922917e-01 -3.27646424e-04 9.88082804e-01 1.00278926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.900371743 meters Centerline goodness : 0.987106 Centerline is valid? [True, True] Translation: X:126.75, Y:91.23, Z:10.03 [[ 3.85584658e-01 -9.20436685e-01 -6.41933081e-02 1.26750324e+02] [ 9.09840995e-01 3.90863676e-01 -1.39337540e-01 9.12311752e+01] [ 1.53342216e-01 -4.67928548e-03 9.88162066e-01 1.00284146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930371743 meters Centerline goodness : 0.986408 Centerline is valid? [True, True] Translation: X:126.76, Y:91.25, Z:10.03 [[ 3.87325303e-01 -9.19453749e-01 -6.77045976e-02 1.26763603e+02] [ 9.09037043e-01 3.93116754e-01 -1.38242083e-01 9.12546438e+01] [ 1.53723013e-01 -8.00133061e-03 9.88081583e-01 1.00313691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.960371743 meters Centerline goodness : 0.986408 Centerline is valid? [True, True] Translation: X:126.78, Y:91.28, Z:10.03 [[ 3.87233196e-01 -9.19384423e-01 -6.91573221e-02 1.26776982e+02] [ 9.09131906e-01 3.93240137e-01 -1.37263878e-01 9.12794290e+01] [ 1.53393706e-01 -9.71999784e-03 9.88117348e-01 1.00348756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990371743 meters Centerline goodness : 0.986768 Centerline is valid? [True, True] Translation: X:126.79, Y:91.30, Z:10.04 [[ 3.89745482e-01 -9.17614382e-01 -7.79891315e-02 1.26794604e+02] [ 9.07721345e-01 3.97066165e-01 -1.35574410e-01 9.13042064e+01] [ 1.55371874e-01 -1.79528854e-02 9.87692905e-01 1.00371210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.020371743 meters Centerline goodness : 0.987294 Centerline is valid? [True, True] Translation: X:126.80, Y:91.33, Z:10.05 [[ 3.89856935e-01 -9.19356962e-01 -5.28615848e-02 1.26798322e+02] [ 9.07371699e-01 3.93301151e-01 -1.48292970e-01 9.13333334e+01] [ 1.57124696e-01 9.84793673e-03 9.87529669e-01 1.00512232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050371743 meters Centerline goodness : 0.987034 Centerline is valid? [True, True] Translation: X:126.82, Y:91.35, Z:10.04 [[ 3.89795371e-01 -9.16452209e-01 -9.04152498e-02 1.26823235e+02] [ 9.07749560e-01 3.98906005e-01 -1.29864299e-01 9.13540657e+01] [ 1.55081610e-01 -3.14539005e-02 9.87400803e-01 1.00382996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.080371743 meters Centerline goodness : 0.987357 Centerline is valid? [True, True] Translation: X:126.82, Y:91.38, Z:10.05 [[ 3.87855258e-01 -9.19120922e-01 -6.91739056e-02 1.26822039e+02] [ 9.08487480e-01 3.93880132e-01 -1.39674405e-01 9.13799814e+01] [ 1.55623895e-01 -8.67017486e-03 9.87778331e-01 1.00518849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11037174300003 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:126.83, Y:91.41, Z:10.06 [[ 3.86537002e-01 -9.20035726e-01 -6.42137714e-02 1.26830254e+02] [ 9.09351708e-01 3.91810585e-01 -1.39871144e-01 9.14052257e+01] [ 1.53846085e-01 -4.32753016e-03 9.88085348e-01 1.00587077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.140371743 meters Centerline goodness : 0.987651 Centerline is valid? [True, True] Translation: X:126.85, Y:91.43, Z:10.07 [[ 3.90270588e-01 -9.18469329e-01 -6.40543546e-02 1.26849252e+02] [ 9.07931415e-01 3.95472071e-01 -1.38788999e-01 9.14315127e+01] [ 1.52805147e-01 -3.99169636e-03 9.88248275e-01 1.00650231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17037174300003 meters Centerline goodness : 0.987704 Centerline is valid? [True, True] Translation: X:126.86, Y:91.46, Z:10.07 [[ 3.87175154e-01 -9.19565549e-01 -6.70417920e-02 1.26857503e+02] [ 9.09448279e-01 3.92850918e-01 -1.36279064e-01 9.14566042e+01] [ 1.51654962e-01 -8.20717491e-03 9.88399421e-01 1.00652013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.200371743 meters Centerline goodness : 0.992865 Centerline is valid? [True, True] Translation: X:126.87, Y:91.48, Z:10.08 [[ 3.82290415e-01 -9.21396069e-01 -6.98807706e-02 1.26867381e+02] [ 9.08345275e-01 3.88600215e-01 -1.54592153e-01 9.14836219e+01] [ 1.69596285e-01 -4.37676942e-03 9.85503904e-01 1.00817077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.230371743 meters Centerline goodness : 0.988723 Centerline is valid? [True, True] Translation: X:126.89, Y:91.50, Z:10.07 [[ 3.86837599e-01 -9.18945068e-01 -7.67895433e-02 1.26886103e+02] [ 9.09743442e-01 3.93921041e-01 -1.31122398e-01 9.15037898e+01] [ 1.50743298e-01 -1.91357099e-02 9.88387719e-01 1.00686818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.260371743 meters Centerline goodness : 0.988109 Centerline is valid? [True, True] Translation: X:126.90, Y:91.53, Z:10.08 [[ 3.86575803e-01 -9.19531174e-01 -7.08630299e-02 1.26897400e+02] [ 9.09399082e-01 3.92845042e-01 -1.36623871e-01 9.15292882e+01] [ 1.53468099e-01 -1.16272915e-02 9.88085193e-01 1.00774579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.290371743 meters Centerline goodness : 0.981741 Centerline is valid? [True, True] Translation: X:126.89, Y:91.55, Z:10.09 [[ 3.82328749e-01 -9.22916454e-01 -4.52763357e-02 1.26892880e+02] [ 9.11100569e-01 3.84694735e-01 -1.48005787e-01 9.15536943e+01] [ 1.54014544e-01 1.53355722e-02 9.87949564e-01 1.00901857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.320371743 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:126.93, Y:91.58, Z:10.08 [[ 3.85009344e-01 -9.18450584e-01 -9.06439713e-02 1.26929012e+02] [ 9.09978589e-01 3.94163591e-01 -1.28740172e-01 9.15773215e+01] [ 1.53970039e-01 -3.29179038e-02 9.87527032e-01 1.00783856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.350371743 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:126.93, Y:91.61, Z:10.09 [[ 3.83601910e-01 -9.21043597e-01 -6.72924018e-02 1.26931597e+02] [ 9.10319754e-01 3.89388718e-01 -1.40336637e-01 9.16051138e+01] [ 1.55459063e-01 -7.42420072e-03 9.87814437e-01 1.00930710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380371743 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:126.94, Y:91.63, Z:10.09 [[ 3.82563179e-01 -9.21097458e-01 -7.22833804e-02 1.26944665e+02] [ 9.10530607e-01 3.89135099e-01 -1.39670641e-01 9.16302853e+01] [ 1.56778272e-01 -1.23833859e-02 9.87556188e-01 1.00948744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.410371743 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:126.95, Y:91.66, Z:10.10 [[ 3.81223607e-01 -9.22497484e-01 -6.05553822e-02 1.26949904e+02] [ 9.11483424e-01 3.86001772e-01 -1.42128811e-01 9.16568477e+01] [ 1.54487956e-01 -1.01236902e-03 9.87994153e-01 1.01029000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440371743 meters Centerline goodness : 0.987718 Centerline is valid? [True, True] Translation: X:126.97, Y:91.68, Z:10.10 [[ 3.82895667e-01 -9.20973626e-01 -7.21005378e-02 1.26968464e+02] [ 9.10774840e-01 3.89404859e-01 -1.37306397e-01 9.16814325e+01] [ 1.54531870e-01 -1.30933313e-02 9.87901041e-01 1.01047099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.470371743 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:126.98, Y:91.71, Z:10.11 [[ 3.85112155e-01 -9.20318369e-01 -6.85764424e-02 1.26978615e+02] [ 9.09993369e-01 3.91058629e-01 -1.37786853e-01 9.17076167e+01] [ 1.53625181e-01 -9.34071611e-03 9.88085044e-01 1.01117116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500371743 meters Centerline goodness : 0.989485 Centerline is valid? [True, True] Translation: X:126.99, Y:91.73, Z:10.12 [[ 3.85354300e-01 -9.20118099e-01 -6.98909734e-02 1.26989163e+02] [ 9.09997275e-01 3.91486937e-01 -1.36539146e-01 9.17320385e+01] [ 1.52993542e-01 -1.09846485e-02 9.88166137e-01 1.01166764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.530371743 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:127.01, Y:91.76, Z:10.12 [[ 3.89003301e-01 -9.18118894e-01 -7.57240300e-02 1.27007495e+02] [ 9.08633179e-01 3.95933151e-01 -1.32750462e-01 9.17583103e+01] [ 1.51862361e-01 -1.71649980e-02 9.88252592e-01 1.01186965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560371743 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:127.02, Y:91.79, Z:10.13 [[ 3.91734556e-01 -9.17288172e-01 -7.15992096e-02 1.27015250e+02] [ 9.07227249e-01 3.98052585e-01 -1.35988450e-01 9.17854779e+01] [ 1.53240847e-01 -1.16853789e-02 9.88119778e-01 1.01265023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.590371743 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:127.03, Y:91.81, Z:10.13 [[ 3.93403331e-01 -9.16581751e-01 -7.14962505e-02 1.27026917e+02] [ 9.06928178e-01 3.99654461e-01 -1.33257615e-01 9.18118334e+01] [ 1.50715294e-01 -1.24179745e-02 9.88499213e-01 1.01283348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620371743 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:127.04, Y:91.84, Z:10.13 [[ 3.96966579e-01 -9.15159614e-01 -7.00029792e-02 1.27036278e+02] [ 9.05301505e-01 4.02966466e-01 -1.34339915e-01 9.18389535e+01] [ 1.51151317e-01 -1.00453462e-02 9.88459595e-01 1.01323858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.650371743 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:127.05, Y:91.86, Z:10.14 [[ 3.98048985e-01 -9.14026935e-01 -7.81777988e-02 1.27049042e+02] [ 9.04636295e-01 4.05244946e-01 -1.31945854e-01 9.18635952e+01] [ 1.52283222e-01 -1.82015610e-02 9.88169279e-01 1.01353628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680371743 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:127.06, Y:91.89, Z:10.14 [[ 4.00375341e-01 -9.13897757e-01 -6.70110109e-02 1.27057287e+02] [ 9.03743136e-01 4.05898435e-01 -1.35995603e-01 9.18906228e+01] [ 1.51485741e-01 -6.11145537e-03 9.88440550e-01 1.01427998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.710371743 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:127.07, Y:91.92, Z:10.15 [[ 4.04948796e-01 -9.11815325e-01 -6.78917190e-02 1.27067153e+02] [ 9.01731025e-01 4.10550735e-01 -1.35385573e-01 9.19159906e+01] [ 1.51319636e-01 -6.39584439e-03 9.88464193e-01 1.01460213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740371743 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:127.08, Y:91.94, Z:10.15 [[ 4.06946931e-01 -9.10983492e-01 -6.71064324e-02 1.27078685e+02] [ 9.01091776e-01 4.12400150e-01 -1.34013908e-01 9.19420173e+01] [ 1.49759161e-01 -5.93250579e-03 9.88704708e-01 1.01487174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.770371743 meters Centerline goodness : 0.989950 Centerline is valid? [True, True] Translation: X:127.09, Y:91.97, Z:10.15 [[ 4.09318634e-01 -9.09453383e-01 -7.31628267e-02 1.27089801e+02] [ 9.00027712e-01 4.15628008e-01 -1.31162025e-01 9.19665466e+01] [ 1.49694268e-01 -1.21615103e-02 9.88657536e-01 1.01516121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800371743 meters Centerline goodness : 0.988543 Centerline is valid? [True, True] Translation: X:127.10, Y:91.99, Z:10.16 [[ 4.11884176e-01 -9.09317453e-01 -5.91032577e-02 1.27097287e+02] [ 8.98843800e-01 4.16087707e-01 -1.37662064e-01 9.19921957e+01] [ 1.49770657e-01 3.57622921e-03 9.88714297e-01 1.01595534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.830371743 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:127.11, Y:92.02, Z:10.16 [[ 4.13028156e-01 -9.08529235e-01 -6.31060378e-02 1.27112334e+02] [ 8.98976925e-01 4.17814107e-01 -1.31422450e-01 9.20198594e+01] [ 1.45767731e-01 -2.44969954e-03 9.89315808e-01 1.01578733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86037174300003 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:127.13, Y:92.05, Z:10.16 [[ 4.15539264e-01 -9.07068631e-01 -6.74805023e-02 1.27126765e+02] [ 8.97874787e-01 4.20924890e-01 -1.29008152e-01 9.20451796e+01] [ 1.45423471e-01 -6.98108913e-03 9.89344873e-01 1.01591936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.890371743 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:127.14, Y:92.07, Z:10.16 [[ 4.16933087e-01 -9.06422883e-01 -6.75600395e-02 1.27137282e+02] [ 8.97291362e-01 4.22312803e-01 -1.28530575e-01 9.20684913e+01] [ 1.45034524e-01 -7.03239039e-03 9.89401603e-01 1.01622019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92037174300003 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:127.15, Y:92.10, Z:10.17 [[ 4.17333172e-01 -9.06261302e-01 -6.72567944e-02 1.27149822e+02] [ 8.97154255e-01 4.22663537e-01 -1.28334634e-01 9.20955785e+01] [ 1.44731707e-01 -6.78141946e-03 9.89447697e-01 1.01674866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.950371743 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:127.16, Y:92.12, Z:10.17 [[ 4.16654470e-01 -9.06454283e-01 -6.88453666e-02 1.27162493e+02] [ 8.97426268e-01 4.22218510e-01 -1.27896922e-01 9.21205708e+01] [ 1.45000500e-01 -8.49481628e-03 9.89395115e-01 1.01712725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.980371743 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:127.18, Y:92.14, Z:10.17 [[ 4.17022868e-01 -9.05942427e-01 -7.32137047e-02 1.27175495e+02] [ 8.97128420e-01 4.23206209e-01 -1.26716622e-01 9.21448793e+01] [ 1.45782459e-01 -1.28383660e-02 9.89233365e-01 1.01749499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.010371743 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:127.18, Y:92.17, Z:10.18 [[ 4.17274098e-01 -9.06830746e-01 -5.95006281e-02 1.27184523e+02] [ 8.96894682e-01 4.21487508e-01 -1.33896267e-01 9.21724790e+01] [ 1.46500023e-01 2.50564708e-03 9.89207493e-01 1.01843888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.040371743 meters Centerline goodness : 0.988430 Centerline is valid? [True, True] Translation: X:127.20, Y:92.20, Z:10.18 [[ 4.17861160e-01 -9.05818636e-01 -6.98902737e-02 1.27200100e+02] [ 8.96784318e-01 4.23565488e-01 -1.27945941e-01 9.21950998e+01] [ 1.45498926e-01 -9.21286212e-03 9.89315514e-01 1.01831076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.070371743 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:127.21, Y:92.22, Z:10.19 [[ 4.17183679e-01 -9.06698302e-01 -6.20964369e-02 1.27212879e+02] [ 8.97112102e-01 4.21778936e-01 -1.31500588e-01 9.22226436e+01] [ 1.45422329e-01 -8.47566087e-04 9.89369308e-01 1.01896864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.100371743 meters Centerline goodness : 0.989299 Centerline is valid? [True, True] Translation: X:127.23, Y:92.25, Z:10.19 [[ 4.14554377e-01 -9.06866898e-01 -7.57436294e-02 1.27229505e+02] [ 8.97764238e-01 4.21166699e-01 -1.28988315e-01 9.22471805e+01] [ 1.48875928e-01 -1.45272510e-02 9.88749168e-01 1.01902001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130371743 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:127.24, Y:92.27, Z:10.20 [[ 4.15913119e-01 -9.07323348e-01 -6.14867454e-02 1.27239674e+02] [ 8.97931445e-01 4.20432199e-01 -1.30214767e-01 9.22707441e+01] [ 1.43997906e-01 -1.05285234e-03 9.89577432e-01 1.01964969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.160371743 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:127.26, Y:92.30, Z:10.20 [[ 4.11852727e-01 -9.08317815e-01 -7.30484676e-02 1.27256141e+02] [ 8.99348423e-01 4.18079204e-01 -1.27992943e-01 9.22960615e+01] [ 1.46798316e-01 -1.29817813e-02 9.89081254e-01 1.01987564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190371743 meters Centerline goodness : 0.989851 Centerline is valid? [True, True] Translation: X:127.27, Y:92.32, Z:10.21 [[ 4.09864649e-01 -9.09949381e-01 -6.32700135e-02 1.27267572e+02] [ 8.99948579e-01 4.14715458e-01 -1.34549779e-01 9.23248661e+01] [ 1.48672541e-01 -1.79256070e-03 9.88884858e-01 1.02055045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.220371743 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:127.28, Y:92.34, Z:10.21 [[ 4.06561089e-01 -9.10401445e-01 -7.66634882e-02 1.27284559e+02] [ 9.01619008e-01 4.13362031e-01 -1.27338114e-01 9.23445704e+01] [ 1.47618578e-01 -1.73505357e-02 9.88892165e-01 1.02059297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250371743 meters Centerline goodness : 0.989080 Centerline is valid? [True, True] Translation: X:127.30, Y:92.37, Z:10.21 [[ 4.02071420e-01 -9.12334442e-01 -7.73591539e-02 1.27296363e+02] [ 9.03687113e-01 4.09007035e-01 -1.26739287e-01 9.23691557e+01] [ 1.47269055e-01 -1.89502254e-02 9.88914918e-01 1.02125887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.280371743 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:127.31, Y:92.39, Z:10.22 [[ 3.97530836e-01 -9.15253770e-01 -6.54199589e-02 1.27305418e+02] [ 9.05663671e-01 4.02822938e-01 -1.32314004e-01 9.23934189e+01] [ 1.47453551e-01 -6.64958369e-03 9.89046629e-01 1.02208143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310371743 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:127.32, Y:92.42, Z:10.22 [[ 3.93244630e-01 -9.16620765e-01 -7.18681780e-02 1.27320446e+02] [ 9.07789998e-01 3.99477100e-01 -1.27809881e-01 9.24172270e+01] [ 1.45862882e-01 -1.49806639e-02 9.89191387e-01 1.02238165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.340371743 meters Centerline goodness : 0.989221 Centerline is valid? [True, True] Translation: X:127.33, Y:92.44, Z:10.23 [[ 3.87744582e-01 -9.19341689e-01 -6.68206453e-02 1.27330638e+02] [ 9.09823887e-01 3.93345375e-01 -1.32287230e-01 9.24405429e+01] [ 1.47900757e-01 -9.50136253e-03 9.88956566e-01 1.02304391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370371743 meters Centerline goodness : 0.989751 Centerline is valid? [True, True] Translation: X:127.35, Y:92.47, Z:10.23 [[ 3.83314477e-01 -9.21126960e-01 -6.77874283e-02 1.27345589e+02] [ 9.11944018e-01 3.89081004e-01 -1.30284609e-01 9.24678936e+01] [ 1.46383467e-01 -1.18783629e-02 9.89156603e-01 1.02335884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.400371743 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:127.36, Y:92.49, Z:10.24 [[ 3.79348560e-01 -9.22229346e-01 -7.47509367e-02 1.27358857e+02] [ 9.13346709e-01 3.86162034e-01 -1.29138191e-01 9.24913136e+01] [ 1.47961003e-01 -1.92851352e-02 9.88805150e-01 1.02372859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430371743 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:127.37, Y:92.51, Z:10.25 [[ 3.74539848e-01 -9.24715222e-01 -6.79828008e-02 1.27365953e+02] [ 9.14634961e-01 3.80500282e-01 -1.36610484e-01 9.25135727e+01] [ 1.52193269e-01 -1.10133765e-02 9.88289388e-01 1.02453297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.460371743 meters Centerline goodness : 0.990204 Centerline is valid? [True, True] Translation: X:127.38, Y:92.54, Z:10.25 [[ 3.71290212e-01 -9.25688562e-01 -7.24172900e-02 1.27380381e+02] [ 9.15832521e-01 3.77950038e-01 -1.35663412e-01 9.25392544e+01] [ 1.52952186e-01 -1.59516123e-02 9.88104840e-01 1.02484950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490371743 meters Centerline goodness : 0.989714 Centerline is valid? [True, True] Translation: X:127.39, Y:92.56, Z:10.25 [[ 3.68071179e-01 -9.26970923e-01 -7.24466426e-02 1.27391534e+02] [ 9.17203089e-01 3.74762697e-01 -1.35245753e-01 9.25626570e+01] [ 1.52519180e-01 -1.66682206e-02 9.88159942e-01 1.02527499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.520371743 meters Centerline goodness : 0.988907 Centerline is valid? [True, True] Translation: X:127.40, Y:92.59, Z:10.26 [[ 3.65556500e-01 -9.28346464e-01 -6.73890860e-02 1.27403243e+02] [ 9.18484244e-01 3.71510713e-01 -1.35523004e-01 9.25897975e+01] [ 1.50848068e-01 -1.23544989e-02 9.88479755e-01 1.02599937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550371743 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:127.41, Y:92.63, Z:10.27 [[ 3.60273103e-01 -9.31418337e-01 -5.16059349e-02 1.27411550e+02] [ 9.18929440e-01 3.63874941e-01 -1.52196292e-01 9.26254367e+01] [ 1.60536524e-01 7.41001760e-03 9.87002085e-01 1.02725028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.580371743 meters Centerline goodness : 0.990992 Centerline is valid? [True, True] Translation: X:127.44, Y:92.64, Z:10.26 [[ 3.61652206e-01 -9.27291613e-01 -9.66330468e-02 1.27436399e+02] [ 9.19444813e-01 3.71900972e-01 -1.27714143e-01 9.26421265e+01] [ 1.54366178e-01 -4.26606520e-02 9.87092271e-01 1.02580846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61037174300003 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:127.44, Y:92.67, Z:10.27 [[ 3.60108616e-01 -9.29686771e-01 -7.74873672e-02 1.27437602e+02] [ 9.19740299e-01 3.67705401e-01 -1.37370013e-01 9.26682019e+01] [ 1.56203607e-01 -2.18001291e-02 9.87484272e-01 1.02725696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.640371743 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:127.45, Y:92.70, Z:10.28 [[ 3.60323510e-01 -9.30187199e-01 -7.01337448e-02 1.27445379e+02] [ 9.20022964e-01 3.66786077e-01 -1.37933750e-01 9.26955733e+01] [ 1.54028290e-01 -1.48238829e-02 9.87955231e-01 1.02791139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67037174300003 meters Centerline goodness : 0.990066 Centerline is valid? [True, True] Translation: X:127.46, Y:92.72, Z:10.28 [[ 3.60501734e-01 -9.29488418e-01 -7.80370455e-02 1.27458402e+02] [ 9.20394568e-01 3.68052854e-01 -1.31950507e-01 9.27199173e+01] [ 1.51368226e-01 -2.42564861e-02 9.88179783e-01 1.02821664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.700371743 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:127.47, Y:92.75, Z:10.29 [[ 3.60678554e-01 -9.30213823e-01 -6.79207140e-02 1.27465404e+02] [ 9.20279119e-01 3.66774605e-01 -1.36245116e-01 9.27467684e+01] [ 1.51648684e-01 -1.33653234e-02 9.88344092e-01 1.02911116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.730371743 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:127.47, Y:92.78, Z:10.30 [[ 3.57463699e-01 -9.32499142e-01 -5.16241643e-02 1.27470695e+02] [ 9.19389811e-01 3.61076503e-01 -1.56032477e-01 9.27797807e+01] [ 1.64140424e-01 8.31321570e-03 9.86401952e-01 1.03047603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.760371743 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:127.49, Y:92.80, Z:10.29 [[ 3.61472144e-01 -9.27248692e-01 -9.77125966e-02 1.27493993e+02] [ 9.19028693e-01 3.72006442e-01 -1.30374337e-01 9.27987658e+01] [ 1.57239149e-01 -4.26739887e-02 9.86638120e-01 1.02888315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.790371743 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:127.49, Y:92.83, Z:10.31 [[ 3.63672594e-01 -9.28819717e-01 -7.09660314e-02 1.27494479e+02] [ 9.18508559e-01 3.70239991e-01 -1.38796166e-01 9.28253124e+01] [ 1.55191078e-01 -1.47065455e-02 9.87774998e-01 1.03054673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.820371743 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:127.50, Y:92.86, Z:10.32 [[ 3.61527720e-01 -9.30886568e-01 -5.24204664e-02 1.27498419e+02] [ 9.17270211e-01 3.65188243e-01 -1.58911632e-01 9.28613866e+01] [ 1.67072042e-01 9.36722791e-03 9.85900192e-01 1.03193533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.850371743 meters Centerline goodness : 0.989885 Centerline is valid? [True, True] Translation: X:127.52, Y:92.88, Z:10.30 [[ 3.66238547e-01 -9.25341483e-01 -9.80431908e-02 1.27523439e+02] [ 9.17388671e-01 3.76699157e-01 -1.28435867e-01 9.28773509e+01] [ 1.55779823e-01 -4.29055471e-02 9.86859545e-01 1.03026985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880371743 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:127.52, Y:92.91, Z:10.32 [[ 3.66951254e-01 -9.27532697e-01 -7.09216013e-02 1.27523402e+02] [ 9.16910778e-01 3.73500616e-01 -1.40612642e-01 9.29058559e+01] [ 1.56912085e-01 -1.34307954e-02 9.87521246e-01 1.03199146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.910371743 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:127.53, Y:92.93, Z:10.33 [[ 3.68754890e-01 -9.27325022e-01 -6.39385241e-02 1.27530076e+02] [ 9.16639789e-01 3.74195462e-01 -1.40532038e-01 9.29348219e+01] [ 1.54244381e-01 -6.78671907e-03 9.88009419e-01 1.03256432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940371743 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:127.54, Y:92.96, Z:10.33 [[ 3.68687751e-01 -9.26818103e-01 -7.12569034e-02 1.27542131e+02] [ 9.17062571e-01 3.75187788e-01 -1.35019866e-01 9.29605842e+01] [ 1.51873576e-01 -1.55668685e-02 9.88277334e-01 1.03262507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.970371743 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:127.55, Y:92.99, Z:10.33 [[ 3.67658939e-01 -9.27385515e-01 -6.91593223e-02 1.27548898e+02] [ 9.17558056e-01 3.73856280e-01 -1.35346573e-01 9.29880212e+01] [ 1.51374099e-01 -1.36963158e-02 9.88381654e-01 1.03316856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000371743 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:127.56, Y:93.01, Z:10.34 [[ 3.66480567e-01 -9.27551958e-01 -7.30709246e-02 1.27558552e+02] [ 9.17824462e-01 3.73282088e-01 -1.35124905e-01 9.30113679e+01] [ 1.52611438e-01 -1.75456302e-02 9.88130508e-01 1.03364413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.030371743 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:127.57, Y:93.04, Z:10.35 [[ 3.64530186e-01 -9.29526224e-01 -5.56663584e-02 1.27565031e+02] [ 9.18625556e-01 3.68755521e-01 -1.41938200e-01 9.30405521e+01] [ 1.52462556e-01 6.04219014e-04 9.88309063e-01 1.03466128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060371743 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:127.58, Y:93.06, Z:10.34 [[ 3.63813716e-01 -9.28731542e-01 -7.13953990e-02 1.27576647e+02] [ 9.19254122e-01 3.70359117e-01 -1.33439064e-01 9.30623002e+01] [ 1.50371005e-01 -1.70835530e-02 9.88482025e-01 1.03422083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.090371743 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:127.59, Y:93.09, Z:10.35 [[ 3.60678725e-01 -9.30273381e-01 -6.70991308e-02 1.27585408e+02] [ 9.20380617e-01 3.66645835e-01 -1.35905671e-01 9.30909243e+01] [ 1.51031045e-01 -1.27384554e-02 9.88446941e-01 1.03499404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120371743 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:127.59, Y:93.12, Z:10.35 [[ 3.59724452e-01 -9.30940043e-01 -6.28407060e-02 1.27592455e+02] [ 9.20797089e-01 3.65073820e-01 -1.37309238e-01 9.31175201e+01] [ 1.50768164e-01 -8.47004901e-03 9.88532862e-01 1.03535042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.150371743 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:127.61, Y:93.15, Z:10.36 [[ 3.57033739e-01 -9.31612182e-01 -6.80121419e-02 1.27605207e+02] [ 9.21672440e-01 3.63185303e-01 -1.36441744e-01 9.31460335e+01] [ 1.51811801e-01 -1.39706107e-02 9.88310679e-01 1.03565740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180371743 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:127.61, Y:93.17, Z:10.36 [[ 3.59224838e-01 -9.30558963e-01 -7.08345478e-02 1.27611899e+02] [ 9.20830381e-01 3.65763449e-01 -1.35235017e-01 9.31662951e+01] [ 1.51752846e-01 -1.66468265e-02 9.88278279e-01 1.03571887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.210371743 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:127.62, Y:93.20, Z:10.37 [[ 3.57552346e-01 -9.31738292e-01 -6.34040634e-02 1.27620085e+02] [ 9.21290314e-01 3.63029379e-01 -1.39405265e-01 9.31977752e+01] [ 1.52906762e-01 -8.56886971e-03 9.88203469e-01 1.03680407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240371743 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:127.63, Y:93.22, Z:10.37 [[ 3.57974198e-01 -9.30789259e-01 -7.40663759e-02 1.27632117e+02] [ 9.21015388e-01 3.65033040e-01 -1.35946809e-01 9.32222908e+01] [ 1.53574504e-01 -1.95508218e-02 9.87943641e-01 1.03687308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.270371743 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:127.64, Y:93.25, Z:10.38 [[ 3.61110285e-01 -9.30455533e-01 -6.20633779e-02 1.27637215e+02] [ 9.19994674e-01 3.66341790e-01 -1.39296424e-01 9.32471100e+01] [ 1.52345537e-01 -6.79660582e-03 9.88303923e-01 1.03775918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300371743 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:127.65, Y:93.28, Z:10.38 [[ 3.63975663e-01 -9.29577962e-01 -5.83654864e-02 1.27646763e+02] [ 9.19144941e-01 3.68612665e-01 -1.38914652e-01 9.32797649e+01] [ 1.50646257e-01 -3.08478881e-03 9.88582920e-01 1.03826715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.330371743 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:127.66, Y:93.30, Z:10.38 [[ 3.70432551e-01 -9.26297773e-01 -6.89359190e-02 1.27657501e+02] [ 9.16654454e-01 3.76548484e-01 -1.33999443e-01 9.33021866e+01] [ 1.50081101e-01 -1.35526617e-02 9.88580795e-01 1.03824386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36037174300003 meters Centerline goodness : 0.991785 Centerline is valid? [True, True] Translation: X:127.67, Y:93.33, Z:10.39 [[ 3.72455708e-01 -9.25556383e-01 -6.79862296e-02 1.27665324e+02] [ 9.15769087e-01 3.78417733e-01 -1.34785010e-01 9.33274488e+01] [ 1.50478321e-01 -1.20582413e-02 9.88539768e-01 1.03877454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.390371743 meters Centerline goodness : 0.991451 Centerline is valid? [True, True] Translation: X:127.67, Y:93.36, Z:10.39 [[ 3.75745012e-01 -9.24746104e-01 -6.05006595e-02 1.27674994e+02] [ 9.14579503e-01 3.80564321e-01 -1.36803251e-01 9.33553609e+01] [ 1.49532666e-01 -3.92952396e-03 9.88748978e-01 1.03939087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42037174300003 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:127.69, Y:93.39, Z:10.40 [[ 3.76296767e-01 -9.24520989e-01 -6.05118436e-02 1.27685861e+02] [ 9.14295810e-01 3.81113089e-01 -1.37171370e-01 9.33853026e+01] [ 1.49879667e-01 -3.70858199e-03 9.88697290e-01 1.03984191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.450371743 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:127.70, Y:93.41, Z:10.40 [[ 3.81234335e-01 -9.22170421e-01 -6.52847256e-02 1.27696525e+02] [ 9.11943332e-01 3.86715861e-01 -1.37150289e-01 9.34129728e+01] [ 1.51722579e-01 -7.24957084e-03 9.88396531e-01 1.04001895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.480371743 meters Centerline goodness : 0.991986 Centerline is valid? [True, True] Translation: X:127.71, Y:93.44, Z:10.40 [[ 3.87223966e-01 -9.18958923e-01 -7.46464929e-02 1.27705975e+02] [ 9.09419296e-01 3.94014003e-01 -1.33077081e-01 9.34350243e+01] [ 1.51704134e-01 -1.63543259e-02 9.88290641e-01 1.04003739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.510371743 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:127.71, Y:93.46, Z:10.41 [[ 3.87349298e-01 -9.19660145e-01 -6.46972887e-02 1.27713620e+02] [ 9.09285073e-01 3.92677660e-01 -1.37858301e-01 9.34649295e+01] [ 1.52187965e-01 -5.42896277e-03 9.88336658e-01 1.04110789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.540371743 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:127.73, Y:93.49, Z:10.41 [[ 3.88187988e-01 -9.18654482e-01 -7.33759388e-02 1.27725892e+02] [ 9.08702937e-01 3.94812178e-01 -1.35581399e-01 9.34882144e+01] [ 1.53522174e-01 -1.40458606e-02 9.88045371e-01 1.04132086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.570371743 meters Centerline goodness : 0.991387 Centerline is valid? [True, True] Translation: X:127.73, Y:93.52, Z:10.42 [[ 3.89858342e-01 -9.18658619e-01 -6.38499437e-02 1.27732457e+02] [ 9.08090653e-01 3.95034115e-01 -1.38994295e-01 9.35156170e+01] [ 1.52911213e-01 -3.79345169e-03 9.88232650e-01 1.04222567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.600371743 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:127.75, Y:93.54, Z:10.42 [[ 3.89976165e-01 -9.17509150e-01 -7.80740086e-02 1.27746181e+02] [ 9.07950954e-01 3.97267578e-01 -1.33429891e-01 9.35356711e+01] [ 1.53439418e-01 -1.88528934e-02 9.87978195e-01 1.04214688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630371743 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:127.75, Y:93.56, Z:10.43 [[ 3.85828479e-01 -9.20155466e-01 -6.67105898e-02 1.27753660e+02] [ 9.09690870e-01 3.91486586e-01 -1.38566860e-01 9.35625882e+01] [ 1.53619355e-01 -7.22297360e-03 9.88103700e-01 1.04331542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.660371743 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:127.77, Y:93.59, Z:10.44 [[ 3.82947707e-01 -9.20977720e-01 -7.17711108e-02 1.27765922e+02] [ 9.10658068e-01 3.89414904e-01 -1.38050411e-01 9.35879605e+01] [ 1.55090093e-01 -1.24928529e-02 9.87821336e-01 1.04378734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690371743 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:127.78, Y:93.61, Z:10.44 [[ 3.79454620e-01 -9.22373649e-01 -7.23950537e-02 1.27776497e+02] [ 9.11972613e-01 3.86067664e-01 -1.38772160e-01 9.36132837e+01] [ 1.55949173e-01 -1.33645691e-02 9.87674665e-01 1.04447558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.720371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:127.79, Y:93.64, Z:10.45 [[ 3.77936662e-01 -9.23505550e-01 -6.55848973e-02 1.27786541e+02] [ 9.12451182e-01 3.83538842e-01 -1.42586102e-01 9.36405202e+01] [ 1.56833412e-01 -5.95450163e-03 9.87607121e-01 1.04528858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750371743 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:127.80, Y:93.66, Z:10.45 [[ 3.75323372e-01 -9.23788825e-01 -7.58061551e-02 1.27801599e+02] [ 9.13417162e-01 3.82523001e-01 -1.39087173e-01 9.36639558e+01] [ 1.57484774e-01 -1.70399764e-02 9.87374390e-01 1.04546714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.780371743 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:127.81, Y:93.69, Z:10.46 [[ 3.74960968e-01 -9.24803657e-01 -6.43620112e-02 1.27810670e+02] [ 9.13667980e-01 3.80410271e-01 -1.43174191e-01 9.36902656e+01] [ 1.56891986e-01 -5.12077525e-03 9.87602492e-01 1.04638015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810371743 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:127.83, Y:93.71, Z:10.46 [[ 3.72451927e-01 -9.23717814e-01 -8.95821552e-02 1.27826539e+02] [ 9.13747757e-01 3.81881015e-01 -1.38679225e-01 9.37083020e+01] [ 1.62310195e-01 -3.02041489e-02 9.86277400e-01 1.04627331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.840371743 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:127.83, Y:93.74, Z:10.48 [[ 3.71567740e-01 -9.25802716e-01 -6.94747824e-02 1.27829977e+02] [ 9.13985902e-01 3.77908775e-01 -1.47698103e-01 9.37350488e+01] [ 1.62994435e-01 -8.61912107e-03 9.86589340e-01 1.04783646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870371743 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:127.84, Y:93.76, Z:10.48 [[ 3.70183576e-01 -9.26309767e-01 -7.01023202e-02 1.27842770e+02] [ 9.14489804e-01 3.76645710e-01 -1.47805304e-01 9.37611446e+01] [ 1.63317235e-01 -9.39276110e-03 9.86528893e-01 1.04834498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.900371743 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:127.85, Y:93.79, Z:10.49 [[ 3.71039303e-01 -9.26736219e-01 -5.90746628e-02 1.27853696e+02] [ 9.14571348e-01 3.75709612e-01 -1.49671431e-01 9.37900477e+01] [ 1.60900854e-01 1.50598930e-03 9.86969426e-01 1.04902259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930371743 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:127.87, Y:93.81, Z:10.49 [[ 3.73814859e-01 -9.24821995e-01 -7.04750263e-02 1.27869011e+02] [ 9.13342808e-01 3.80270257e-01 -1.45600298e-01 9.38118710e+01] [ 1.61453915e-01 -9.94030352e-03 9.86830190e-01 1.04892963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.960371743 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:127.88, Y:93.84, Z:10.50 [[ 3.77336950e-01 -9.23979118e-01 -6.22849479e-02 1.27879947e+02] [ 9.12192643e-01 3.82440703e-01 -1.47117947e-01 9.38381308e+01] [ 1.59754210e-01 -1.30283391e-03 9.87155963e-01 1.04956263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990371743 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:127.89, Y:93.86, Z:10.50 [[ 3.79195260e-01 -9.23027791e-01 -6.50434587e-02 1.27893873e+02] [ 9.11523901e-01 3.84710585e-01 -1.45333902e-01 9.38643570e+01] [ 1.59170137e-01 -4.17874065e-03 9.87242324e-01 1.04987132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.020371743 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:127.91, Y:93.89, Z:10.50 [[ 3.83774130e-01 -9.20760534e-01 -7.01245803e-02 1.27908477e+02] [ 9.09751971e-01 3.90019676e-01 -1.42253311e-01 9.38887216e+01] [ 1.58331200e-01 -9.20283448e-03 9.87343172e-01 1.05015654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050371743 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:127.92, Y:93.91, Z:10.51 [[ 3.85597432e-01 -9.19853591e-01 -7.19999372e-02 1.27918246e+02] [ 9.08820431e-01 3.92120934e-01 -1.42431025e-01 9.39098639e+01] [ 1.59248373e-01 -1.05139765e-02 9.87182563e-01 1.05072567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.080371743 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:127.93, Y:93.94, Z:10.51 [[ 3.87151025e-01 -9.19310227e-01 -7.05888877e-02 1.27932016e+02] [ 9.08255357e-01 3.93431285e-01 -1.42422017e-01 9.39353410e+01] [ 1.58701894e-01 -8.97390530e-03 9.87285763e-01 1.05140051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11037174300003 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:127.94, Y:93.96, Z:10.52 [[ 3.87846030e-01 -9.19654794e-01 -6.17293788e-02 1.27943242e+02] [ 9.08083407e-01 3.92727562e-01 -1.45428982e-01 9.39626560e+01] [ 1.57987289e-01 3.48628900e-04 9.87441084e-01 1.05220836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.140371743 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:127.96, Y:93.98, Z:10.52 [[ 3.86222980e-01 -9.18388634e-01 -8.59891062e-02 1.27961060e+02] [ 9.07840347e-01 3.94970086e-01 -1.40799630e-01 9.39842530e+01] [ 1.63271904e-01 -2.36843276e-02 9.86296780e-01 1.05214403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17037174300003 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:127.96, Y:94.00, Z:10.53 [[ 3.81850857e-01 -9.21081205e-01 -7.61533727e-02 1.27964303e+02] [ 9.09115746e-01 3.89169112e-01 -1.48512501e-01 9.40044417e+01] [ 1.66428614e-01 -1.25226044e-02 9.85973986e-01 1.05327314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.200371743 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:127.97, Y:94.03, Z:10.54 [[ 3.81792989e-01 -9.21731669e-01 -6.81530953e-02 1.27974102e+02] [ 9.08963055e-01 3.87811880e-01 -1.52931715e-01 9.40275511e+01] [ 1.67392585e-01 -3.56038898e-03 9.85883891e-01 1.05398468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.230371743 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:127.99, Y:94.05, Z:10.55 [[ 3.81415670e-01 -9.22047635e-01 -6.59563902e-02 1.27988417e+02] [ 9.08931874e-01 3.87075508e-01 -1.54969029e-01 9.40524858e+01] [ 1.68418930e-01 -8.42249206e-04 9.85715149e-01 1.05488246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.260371743 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:128.01, Y:94.07, Z:10.55 [[ 3.79495923e-01 -9.22709638e-01 -6.77478270e-02 1.28005181e+02] [ 9.09641873e-01 3.85484834e-01 -1.54767909e-01 9.40741676e+01] [ 1.68921601e-01 -2.89246966e-03 9.85625246e-01 1.05533136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.290371743 meters Centerline goodness : 0.983231 Centerline is valid? [True, True] Translation: X:128.01, Y:94.10, Z:10.56 [[ 3.75041624e-01 -9.25266899e-01 -5.67885982e-02 1.28008379e+02] [ 9.12017975e-01 3.79256168e-01 -1.56166486e-01 9.40954454e+01] [ 1.66033107e-01 6.77671031e-03 9.86096894e-01 1.05565968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.320371743 meters Centerline goodness : 0.988325 Centerline is valid? [True, True] Translation: X:128.04, Y:94.12, Z:10.56 [[ 3.81377984e-01 -9.21512717e-01 -7.32471537e-02 1.28041801e+02] [ 9.08755006e-01 3.88261549e-01 -1.53027150e-01 9.41187915e+01] [ 1.69455518e-01 -8.20253154e-03 9.85503702e-01 1.05608839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.350371743 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:128.05, Y:94.14, Z:10.57 [[ 3.81118729e-01 -9.21994969e-01 -6.83651383e-02 1.28052844e+02] [ 9.08724704e-01 3.87192354e-01 -1.55889365e-01 9.41416887e+01] [ 1.70199669e-01 -2.71273340e-03 9.85405863e-01 1.05691628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380371743 meters Centerline goodness : 0.988168 Centerline is valid? [True, True] Translation: X:128.07, Y:94.17, Z:10.57 [[ 3.80821603e-01 -9.20973827e-01 -8.23536025e-02 1.28072585e+02] [ 9.09129170e-01 3.89191305e-01 -1.48372100e-01 9.41667431e+01] [ 1.68698126e-01 -1.83667614e-02 9.85496628e-01 1.05680396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.410371743 meters Centerline goodness : 0.981356 Centerline is valid? [True, True] Translation: X:128.07, Y:94.19, Z:10.58 [[ 3.75614335e-01 -9.25377043e-01 -5.09038228e-02 1.28071514e+02] [ 9.11893217e-01 3.78828366e-01 -1.57923495e-01 9.41855379e+01] [ 1.65422589e-01 1.28994779e-02 9.86138413e-01 1.05844809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440371743 meters Centerline goodness : 0.986186 Centerline is valid? [True, True] Translation: X:128.11, Y:94.21, Z:10.58 [[ 3.79071601e-01 -9.21677883e-01 -8.25506011e-02 1.28105008e+02] [ 9.10556032e-01 3.87414081e-01 -1.44215262e-01 9.42115300e+01] [ 1.64901282e-01 -2.04990377e-02 9.86097032e-01 1.05772971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.470371743 meters Centerline goodness : 0.986469 Centerline is valid? [True, True] Translation: X:128.11, Y:94.23, Z:10.59 [[ 3.75725611e-01 -9.24895569e-01 -5.82962390e-02 1.28113665e+02] [ 9.12124400e-01 3.80195774e-01 -1.53232674e-01 9.42339545e+01] [ 1.63888205e-01 4.40001807e-03 9.86469106e-01 1.05924858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500371743 meters Centerline goodness : 0.982476 Centerline is valid? [True, True] Translation: X:128.12, Y:94.25, Z:10.60 [[ 3.70908895e-01 -9.27394631e-01 -4.86393814e-02 1.28118022e+02] [ 9.14585717e-01 3.73869464e-01 -1.54125239e-01 9.42533862e+01] [ 1.61119698e-01 1.26815385e-02 9.86853394e-01 1.05960379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.530371743 meters Centerline goodness : 0.984950 Centerline is valid? [True, True] Translation: X:128.15, Y:94.28, Z:10.59 [[ 3.73045345e-01 -9.24684170e-01 -7.61337992e-02 1.28153469e+02] [ 9.13188838e-01 3.80438931e-01 -1.46124488e-01 9.42758764e+01] [ 1.64083262e-01 -1.50134757e-02 9.86332236e-01 1.05924280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560371743 meters Centerline goodness : 0.985645 Centerline is valid? [True, True] Translation: X:128.16, Y:94.30, Z:10.60 [[ 3.71721629e-01 -9.26083250e-01 -6.47521828e-02 1.28163746e+02] [ 9.13612116e-01 3.77308530e-01 -1.51496451e-01 9.42998088e+01] [ 1.64729877e-01 -2.84387118e-03 9.86334619e-01 1.06028041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.590371743 meters Centerline goodness : 0.985800 Centerline is valid? [True, True] Translation: X:128.18, Y:94.33, Z:10.61 [[ 3.71689097e-01 -9.26864853e-01 -5.26189943e-02 1.28177756e+02] [ 9.13485799e-01 3.75251530e-01 -1.57257702e-01 9.43270893e+01] [ 1.65501995e-01 1.03842694e-02 9.86154783e-01 1.06138670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620371743 meters Centerline goodness : 0.984719 Centerline is valid? [True, True] Translation: X:128.20, Y:94.35, Z:10.61 [[ 3.71603751e-01 -9.26010596e-01 -6.64456876e-02 1.28202808e+02] [ 9.13530084e-01 3.77472210e-01 -1.51583365e-01 9.43466734e+01] [ 1.65449203e-01 -4.37118743e-03 9.86208626e-01 1.06126744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.650371743 meters Centerline goodness : 0.985367 Centerline is valid? [True, True] Translation: X:128.22, Y:94.37, Z:10.61 [[ 3.68266325e-01 -9.26469746e-01 -7.76770507e-02 1.28216577e+02] [ 9.14682897e-01 3.76009083e-01 -1.48230795e-01 9.43675174e+01] [ 1.66538623e-01 -1.64614598e-02 9.85897514e-01 1.06127262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680371743 meters Centerline goodness : 0.986022 Centerline is valid? [True, True] Translation: X:128.23, Y:94.39, Z:10.62 [[ 3.65252619e-01 -9.28076544e-01 -7.25565555e-02 1.28230640e+02] [ 9.15957162e-01 3.72205991e-01 -1.49950584e-01 9.43892287e+01] [ 1.66171604e-01 -1.16888533e-02 9.86027570e-01 1.06175210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.710371743 meters Centerline goodness : 0.984663 Centerline is valid? [True, True] Translation: X:128.23, Y:94.41, Z:10.62 [[ 3.61412272e-01 -9.30235805e-01 -6.35807921e-02 1.28234973e+02] [ 9.17236158e-01 3.66955095e-01 -1.54989643e-01 9.44090128e+01] [ 1.67508211e-01 -2.30344237e-03 9.85867990e-01 1.06239000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740371743 meters Centerline goodness : 0.986833 Centerline is valid? [True, True] Translation: X:128.26, Y:94.44, Z:10.63 [[ 3.63981002e-01 -9.29473226e-01 -5.99779377e-02 1.28256633e+02] [ 9.16053791e-01 3.68882136e-01 -1.57389399e-01 9.44378259e+01] [ 1.68414022e-01 2.34373406e-03 9.85713561e-01 1.06323031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.770371743 meters Centerline goodness : 0.985497 Centerline is valid? [True, True] Translation: X:128.28, Y:94.46, Z:10.64 [[ 3.63921090e-01 -9.29336267e-01 -6.24142798e-02 1.28277379e+02] [ 9.16390167e-01 3.69233285e-01 -1.54582806e-01 9.44600625e+01] [ 1.66704837e-01 -9.39889106e-04 9.86006397e-01 1.06372053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800371743 meters Centerline goodness : 0.985823 Centerline is valid? [True, True] Translation: X:128.29, Y:94.48, Z:10.64 [[ 3.62944124e-01 -9.29552316e-01 -6.48386830e-02 1.28293102e+02] [ 9.16969420e-01 3.68667309e-01 -1.52484420e-01 9.44845969e+01] [ 1.65646149e-01 -4.11176521e-03 9.86176681e-01 1.06410300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.830371743 meters Centerline goodness : 0.984893 Centerline is valid? [True, True] Translation: X:128.31, Y:94.50, Z:10.65 [[ 3.60982242e-01 -9.30043891e-01 -6.86307622e-02 1.28310703e+02] [ 9.17478006e-01 3.67363692e-01 -1.52571380e-01 9.45048074e+01] [ 1.67110530e-01 -7.89165607e-03 9.85906584e-01 1.06483423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86037174300003 meters Centerline goodness : 0.983433 Centerline is valid? [True, True] Translation: X:128.31, Y:94.53, Z:10.66 [[ 3.55325411e-01 -9.33456538e-01 -4.90177988e-02 1.28308038e+02] [ 9.19922961e-01 3.58511664e-01 -1.58780140e-01 9.45254456e+01] [ 1.65787812e-01 1.13260197e-02 9.86096406e-01 1.06556540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.890371743 meters Centerline goodness : 0.985357 Centerline is valid? [True, True] Translation: X:128.34, Y:94.55, Z:10.65 [[ 3.60029061e-01 -9.30025917e-01 -7.36944270e-02 1.28340801e+02] [ 9.18693765e-01 3.67175251e-01 -1.45547593e-01 9.45515197e+01] [ 1.62421803e-01 -1.53012474e-02 9.86602772e-01 1.06527421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92037174300003 meters Centerline goodness : 0.985604 Centerline is valid? [True, True] Translation: X:128.36, Y:94.58, Z:10.66 [[ 3.56796960e-01 -9.31458299e-01 -7.12837053e-02 1.28358011e+02] [ 9.19741098e-01 3.63622330e-01 -1.47834750e-01 9.45767117e+01] [ 1.63622252e-01 -1.28155640e-02 9.86439821e-01 1.06579603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.950371743 meters Centerline goodness : 0.985408 Centerline is valid? [True, True] Translation: X:128.37, Y:94.60, Z:10.67 [[ 3.53291375e-01 -9.33006184e-01 -6.84446070e-02 1.28367858e+02] [ 9.20597738e-01 3.59739392e-01 -1.51945303e-01 9.45998163e+01] [ 1.66388129e-01 -9.32898535e-03 9.86016207e-01 1.06650745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.980371743 meters Centerline goodness : 0.985978 Centerline is valid? [True, True] Translation: X:128.38, Y:94.62, Z:10.67 [[ 3.46505721e-01 -9.35645112e-01 -6.70970217e-02 1.28381879e+02] [ 9.23211573e-01 3.52823073e-01 -1.52303218e-01 9.46238351e+01] [ 1.66175139e-01 -9.17081059e-03 9.86053609e-01 1.06709754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.010371743 meters Centerline goodness : 0.985868 Centerline is valid? [True, True] Translation: X:128.39, Y:94.65, Z:10.67 [[ 3.43685710e-01 -9.36702731e-01 -6.68440502e-02 1.28394802e+02] [ 9.24717116e-01 3.49972566e-01 -1.49724611e-01 9.46484469e+01] [ 1.63641036e-01 -1.03536279e-02 9.86465617e-01 1.06723245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.040371743 meters Centerline goodness : 0.986601 Centerline is valid? [True, True] Translation: X:128.41, Y:94.67, Z:10.68 [[ 3.38753808e-01 -9.38005317e-01 -7.34294411e-02 1.28406584e+02] [ 9.26230642e-01 3.46180052e-01 -1.49185015e-01 9.46732789e+01] [ 1.65356145e-01 -1.74756064e-02 9.86079078e-01 1.06758272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.070371743 meters Centerline goodness : 0.984728 Centerline is valid? [True, True] Translation: X:128.42, Y:94.70, Z:10.68 [[ 3.38212447e-01 -9.38605076e-01 -6.80650526e-02 1.28421310e+02] [ 9.26780167e-01 3.44760839e-01 -1.49058663e-01 9.47004434e+01] [ 1.63373382e-01 -1.26678458e-02 9.86482977e-01 1.06834435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.100371743 meters Centerline goodness : 0.984810 Centerline is valid? [True, True] Translation: X:128.42, Y:94.73, Z:10.69 [[ 3.31199025e-01 -9.41861837e-01 -5.65993522e-02 1.28424554e+02] [ 9.29148711e-01 3.35997040e-01 -1.54235734e-01 9.47252947e+01] [ 1.64285967e-01 -1.50649032e-03 9.86411604e-01 1.06901059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130371743 meters Centerline goodness : 0.984725 Centerline is valid? [True, True] Translation: X:128.44, Y:94.75, Z:10.69 [[ 3.29895009e-01 -9.41306926e-01 -7.14881374e-02 1.28441083e+02] [ 9.29523773e-01 3.37116236e-01 -1.49459691e-01 9.47490460e+01] [ 1.64787254e-01 -1.71439170e-02 9.86180129e-01 1.06914068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.160371743 meters Centerline goodness : 0.985210 Centerline is valid? [True, True] Translation: X:128.45, Y:94.77, Z:10.70 [[ 3.27547697e-01 -9.42854884e-01 -6.11324248e-02 1.28446435e+02] [ 9.30216730e-01 3.33141657e-01 -1.53991790e-01 9.47749416e+01] [ 1.65557669e-01 -6.42674801e-03 9.86179170e-01 1.06984041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190371743 meters Centerline goodness : 0.986463 Centerline is valid? [True, True] Translation: X:128.45, Y:94.80, Z:10.70 [[ 3.24286845e-01 -9.43640530e-01 -6.61860418e-02 1.28453788e+02] [ 9.31861929e-01 3.30705379e-01 -1.49222311e-01 9.48017797e+01] [ 1.62700301e-01 -1.32854200e-02 9.86586088e-01 1.07000762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.220371743 meters Centerline goodness : 0.984958 Centerline is valid? [True, True] Translation: X:128.46, Y:94.83, Z:10.71 [[ 3.26182016e-01 -9.43433965e-01 -5.94781181e-02 1.28462872e+02] [ 9.31052007e-01 3.31512340e-01 -1.52452381e-01 9.48283378e+01] [ 1.63546484e-01 -5.64999633e-03 9.86519450e-01 1.07081817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250371743 meters Centerline goodness : 0.986500 Centerline is valid? [True, True] Translation: X:128.47, Y:94.86, Z:10.71 [[ 3.25184888e-01 -9.43537910e-01 -6.31743627e-02 1.28468428e+02] [ 9.31968103e-01 3.31086995e-01 -1.47705304e-01 9.48563795e+01] [ 1.60281764e-01 -1.08449581e-02 9.87011724e-01 1.07112298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.280371743 meters Centerline goodness : 0.985216 Centerline is valid? [True, True] Translation: X:128.48, Y:94.88, Z:10.72 [[ 3.24875397e-01 -9.43883333e-01 -5.94998347e-02 1.28475785e+02] [ 9.32048702e-01 3.30204930e-01 -1.49164078e-01 9.48842181e+01] [ 1.60440626e-01 -6.99700468e-03 9.87020693e-01 1.07187435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310371743 meters Centerline goodness : 0.987747 Centerline is valid? [True, True] Translation: X:128.48, Y:94.91, Z:10.72 [[ 3.22545536e-01 -9.44412429e-01 -6.36360130e-02 1.28480129e+02] [ 9.33340248e-01 3.28517464e-01 -1.44748948e-01 9.49084530e+01] [ 1.57608247e-01 -1.27059250e-02 9.87419971e-01 1.07190982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.340371743 meters Centerline goodness : 0.987587 Centerline is valid? [True, True] Translation: X:128.49, Y:94.94, Z:10.72 [[ 3.24430410e-01 -9.43393565e-01 -6.89455640e-02 1.28494333e+02] [ 9.32754475e-01 3.31181250e-01 -1.42436189e-01 9.49360026e+01] [ 1.57206862e-01 -1.80986522e-02 9.87399839e-01 1.07246285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370371743 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:128.49, Y:94.96, Z:10.74 [[ 3.23353254e-01 -9.44933137e-01 -5.04384781e-02 1.28489575e+02] [ 9.32868468e-01 3.27259441e-01 -1.50524682e-01 9.49637294e+01] [ 1.58742228e-01 1.62017998e-03 9.87318733e-01 1.07357678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.400371743 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:128.50, Y:94.99, Z:10.73 [[ 3.23629047e-01 -9.43810835e-01 -6.69727398e-02 1.28504069e+02] [ 9.33354699e-01 3.30056716e-01 -1.41108364e-01 9.49912434e+01] [ 1.55284406e-01 -1.68425560e-02 9.87726218e-01 1.07332330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430371743 meters Centerline goodness : 0.986218 Centerline is valid? [True, True] Translation: X:128.51, Y:95.02, Z:10.75 [[ 3.26162261e-01 -9.44133393e-01 -4.72262244e-02 1.28505027e+02] [ 9.32268732e-01 3.29530579e-01 -1.49280302e-01 9.50226002e+01] [ 1.56503003e-01 4.66206866e-03 9.87666480e-01 1.07467691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.460371743 meters Centerline goodness : 0.986726 Centerline is valid? [True, True] Translation: X:128.51, Y:95.05, Z:10.74 [[ 3.23527526e-01 -9.43682460e-01 -6.92340559e-02 1.28514474e+02] [ 9.33333503e-01 3.30300466e-01 -1.40677553e-01 9.50473196e+01] [ 1.55622980e-01 -1.91054033e-02 9.87631749e-01 1.07393794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490371743 meters Centerline goodness : 0.988232 Centerline is valid? [True, True] Translation: X:128.52, Y:95.08, Z:10.75 [[ 3.27771495e-01 -9.43071150e-01 -5.64150131e-02 1.28517938e+02] [ 9.31165911e-01 3.32572033e-01 -1.49418502e-01 9.50770762e+01] [ 1.59674334e-01 -3.55661147e-03 9.87163339e-01 1.07509193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.520371743 meters Centerline goodness : 0.987892 Centerline is valid? [True, True] Translation: X:128.52, Y:95.10, Z:10.75 [[ 3.26003215e-01 -9.43479725e-01 -5.97319987e-02 1.28523277e+02] [ 9.32113288e-01 3.31333539e-01 -1.46228944e-01 9.51049483e+01] [ 1.57755259e-01 -8.00588380e-03 9.87445788e-01 1.07523269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550371743 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:128.54, Y:95.13, Z:10.75 [[ 3.28880464e-01 -9.42003103e-01 -6.68415678e-02 1.28535793e+02] [ 9.30987614e-01 3.35280276e-01 -1.44392518e-01 9.51309045e+01] [ 1.58428860e-01 -1.47407933e-02 9.87260353e-01 1.07539240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.580371743 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:128.53, Y:95.16, Z:10.77 [[ 3.22108971e-01 -9.43981352e-01 -7.17287773e-02 1.28529523e+02] [ 9.29710835e-01 3.29708952e-01 -1.64102924e-01 9.51601930e+01] [ 1.78559720e-01 -1.38279976e-02 9.83831903e-01 1.07715695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61037174300003 meters Centerline goodness : 0.988475 Centerline is valid? [True, True] Translation: X:128.54, Y:95.19, Z:10.77 [[ 3.31091726e-01 -9.41819222e-01 -5.79208334e-02 1.28542344e+02] [ 9.29898778e-01 3.36091263e-01 -1.49435354e-01 9.51880152e+01] [ 1.60207775e-01 -4.38370294e-03 9.87073580e-01 1.07673633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.640371743 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:128.55, Y:95.21, Z:10.77 [[ 3.33137995e-01 -9.40159000e-01 -7.15550859e-02 1.28549183e+02] [ 9.29191282e-01 3.40239132e-01 -1.44363760e-01 9.52138066e+01] [ 1.60070729e-01 -1.83953084e-02 9.86934129e-01 1.07655928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67037174300003 meters Centerline goodness : 0.988977 Centerline is valid? [True, True] Translation: X:128.55, Y:95.24, Z:10.78 [[ 3.33122465e-01 -9.41307359e-01 -5.44965927e-02 1.28550803e+02] [ 9.29215833e-01 3.37550239e-01 -1.50392064e-01 9.52436174e+01] [ 1.59960495e-01 -5.40121554e-04 9.87123269e-01 1.07789727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.700371743 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:128.56, Y:95.27, Z:10.78 [[ 3.34423129e-01 -9.40040357e-01 -6.69723677e-02 1.28562308e+02] [ 9.29009492e-01 3.40776909e-01 -1.44265249e-01 9.52680561e+01] [ 1.58437793e-01 -1.39723292e-02 9.87270095e-01 1.07780439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.730371743 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:128.57, Y:95.29, Z:10.78 [[ 3.34104628e-01 -9.40361320e-01 -6.39897264e-02 1.28571823e+02] [ 9.29068660e-01 3.40006642e-01 -1.45694574e-01 9.52930801e+01] [ 1.58762474e-01 -1.07736179e-02 9.87258024e-01 1.07842176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.760371743 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:128.57, Y:95.32, Z:10.79 [[ 3.33873551e-01 -9.40585181e-01 -6.18705830e-02 1.28573424e+02] [ 9.29593069e-01 3.39423825e-01 -1.43694790e-01 9.53215199e+01] [ 1.56157540e-01 -9.53857529e-03 9.87686103e-01 1.07900633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.790371743 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:128.59, Y:95.36, Z:10.80 [[ 3.38334060e-01 -9.39972563e-01 -4.45156693e-02 1.28585422e+02] [ 9.28038627e-01 3.41123238e-01 -1.49596939e-01 9.53553516e+01] [ 1.55802348e-01 9.30147917e-03 9.87744456e-01 1.08040799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.820371743 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:128.60, Y:95.38, Z:10.80 [[ 3.38343097e-01 -9.37977998e-01 -7.56387701e-02 1.28598894e+02] [ 9.28088823e-01 3.45893907e-01 -1.37871466e-01 9.53794320e+01] [ 1.55483391e-01 -2.35516384e-02 9.87557712e-01 1.07972210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.850371743 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:128.60, Y:95.41, Z:10.81 [[ 3.35526844e-01 -9.39369591e-01 -7.07566908e-02 1.28603603e+02] [ 9.28901476e-01 3.42412391e-01 -1.41052481e-01 9.54065910e+01] [ 1.56728379e-01 -1.83991008e-02 9.87470348e-01 1.08055992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880371743 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:128.61, Y:95.44, Z:10.81 [[ 3.34975188e-01 -9.40287369e-01 -6.04258801e-02 1.28609591e+02] [ 9.29358727e-01 3.40282947e-01 -1.43177766e-01 9.54358403e+01] [ 1.55190141e-01 -8.19632003e-03 9.87850616e-01 1.08130325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.910371743 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:128.61, Y:95.46, Z:10.81 [[ 3.33855441e-01 -9.40034568e-01 -6.98251865e-02 1.28614790e+02] [ 9.29368456e-01 3.40635355e-01 -1.42273777e-01 9.54599193e+01] [ 1.57527196e-01 -1.73944511e-02 9.87361441e-01 1.08137480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940371743 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:128.62, Y:95.49, Z:10.82 [[ 3.32967220e-01 -9.40882559e-01 -6.22321593e-02 1.28619892e+02] [ 9.29495435e-01 3.38609182e-01 -1.46226048e-01 9.54880550e+01] [ 1.58653919e-01 -9.15602721e-03 9.87291801e-01 1.08212605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.970371743 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:128.63, Y:95.52, Z:10.82 [[ 3.30996485e-01 -9.41457520e-01 -6.40239476e-02 1.28629016e+02] [ 9.30077242e-01 3.36948789e-01 -1.46362010e-01 9.55164068e+01] [ 1.59366407e-01 -1.11019056e-02 9.87157078e-01 1.08247481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000371743 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:128.63, Y:95.54, Z:10.83 [[ 3.31093876e-01 -9.41119541e-01 -6.83436592e-02 1.28634345e+02] [ 9.29693938e-01 3.37746269e-01 -1.46957952e-01 9.55432416e+01] [ 1.61387817e-01 -1.48818076e-02 9.86778853e-01 1.08258837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.030371743 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:128.64, Y:95.57, Z:10.83 [[ 3.29963928e-01 -9.41707136e-01 -6.56618330e-02 1.28641181e+02] [ 9.29860221e-01 3.36227797e-01 -1.49368128e-01 9.55717792e+01] [ 1.62738365e-01 -1.17702325e-02 9.86599050e-01 1.08312821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060371743 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:128.65, Y:95.60, Z:10.84 [[ 3.30348983e-01 -9.41859379e-01 -6.14040652e-02 1.28645395e+02] [ 9.29785296e-01 3.35926418e-01 -1.50508290e-01 9.56016650e+01] [ 1.62384892e-01 -7.37233649e-03 9.86699952e-01 1.08360395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.090371743 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:128.66, Y:95.63, Z:10.84 [[ 3.30311079e-01 -9.40956247e-01 -7.41345621e-02 1.28657547e+02] [ 9.29720765e-01 3.37903387e-01 -1.46426088e-01 9.56272563e+01] [ 1.62830862e-01 -2.05582826e-02 9.86439794e-01 1.08362669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120371743 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:128.66, Y:95.65, Z:10.84 [[ 3.29347124e-01 -9.41605014e-01 -7.00747370e-02 1.28662438e+02] [ 9.29815751e-01 3.36341221e-01 -1.49389599e-01 9.56534924e+01] [ 1.64235018e-01 -1.59555596e-02 9.86292188e-01 1.08447064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.150371743 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:128.66, Y:95.69, Z:10.86 [[ 3.27616787e-01 -9.43462656e-01 -5.04525208e-02 1.28662696e+02] [ 9.29680111e-01 3.31428622e-01 -1.60779228e-01 9.56879980e+01] [ 1.68410607e-01 5.76926894e-03 9.85700047e-01 1.08613124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180371743 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:128.68, Y:95.71, Z:10.85 [[ 3.31115636e-01 -9.39574180e-01 -8.69643407e-02 1.28684148e+02] [ 9.29861832e-01 3.40573539e-01 -1.39164070e-01 9.57094373e+01] [ 1.60372721e-01 -3.47854215e-02 9.86443392e-01 1.08468191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.210371743 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:128.68, Y:95.73, Z:10.86 [[ 3.35582319e-01 -9.39757582e-01 -6.51167760e-02 1.28682261e+02] [ 9.28543695e-01 3.41640270e-01 -1.45218912e-01 9.57345576e+01] [ 1.58717086e-01 -1.17308726e-02 9.87254412e-01 1.08617613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240371743 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:128.69, Y:95.77, Z:10.88 [[ 3.32373590e-01 -9.41996865e-01 -4.65800731e-02 1.28686495e+02] [ 9.27973636e-01 3.35450565e-01 -1.62289399e-01 9.57693767e+01] [ 1.68501417e-01 1.07156304e-02 9.85643164e-01 1.08807259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.270371743 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:128.71, Y:95.79, Z:10.86 [[ 3.36351088e-01 -9.37193285e-01 -9.23942215e-02 1.28711501e+02] [ 9.28189145e-01 3.46494736e-01 -1.35669853e-01 9.57893541e+01] [ 1.59162987e-01 -4.01266107e-02 9.86436515e-01 1.08602302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300371743 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:128.71, Y:95.82, Z:10.89 [[ 3.33347662e-01 -9.41514367e-01 -4.92953623e-02 1.28705248e+02] [ 9.27281329e-01 3.36859656e-01 -1.63324554e-01 9.58231972e+01] [ 1.70378033e-01 8.73318912e-03 9.85340072e-01 1.08908592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.330371743 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:128.72, Y:95.85, Z:10.88 [[ 3.33120721e-01 -9.40252097e-01 -7.04029713e-02 1.28723730e+02] [ 9.27261862e-01 3.40222679e-01 -1.56313684e-01 9.58497374e+01] [ 1.70926957e-01 -1.32106631e-02 9.85195135e-01 1.08846440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36037174300003 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:128.74, Y:95.87, Z:10.87 [[ 3.37228407e-01 -9.36445086e-01 -9.66830024e-02 1.28740485e+02] [ 9.26482574e-01 3.48345570e-01 -1.42426837e-01 9.58668810e+01] [ 1.67054007e-01 -4.15447416e-02 9.85072075e-01 1.08742707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.390371743 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:128.74, Y:95.90, Z:10.90 [[ 3.35828485e-01 -9.39822345e-01 -6.28743942e-02 1.28738141e+02] [ 9.26650472e-01 3.41618068e-01 -1.56894867e-01 9.58966467e+01] [ 1.68932331e-01 -5.57282167e-03 9.85611897e-01 1.08954993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42037174300003 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:128.75, Y:95.92, Z:10.90 [[ 3.35565547e-01 -9.39513978e-01 -6.86239667e-02 1.28751331e+02] [ 9.26934000e-01 3.42299147e-01 -1.53703133e-01 9.59238985e+01] [ 1.67896167e-01 -1.20324120e-02 9.85731250e-01 1.08962881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.450371743 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:128.76, Y:95.95, Z:10.91 [[ 3.30546381e-01 -9.41961480e-01 -5.87167767e-02 1.28757527e+02] [ 9.26124949e-01 3.35711804e-01 -1.72017915e-01 9.59546538e+01] [ 1.81746165e-01 2.48082759e-03 9.83342350e-01 1.09122683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.480371743 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:128.77, Y:95.98, Z:10.91 [[ 3.28502110e-01 -9.41093335e-01 -8.01853979e-02 1.28774736e+02] [ 9.26511159e-01 3.37572789e-01 -1.66197730e-01 9.59795861e+01] [ 1.83475984e-01 -1.96963609e-02 9.82826850e-01 1.09074366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.510371743 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:128.78, Y:96.01, Z:10.92 [[ 3.27388177e-01 -9.41785747e-01 -7.65283419e-02 1.28782833e+02] [ 9.26610593e-01 3.35853822e-01 -1.69100619e-01 9.60050668e+01] [ 1.84958889e-01 -1.55504288e-02 9.82623221e-01 1.09151817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.540371743 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:128.79, Y:96.03, Z:10.92 [[ 3.27477642e-01 -9.41716168e-01 -7.70003415e-02 1.28792749e+02] [ 9.26939420e-01 3.35994502e-01 -1.67006006e-01 9.60302022e+01] [ 1.83143947e-01 -1.66839191e-02 9.82944526e-01 1.09185007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.570371743 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:128.81, Y:96.05, Z:10.92 [[ 3.30832073e-01 -9.39529136e-01 -8.85163347e-02 1.28807518e+02] [ 9.27609079e-01 3.41002940e-01 -1.52507024e-01 9.60526896e+01] [ 1.73469123e-01 -3.16543406e-02 9.84330466e-01 1.09162817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.600371743 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:128.81, Y:96.08, Z:10.93 [[ 3.31681160e-01 -9.41080495e-01 -6.59932601e-02 1.28810467e+02] [ 9.27245412e-01 3.38092607e-01 -1.60963771e-01 9.60809856e+01] [ 1.73791699e-01 -7.80329708e-03 9.84751519e-01 1.09332688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630371743 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:128.82, Y:96.11, Z:10.94 [[ 3.34026656e-01 -9.40184785e-01 -6.69235543e-02 1.28822401e+02] [ 9.26938458e-01 3.40534929e-01 -1.57547003e-01 9.61083527e+01] [ 1.70913103e-01 -9.40911749e-03 9.85241178e-01 1.09369924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.660371743 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:128.83, Y:96.13, Z:10.94 [[ 3.34805732e-01 -9.39612610e-01 -7.09455129e-02 1.28834509e+02] [ 9.26913925e-01 3.41953330e-01 -1.54591382e-01 9.61341313e+01] [ 1.69516066e-01 -1.40023030e-02 9.85427947e-01 1.09396575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:128.84, Y:96.16, Z:10.94 [[ 3.34817480e-01 -9.39460039e-01 -7.28840923e-02 1.28844936e+02] [ 9.26866120e-01 3.42287268e-01 -1.54138319e-01 9.61593354e+01] [ 1.69754088e-01 -1.59455923e-02 9.85357442e-01 1.09446287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.720371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:128.85, Y:96.18, Z:10.95 [[ 3.33985559e-01 -9.40079057e-01 -6.85930970e-02 1.28854091e+02] [ 9.27089674e-01 3.40764617e-01 -1.56154447e-01 9.61842845e+01] [ 1.70171625e-01 -1.14386219e-02 9.85348048e-01 1.09517227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750371743 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:128.86, Y:96.21, Z:10.96 [[ 3.31909549e-01 -9.40670106e-01 -7.05393700e-02 1.28864781e+02] [ 9.27511877e-01 3.39065528e-01 -1.57341304e-01 9.62086493e+01] [ 1.71923730e-01 -1.32030221e-02 9.85021782e-01 1.09572342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.780371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:128.88, Y:96.23, Z:10.96 [[ 3.28784138e-01 -9.41768417e-01 -7.05211913e-02 1.28877002e+02] [ 9.28611619e-01 3.35982414e-01 -1.57468344e-01 9.62327662e+01] [ 1.71992593e-01 -1.37137040e-02 9.85002783e-01 1.09610955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:128.89, Y:96.26, Z:10.97 [[ 3.27033856e-01 -9.42417579e-01 -6.99854600e-02 1.28888856e+02] [ 9.28762825e-01 3.34202419e-01 -1.60338264e-01 9.62596865e+01] [ 1.74494908e-01 -1.25638529e-02 9.84577918e-01 1.09663698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.840371743 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:128.90, Y:96.28, Z:10.97 [[ 3.26063326e-01 -9.42432410e-01 -7.41880036e-02 1.28902329e+02] [ 9.28624252e-01 3.34003245e-01 -1.61551325e-01 9.62843569e+01] [ 1.77030239e-01 -1.62168169e-02 9.84071801e-01 1.09699710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870371743 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:128.91, Y:96.30, Z:10.98 [[ 3.27280068e-01 -9.42302906e-01 -7.03774908e-02 1.28912237e+02] [ 9.26878452e-01 3.34624585e-01 -1.70066816e-01 9.63039164e+01] [ 1.83804494e-01 -9.57190049e-03 9.82916216e-01 1.09793410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.900371743 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:128.93, Y:96.33, Z:10.98 [[ 3.25806643e-01 -9.42965323e-01 -6.83112860e-02 1.28926452e+02] [ 9.28493147e-01 3.32749199e-01 -1.64858869e-01 9.63348389e+01] [ 1.78186723e-01 -9.71444622e-03 9.83948739e-01 1.09829164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930371743 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:128.94, Y:96.36, Z:10.99 [[ 3.25130548e-01 -9.42928343e-01 -7.19462777e-02 1.28939355e+02] [ 9.28552347e-01 3.32729952e-01 -1.64564022e-01 9.63595020e+01] [ 1.79110762e-01 -1.33010943e-02 9.83738998e-01 1.09873965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.960371743 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:128.95, Y:96.38, Z:10.99 [[ 3.24233595e-01 -9.42465113e-01 -8.14376230e-02 1.28953872e+02] [ 9.28049288e-01 3.33588671e-01 -1.65659643e-01 9.63823358e+01] [ 1.83295103e-01 -2.18657064e-02 9.82814731e-01 1.09914909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990371743 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:128.96, Y:96.41, Z:11.00 [[ 3.24787118e-01 -9.43316145e-01 -6.83226044e-02 1.28961815e+02] [ 9.27706942e-01 3.31803386e-01 -1.71074087e-01 9.64082252e+01] [ 1.84046620e-01 -7.82069458e-03 9.82886402e-01 1.10017759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.020371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:128.98, Y:96.43, Z:11.00 [[ 3.24552597e-01 -9.42914236e-01 -7.46883915e-02 1.28976171e+02] [ 9.27616095e-01 3.32733312e-01 -1.69755484e-01 9.64347513e+01] [ 1.84916178e-01 -1.41875708e-02 9.82651881e-01 1.10039269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:128.99, Y:96.46, Z:11.01 [[ 3.22831843e-01 -9.43109314e-01 -7.95262471e-02 1.28989917e+02] [ 9.28648299e-01 3.31860391e-01 -1.65773995e-01 9.64581395e+01] [ 1.82734611e-01 -2.03347896e-02 9.82951961e-01 1.10098390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.080371743 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:129.00, Y:96.48, Z:11.02 [[ 3.24861717e-01 -9.43423257e-01 -6.64636893e-02 1.28997315e+02] [ 9.28245314e-01 3.31519268e-01 -1.68687914e-01 9.64830357e+01] [ 1.81178095e-01 -6.89436272e-03 9.83426136e-01 1.10208848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11037174300003 meters Centerline goodness : 0.992865 Centerline is valid? [True, True] Translation: X:129.01, Y:96.51, Z:11.02 [[ 3.24172201e-01 -9.42802617e-01 -7.76891875e-02 1.29011175e+02] [ 9.28348688e-01 3.32839123e-01 -1.65489671e-01 9.65069788e+01] [ 1.81882095e-01 -1.84755045e-02 9.83146764e-01 1.10229794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.140371743 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:129.02, Y:96.53, Z:11.03 [[ 3.24626639e-01 -9.43300616e-01 -6.92928051e-02 1.29019478e+02] [ 9.28187071e-01 3.31799920e-01 -1.68456446e-01 9.65330523e+01] [ 1.81896416e-01 -9.63123605e-03 9.83270529e-01 1.10317062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17037174300003 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:129.03, Y:96.56, Z:11.04 [[ 3.26616171e-01 -9.42685862e-01 -6.83025828e-02 1.29030909e+02] [ 9.27633398e-01 3.33573577e-01 -1.68002820e-01 9.65562021e+01] [ 1.81157820e-01 -8.48731918e-03 9.83417414e-01 1.10359314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.200371743 meters Centerline goodness : 0.992636 Centerline is valid? [True, True] Translation: X:129.04, Y:96.58, Z:11.04 [[ 3.26183375e-01 -9.42555993e-01 -7.20597352e-02 1.29044018e+02] [ 9.27474014e-01 3.33835578e-01 -1.68361990e-01 9.65831696e+01] [ 1.82746706e-01 -1.19166497e-02 9.83087806e-01 1.10414935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.230371743 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:129.05, Y:96.61, Z:11.05 [[ 3.26375616e-01 -9.42582131e-01 -7.08370225e-02 1.29054093e+02] [ 9.27302991e-01 3.33811963e-01 -1.69347971e-01 9.66087240e+01] [ 1.83270617e-01 -1.04163344e-02 9.83007315e-01 1.10474042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.260371743 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:129.07, Y:96.63, Z:11.05 [[ 3.27449896e-01 -9.42470044e-01 -6.72813692e-02 1.29065340e+02] [ 9.26656319e-01 3.34236484e-01 -1.72029181e-01 9.66348646e+01] [ 1.84620238e-01 -6.01576849e-03 9.82791523e-01 1.10530924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.290371743 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:129.08, Y:96.66, Z:11.05 [[ 3.28222948e-01 -9.41603489e-01 -7.51835446e-02 1.29078088e+02] [ 9.26059359e-01 3.36452028e-01 -1.70921314e-01 9.66575234e+01] [ 1.86235762e-01 -1.35241275e-02 9.82412001e-01 1.10549925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.320371743 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:129.09, Y:96.68, Z:11.06 [[ 3.26334701e-01 -9.42215760e-01 -7.57306098e-02 1.29089080e+02] [ 9.26377714e-01 3.34720901e-01 -1.72586931e-01 9.66840265e+01] [ 1.87962744e-01 -1.38340448e-02 9.82078727e-01 1.10616080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.350371743 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:129.10, Y:96.71, Z:11.07 [[ 3.28213969e-01 -9.42657592e-01 -6.05991297e-02 1.29099280e+02] [ 9.25985132e-01 3.33756418e-01 -1.76516823e-01 9.67108257e+01] [ 1.86620272e-01 1.82139383e-03 9.82430434e-01 1.10696716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380371743 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:129.12, Y:96.74, Z:11.07 [[ 3.26692803e-01 -9.42125189e-01 -7.53122930e-02 1.29115961e+02] [ 9.26377438e-01 3.34987220e-01 -1.72070927e-01 9.67366675e+01] [ 1.87341010e-01 -1.35532755e-02 9.82201433e-01 1.10696242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.410371743 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:129.13, Y:96.76, Z:11.08 [[ 3.24741601e-01 -9.42939512e-01 -7.35389036e-02 1.29127063e+02] [ 9.26956594e-01 3.32751562e-01 -1.73285520e-01 9.67591080e+01] [ 1.87867949e-01 -1.18943543e-02 9.82122273e-01 1.10757964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440371743 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:129.14, Y:96.78, Z:11.08 [[ 3.23194322e-01 -9.43265783e-01 -7.61255098e-02 1.29138719e+02] [ 9.27342753e-01 3.31716796e-01 -1.73203307e-01 9.67844931e+01] [ 1.88628863e-01 -1.46161143e-02 9.81939673e-01 1.10805928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.470371743 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:129.15, Y:96.81, Z:11.09 [[ 3.22230309e-01 -9.44040195e-01 -7.03970005e-02 1.29147169e+02] [ 9.27667212e-01 3.29712363e-01 -1.75280639e-01 9.68074772e+01] [ 1.88682730e-01 -8.82425463e-03 9.81998452e-01 1.10884237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500371743 meters Centerline goodness : 0.989833 Centerline is valid? [True, True] Translation: X:129.16, Y:96.83, Z:11.09 [[ 3.18657693e-01 -9.45040648e-01 -7.31809237e-02 1.29161460e+02] [ 9.28871831e-01 3.26718832e-01 -1.74504804e-01 9.68330021e+01] [ 1.88823719e-01 -1.23684005e-02 9.81933107e-01 1.10937260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.530371743 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:129.17, Y:96.86, Z:11.10 [[ 3.16798409e-01 -9.45502533e-01 -7.52577502e-02 1.29171363e+02] [ 9.29032925e-01 3.25310399e-01 -1.76269590e-01 9.68564886e+01] [ 1.91145472e-01 -1.40750023e-02 9.81460800e-01 1.10993952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560371743 meters Centerline goodness : 0.989937 Centerline is valid? [True, True] Translation: X:129.18, Y:96.88, Z:11.11 [[ 3.15005580e-01 -9.46644521e-01 -6.80854998e-02 1.29182848e+02] [ 9.30225961e-01 3.22180789e-01 -1.75724786e-01 9.68839969e+01] [ 1.88284746e-01 -7.98061141e-03 9.82082056e-01 1.11063997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.590371743 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:129.20, Y:96.91, Z:11.11 [[ 3.11803948e-01 -9.46895936e-01 -7.85263238e-02 1.29197009e+02] [ 9.30875723e-01 3.20995674e-01 -1.74448171e-01 9.69062235e+01] [ 1.90390875e-01 -1.87046199e-02 9.81530159e-01 1.11082221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620371743 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:129.21, Y:96.93, Z:11.12 [[ 3.09356142e-01 -9.48159670e-01 -7.27462551e-02 1.29206055e+02] [ 9.31864904e-01 3.17508167e-01 -1.75545904e-01 9.69326287e+01] [ 1.89543076e-01 -1.34834785e-02 9.81779822e-01 1.11169253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.650371743 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:129.22, Y:96.96, Z:11.12 [[ 3.08608981e-01 -9.48405983e-01 -7.27089297e-02 1.29215489e+02] [ 9.32070528e-01 3.16770096e-01 -1.75787477e-01 9.69585967e+01] [ 1.89749910e-01 -1.35202563e-02 9.81739362e-01 1.11226751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680371743 meters Centerline goodness : 0.990520 Centerline is valid? [True, True] Translation: X:129.23, Y:96.98, Z:11.13 [[ 3.05633375e-01 -9.48831529e-01 -7.94164325e-02 1.29229363e+02] [ 9.32645367e-01 3.15125104e-01 -1.75695155e-01 9.69802355e+01] [ 1.91731215e-01 -2.03690645e-02 9.81236079e-01 1.11271806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.710371743 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:129.24, Y:97.00, Z:11.14 [[ 3.04204782e-01 -9.49844702e-01 -7.24878850e-02 1.29237062e+02] [ 9.33043013e-01 3.12435862e-01 -1.78366389e-01 9.70044341e+01] [ 1.92068184e-01 -1.33744062e-02 9.81290445e-01 1.11353446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740371743 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:129.25, Y:97.03, Z:11.14 [[ 3.02763956e-01 -9.49923137e-01 -7.73306000e-02 1.29248696e+02] [ 9.32943525e-01 3.11979451e-01 -1.79680833e-01 9.70284104e+01] [ 1.94808539e-01 -1.77442027e-02 9.80680772e-01 1.11402984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.770371743 meters Centerline goodness : 0.988754 Centerline is valid? [True, True] Translation: X:129.26, Y:97.05, Z:11.15 [[ 3.01024044e-01 -9.50923985e-01 -7.16107482e-02 1.29259763e+02] [ 9.33722442e-01 3.09170648e-01 -1.80487983e-01 9.70532739e+01] [ 1.93770293e-01 -1.25333402e-02 9.80966864e-01 1.11480007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800371743 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:129.27, Y:97.08, Z:11.15 [[ 2.99124184e-01 -9.51328602e-01 -7.41526379e-02 1.29272495e+02] [ 9.34294904e-01 3.07789687e-01 -1.79884799e-01 9.70794534e+01] [ 1.93952972e-01 -1.54725381e-02 9.80888804e-01 1.11531060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.830371743 meters Centerline goodness : 0.988858 Centerline is valid? [True, True] Translation: X:129.28, Y:97.10, Z:11.16 [[ 2.98213141e-01 -9.51765000e-01 -7.21963048e-02 1.29283809e+02] [ 9.34408372e-01 3.06537082e-01 -1.81427705e-01 9.71040697e+01] [ 1.94807384e-01 -1.33567058e-02 9.80750571e-01 1.11596866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86037174300003 meters Centerline goodness : 0.989218 Centerline is valid? [True, True] Translation: X:129.30, Y:97.13, Z:11.16 [[ 2.95224252e-01 -9.52020927e-01 -8.06151135e-02 1.29298239e+02] [ 9.34920016e-01 3.05245305e-01 -1.80969246e-01 9.71281277e+01] [ 1.96893895e-01 -2.19421728e-02 9.80179236e-01 1.11637132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.890371743 meters Centerline goodness : 0.988756 Centerline is valid? [True, True] Translation: X:129.30, Y:97.15, Z:11.17 [[ 2.95396105e-01 -9.53255954e-01 -6.35942392e-02 1.29304186e+02] [ 9.35136536e-01 3.02125730e-01 -1.85039732e-01 9.71541828e+01] [ 1.95603682e-01 -4.80928041e-03 9.80671235e-01 1.11730015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92037174300003 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:129.32, Y:97.18, Z:11.17 [[ 2.94839601e-01 -9.53061238e-01 -6.88758691e-02 1.29320486e+02] [ 9.35624370e-01 3.02583461e-01 -1.81797380e-01 9.71802469e+01] [ 1.94104735e-01 -1.08408746e-02 9.80920908e-01 1.11746721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.950371743 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:129.33, Y:97.21, Z:11.18 [[ 2.94357952e-01 -9.53041423e-01 -7.11719205e-02 1.29333737e+02] [ 9.35884089e-01 3.02540306e-01 -1.80527938e-01 9.72054719e+01] [ 1.93582977e-01 -1.34688339e-02 9.80991448e-01 1.11786661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.980371743 meters Centerline goodness : 0.988914 Centerline is valid? [True, True] Translation: X:129.34, Y:97.23, Z:11.18 [[ 2.94369632e-01 -9.53558843e-01 -6.38126429e-02 1.29342769e+02] [ 9.36036626e-01 3.01144276e-01 -1.82064711e-01 9.72309400e+01] [ 1.92826228e-01 -6.13664897e-03 9.81213732e-01 1.11841397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.010371743 meters Centerline goodness : 0.988135 Centerline is valid? [True, True] Translation: X:129.36, Y:97.26, Z:11.19 [[ 2.92359638e-01 -9.53337463e-01 -7.53228042e-02 1.29359680e+02] [ 9.36481148e-01 3.01364261e-01 -1.79395209e-01 9.72557794e+01] [ 1.93723775e-01 -1.80904678e-02 9.80889308e-01 1.11862999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.040371743 meters Centerline goodness : 0.986838 Centerline is valid? [True, True] Translation: X:129.37, Y:97.28, Z:11.19 [[ 2.92885306e-01 -9.52856696e-01 -7.92610485e-02 1.29369605e+02] [ 9.35845649e-01 3.02671565e-01 -1.80507189e-01 9.72770021e+01] [ 1.95987549e-01 -2.13082043e-02 9.80374847e-01 1.11911887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.070371743 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:129.38, Y:97.31, Z:11.20 [[ 2.91162742e-01 -9.54271827e-01 -6.77461331e-02 1.29378970e+02] [ 9.36681565e-01 2.98763791e-01 -1.82668671e-01 9.73060477e+01] [ 1.94555658e-01 -1.02702428e-02 9.80837712e-01 1.11995402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.100371743 meters Centerline goodness : 0.987328 Centerline is valid? [True, True] Translation: X:129.39, Y:97.33, Z:11.20 [[ 2.91717130e-01 -9.53680290e-01 -7.34508101e-02 1.29390493e+02] [ 9.36331887e-01 3.00409368e-01 -1.81760307e-01 9.73289667e+01] [ 1.95406534e-01 -1.57517404e-02 9.80595824e-01 1.12019962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130371743 meters Centerline goodness : 0.986313 Centerline is valid? [True, True] Translation: X:129.40, Y:97.35, Z:11.21 [[ 2.91067231e-01 -9.54001730e-01 -7.18370769e-02 1.29400246e+02] [ 9.36502930e-01 2.99465813e-01 -1.82434888e-01 9.73533263e+01] [ 1.95555947e-01 -1.41748154e-02 9.80590101e-01 1.12074420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.160371743 meters Centerline goodness : 0.986464 Centerline is valid? [True, True] Translation: X:129.41, Y:97.38, Z:11.21 [[ 2.88324389e-01 -9.54112295e-01 -8.08627013e-02 1.29414433e+02] [ 9.36615034e-01 2.98573539e-01 -1.83319719e-01 9.73771676e+01] [ 1.99051060e-01 -2.28816760e-02 9.79721953e-01 1.12119205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190371743 meters Centerline goodness : 0.987796 Centerline is valid? [True, True] Translation: X:129.42, Y:97.40, Z:11.22 [[ 2.84704660e-01 -9.55207885e-01 -8.07536567e-02 1.29424610e+02] [ 9.37408574e-01 2.95037823e-01 -1.84980670e-01 9.74044638e+01] [ 2.00520378e-01 -2.30343114e-02 9.79418704e-01 1.12211817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.220371743 meters Centerline goodness : 0.987020 Centerline is valid? [True, True] Translation: X:129.43, Y:97.43, Z:11.23 [[ 2.84607709e-01 -9.55898427e-01 -7.25027503e-02 1.29433740e+02] [ 9.37587702e-01 2.93323526e-01 -1.86790287e-01 9.74290319e+01] [ 1.99819304e-01 -1.48157315e-02 9.79720746e-01 1.12295173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250371743 meters Centerline goodness : 0.988044 Centerline is valid? [True, True] Translation: X:129.44, Y:97.45, Z:11.23 [[ 2.84483162e-01 -9.56035675e-01 -7.11696484e-02 1.29443887e+02] [ 9.37624736e-01 2.92940684e-01 -1.87204730e-01 9.74546640e+01] [ 1.99822886e-01 -1.34738292e-02 9.79739389e-01 1.12345726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.280371743 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:129.46, Y:97.48, Z:11.24 [[ 2.83559754e-01 -9.55451296e-01 -8.18943697e-02 1.29455937e+02] [ 9.37461178e-01 2.94171024e-01 -1.86091236e-01 9.74772295e+01] [ 2.01892063e-01 -2.40048072e-02 9.79113560e-01 1.12384486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310371743 meters Centerline goodness : 0.987403 Centerline is valid? [True, True] Translation: X:129.46, Y:97.50, Z:11.25 [[ 2.84366379e-01 -9.56222102e-01 -6.91017725e-02 1.29464890e+02] [ 9.37623297e-01 2.92422707e-01 -1.88019980e-01 9.75037026e+01] [ 1.99995787e-01 -1.13248710e-02 9.79731306e-01 1.12472400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.340371743 meters Centerline goodness : 0.986907 Centerline is valid? [True, True] Translation: X:129.48, Y:97.53, Z:11.25 [[ 2.85195626e-01 -9.55848194e-01 -7.08356212e-02 1.29476317e+02] [ 9.37576281e-01 2.93562803e-01 -1.86471442e-01 9.75288562e+01] [ 1.99033095e-01 -1.32329585e-02 9.79903422e-01 1.12508098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370371743 meters Centerline goodness : 0.986426 Centerline is valid? [True, True] Translation: X:129.49, Y:97.55, Z:11.26 [[ 2.86555633e-01 -9.55861879e-01 -6.49148574e-02 1.29487284e+02] [ 9.37480123e-01 2.93724282e-01 -1.86700470e-01 9.75547687e+01] [ 1.97526932e-01 -7.35631721e-03 9.80269859e-01 1.12562382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.400371743 meters Centerline goodness : 0.986468 Centerline is valid? [True, True] Translation: X:129.50, Y:97.58, Z:11.26 [[ 2.87864300e-01 -9.55399393e-01 -6.59252998e-02 1.29500780e+02] [ 9.37690292e-01 2.95178206e-01 -1.83321422e-01 9.75823807e+01] [ 1.94604887e-01 -9.04582086e-03 9.80840003e-01 1.12602598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430371743 meters Centerline goodness : 0.987324 Centerline is valid? [True, True] Translation: X:129.51, Y:97.61, Z:11.26 [[ 2.86824778e-01 -9.54958749e-01 -7.60613819e-02 1.29514547e+02] [ 9.37792753e-01 2.96108163e-01 -1.81286263e-01 9.76069482e+01] [ 1.95643299e-01 -1.93324208e-02 9.80484552e-01 1.12637532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.460371743 meters Centerline goodness : 0.985683 Centerline is valid? [True, True] Translation: X:129.52, Y:97.63, Z:11.27 [[ 2.87280278e-01 -9.55376969e-01 -6.87378266e-02 1.29524178e+02] [ 9.37512767e-01 2.95164918e-01 -1.84248429e-01 9.76310359e+01] [ 1.96315701e-01 -1.15116501e-02 9.80473165e-01 1.12699414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490371743 meters Centerline goodness : 0.987272 Centerline is valid? [True, True] Translation: X:129.54, Y:97.65, Z:11.27 [[ 2.83234621e-01 -9.54841870e-01 -8.97505079e-02 1.29539199e+02] [ 9.37866710e-01 2.95323457e-01 -1.82181477e-01 9.76538467e+01] [ 2.00459932e-01 -3.25739120e-02 9.79160230e-01 1.12732186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.520371743 meters Centerline goodness : 0.986616 Centerline is valid? [True, True] Translation: X:129.54, Y:97.68, Z:11.29 [[ 2.83104859e-01 -9.57259581e-01 -5.92092428e-02 1.29540437e+02] [ 9.37864490e-01 2.89227465e-01 -1.91722906e-01 9.76816393e+01] [ 2.00653528e-01 -1.25255991e-03 9.79661468e-01 1.12865622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550371743 meters Centerline goodness : 0.985759 Centerline is valid? [True, True] Translation: X:129.56, Y:97.70, Z:11.29 [[ 2.78844494e-01 -9.56748289e-01 -8.29364833e-02 1.29559440e+02] [ 9.38552738e-01 2.89791186e-01 -1.87456197e-01 9.77040268e+01] [ 2.03382658e-01 -2.55691349e-02 9.78765403e-01 1.12864728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.580371743 meters Centerline goodness : 0.986558 Centerline is valid? [True, True] Translation: X:129.57, Y:97.73, Z:11.29 [[ 2.75818396e-01 -9.58012339e-01 -7.83362706e-02 1.29566675e+02] [ 9.38966438e-01 2.85970465e-01 -1.91214333e-01 9.77290409e+01] [ 2.05587550e-01 -2.08146985e-02 9.78417348e-01 1.12949844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61037174300003 meters Centerline goodness : 0.987490 Centerline is valid? [True, True] Translation: X:129.58, Y:97.76, Z:11.30 [[ 2.70494368e-01 -9.59843146e-01 -7.43904029e-02 1.29576822e+02] [ 9.40410478e-01 2.79974697e-01 -1.92982647e-01 9.77557693e+01] [ 2.06060502e-01 -1.77567952e-02 9.78378130e-01 1.13025550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.640371743 meters Centerline goodness : 0.986795 Centerline is valid? [True, True] Translation: X:129.59, Y:97.78, Z:11.31 [[ 2.68132400e-01 -9.60116556e-01 -7.92541161e-02 1.29587152e+02] [ 9.40488476e-01 2.78701198e-01 -1.94440397e-01 9.77782895e+01] [ 2.08773662e-01 -2.24018124e-02 9.77707378e-01 1.13087526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67037174300003 meters Centerline goodness : 0.987033 Centerline is valid? [True, True] Translation: X:129.60, Y:97.81, Z:11.32 [[ 2.66830958e-01 -9.61305824e-01 -6.85007435e-02 1.29595350e+02] [ 9.41408929e-01 2.75201352e-01 -1.94970369e-01 9.78057222e+01] [ 2.06277648e-01 -1.24630812e-02 9.78414127e-01 1.13158874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.700371743 meters Centerline goodness : 0.987131 Centerline is valid? [True, True] Translation: X:129.61, Y:97.83, Z:11.32 [[ 2.64308305e-01 -9.61144161e-01 -7.96430900e-02 1.29608957e+02] [ 9.41696183e-01 2.75021800e-01 -1.93833197e-01 9.78276929e+01] [ 2.08205232e-01 -2.37678700e-02 9.77796334e-01 1.13197607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.730371743 meters Centerline goodness : 0.985928 Centerline is valid? [True, True] Translation: X:129.62, Y:97.86, Z:11.33 [[ 2.63549898e-01 -9.62236554e-01 -6.81341762e-02 1.29615549e+02] [ 9.41898331e-01 2.71940609e-01 -1.97169567e-01 9.78556989e+01] [ 2.08252214e-01 -1.22114477e-02 9.77998924e-01 1.13288552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.760371743 meters Centerline goodness : 0.987358 Centerline is valid? [True, True] Translation: X:129.63, Y:97.88, Z:11.33 [[ 2.61316211e-01 -9.62436549e-01 -7.36866745e-02 1.29628979e+02] [ 9.42946194e-01 2.70849223e-01 -1.93631540e-01 9.78837289e+01] [ 2.06316050e-01 -1.88835087e-02 9.78303174e-01 1.13318174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.790371743 meters Centerline goodness : 0.987766 Centerline is valid? [True, True] Translation: X:129.64, Y:97.91, Z:11.34 [[ 2.58232450e-01 -9.62254739e-01 -8.59175102e-02 1.29641568e+02] [ 9.43317345e-01 2.70341012e-01 -1.92530841e-01 9.79056539e+01] [ 2.08490741e-01 -3.13297668e-02 9.77522407e-01 1.13367523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.820371743 meters Centerline goodness : 0.987066 Centerline is valid? [True, True] Translation: X:129.65, Y:97.93, Z:11.35 [[ 2.57082235e-01 -9.64281196e-01 -6.38004619e-02 1.29646804e+02] [ 9.44040962e-01 2.64705039e-01 -1.96768656e-01 9.79315911e+01] [ 2.06628619e-01 -9.64452363e-03 9.78371912e-01 1.13473451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.850371743 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:129.66, Y:97.96, Z:11.35 [[ 2.54482918e-01 -9.63293912e-01 -8.54592485e-02 1.29664178e+02] [ 9.44681874e-01 2.66524566e-01 -1.91156515e-01 9.79550626e+01] [ 2.06916896e-01 -3.20857354e-02 9.77832247e-01 1.13498903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880371743 meters Centerline goodness : 0.987402 Centerline is valid? [True, True] Translation: X:129.67, Y:97.98, Z:11.36 [[ 2.53267043e-01 -9.64535951e-01 -7.43384432e-02 1.29670047e+02] [ 9.44798050e-01 2.63131704e-01 -1.95239215e-01 9.79812045e+01] [ 2.07876043e-01 -2.07871575e-02 9.77934274e-01 1.13595531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.910371743 meters Centerline goodness : 0.986226 Centerline is valid? [True, True] Translation: X:129.68, Y:98.01, Z:11.37 [[ 2.53284247e-01 -9.65254592e-01 -6.42702302e-02 1.29677727e+02] [ 9.45045244e-01 2.61084008e-01 -1.96785739e-01 9.80072829e+01] [ 2.06728267e-01 -1.08955478e-02 9.78337728e-01 1.13664709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940371743 meters Centerline goodness : 0.986478 Centerline is valid? [True, True] Translation: X:129.69, Y:98.03, Z:11.37 [[ 2.53588834e-01 -9.64597110e-01 -7.24231871e-02 1.29691324e+02] [ 9.44980114e-01 2.63034030e-01 -1.94488258e-01 9.80328996e+01] [ 2.06652575e-01 -1.91184209e-02 9.78227581e-01 1.13689319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.970371743 meters Centerline goodness : 0.987253 Centerline is valid? [True, True] Translation: X:129.70, Y:98.06, Z:11.37 [[ 2.54341412e-01 -9.64534048e-01 -7.06011154e-02 1.29700860e+02] [ 9.44829973e-01 2.63398802e-01 -1.94723892e-01 9.80597358e+01] [ 2.06414073e-01 -1.71797003e-02 9.78313901e-01 1.13742433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000371743 meters Centerline goodness : 0.986859 Centerline is valid? [True, True] Translation: X:129.71, Y:98.09, Z:11.38 [[ 2.54148526e-01 -9.64232184e-01 -7.52650125e-02 1.29712121e+02] [ 9.44526754e-01 2.64185771e-01 -1.95128390e-01 9.80850655e+01] [ 2.08033019e-01 -2.14982253e-02 9.77885520e-01 1.13791090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.030371743 meters Centerline goodness : 0.986736 Centerline is valid? [True, True] Translation: X:129.72, Y:98.11, Z:11.39 [[ 2.53944755e-01 -9.64360709e-01 -7.42999650e-02 1.29720811e+02] [ 9.44308836e-01 2.63817507e-01 -1.96675226e-01 9.81111674e+01] [ 2.09267492e-01 -2.02174714e-02 9.77649411e-01 1.13853221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060371743 meters Centerline goodness : 0.987268 Centerline is valid? [True, True] Translation: X:129.73, Y:98.14, Z:11.39 [[ 2.53634677e-01 -9.65100737e-01 -6.51921664e-02 1.29729654e+02] [ 9.44902657e-01 2.61617665e-01 -1.96761699e-01 9.81405833e+01] [ 2.06950283e-01 -1.16946614e-02 9.78281562e-01 1.13914760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.090371743 meters Centerline goodness : 0.986771 Centerline is valid? [True, True] Translation: X:129.74, Y:98.17, Z:11.39 [[ 2.52320767e-01 -9.64585664e-01 -7.68682497e-02 1.29741987e+02] [ 9.45218631e-01 2.62697304e-01 -1.93783040e-01 9.81657494e+01] [ 2.07113424e-01 -2.37618165e-02 9.78028326e-01 1.13942429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120371743 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:129.75, Y:98.20, Z:11.41 [[ 2.50906055e-01 -9.65955944e-01 -6.30497104e-02 1.29746900e+02] [ 9.44555601e-01 2.58557840e-01 -2.02392097e-01 9.81963135e+01] [ 2.11803846e-01 -8.77255453e-03 9.77272824e-01 1.14050858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.150371743 meters Centerline goodness : 0.986536 Centerline is valid? [True, True] Translation: X:129.76, Y:98.22, Z:11.40 [[ 2.51056934e-01 -9.64309219e-01 -8.41317207e-02 1.29762971e+02] [ 9.45806808e-01 2.62873165e-01 -1.90649368e-01 9.82190713e+01] [ 2.05960915e-01 -3.17085084e-02 9.78046355e-01 1.14045444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180371743 meters Centerline goodness : 0.988124 Centerline is valid? [True, True] Translation: X:129.77, Y:98.24, Z:11.41 [[ 2.50412893e-01 -9.65510599e-01 -7.12928189e-02 1.29766241e+02] [ 9.44913948e-01 2.59774986e-01 -1.99134598e-01 9.82444101e+01] [ 2.10786656e-01 -1.74997079e-02 9.77375437e-01 1.14146152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.210371743 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:129.78, Y:98.27, Z:11.42 [[ 2.49090218e-01 -9.65352520e-01 -7.77725889e-02 1.29778372e+02] [ 9.46237975e-01 2.59695058e-01 -1.92852718e-01 9.82695491e+01] [ 2.06368015e-01 -2.55536514e-02 9.78140713e-01 1.14192432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240371743 meters Centerline goodness : 0.984411 Centerline is valid? [True, True] Translation: X:129.78, Y:98.29, Z:11.43 [[ 2.50855965e-01 -9.65853614e-01 -6.47926080e-02 1.29781114e+02] [ 9.45429943e-01 2.58828192e-01 -1.97914604e-01 9.82906364e+01] [ 2.07926689e-01 -1.16088126e-02 9.78075522e-01 1.14272592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.270371743 meters Centerline goodness : 0.987436 Centerline is valid? [True, True] Translation: X:129.80, Y:98.32, Z:11.43 [[ 2.48391703e-01 -9.65988240e-01 -7.18907663e-02 1.29795709e+02] [ 9.46028935e-01 2.57868356e-01 -1.96298662e-01 9.83217298e+01] [ 2.08160553e-01 -1.92517863e-02 9.77905186e-01 1.14331783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300371743 meters Centerline goodness : 0.986842 Centerline is valid? [True, True] Translation: X:129.81, Y:98.35, Z:11.44 [[ 2.47909851e-01 -9.65952196e-01 -7.40071630e-02 1.29805789e+02] [ 9.46391129e-01 2.57801534e-01 -1.94633501e-01 9.83462636e+01] [ 2.07085818e-01 -2.17881602e-02 9.78080130e-01 1.14369740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.330371743 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:129.82, Y:98.37, Z:11.44 [[ 2.46149577e-01 -9.65573649e-01 -8.41303416e-02 1.29816121e+02] [ 9.46924471e-01 2.58092216e-01 -1.91631036e-01 9.83665727e+01] [ 2.06747265e-01 -3.24951808e-02 9.77854607e-01 1.14422650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36037174300003 meters Centerline goodness : 0.985903 Centerline is valid? [True, True] Translation: X:129.82, Y:98.39, Z:11.45 [[ 2.47963036e-01 -9.66437843e-01 -6.71731207e-02 1.29821902e+02] [ 9.45937344e-01 2.56501343e-01 -1.98518518e-01 9.83934513e+01] [ 2.09085804e-01 -1.43163089e-02 9.77792498e-01 1.14549899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.390371743 meters Centerline goodness : 0.986072 Centerline is valid? [True, True] Translation: X:129.84, Y:98.42, Z:11.46 [[ 2.48790788e-01 -9.66086623e-01 -6.91359520e-02 1.29835220e+02] [ 9.46053319e-01 2.57687965e-01 -1.96417997e-01 9.84193328e+01] [ 2.07572302e-01 -1.65393086e-02 9.78079849e-01 1.14597123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42037174300003 meters Centerline goodness : 0.986790 Centerline is valid? [True, True] Translation: X:129.85, Y:98.44, Z:11.46 [[ 2.48604508e-01 -9.65673857e-01 -7.52980777e-02 1.29846652e+02] [ 9.46100602e-01 2.58753634e-01 -1.94782463e-01 9.84444358e+01] [ 2.07579983e-01 -2.28157583e-02 9.77951937e-01 1.14641019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.450371743 meters Centerline goodness : 0.985843 Centerline is valid? [True, True] Translation: X:129.86, Y:98.47, Z:11.47 [[ 2.48197526e-01 -9.65219164e-01 -8.21581030e-02 1.29856627e+02] [ 9.45665323e-01 2.59809246e-01 -1.95489778e-01 9.84661622e+01] [ 2.10035915e-01 -2.91739898e-02 9.77258304e-01 1.14725001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.480371743 meters Centerline goodness : 0.985704 Centerline is valid? [True, True] Translation: X:129.86, Y:98.49, Z:11.48 [[ 2.49350926e-01 -9.66192705e-01 -6.55421499e-02 1.29862884e+02] [ 9.45809978e-01 2.57509761e-01 -1.97818627e-01 9.84943624e+01] [ 2.08008657e-01 -1.26641616e-02 9.78044998e-01 1.14812896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.510371743 meters Centerline goodness : 0.984817 Centerline is valid? [True, True] Translation: X:129.87, Y:98.52, Z:11.49 [[ 2.51514135e-01 -9.65464960e-01 -6.79562402e-02 1.29874415e+02] [ 9.44788186e-01 2.60151510e-01 -1.99239746e-01 9.85180558e+01] [ 2.10037912e-01 -1.40926405e-02 9.77591670e-01 1.14861411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.540371743 meters Centerline goodness : 0.984817 Centerline is valid? [True, True] Translation: X:129.88, Y:98.54, Z:11.49 [[ 2.51164581e-01 -9.65370077e-01 -7.05476317e-02 1.29883723e+02] [ 9.44959485e-01 2.60337089e-01 -1.98182168e-01 9.85433530e+01] [ 2.09685300e-01 -1.68883125e-02 9.77623066e-01 1.14907191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.570371743 meters Centerline goodness : 0.983571 Centerline is valid? [True, True] Translation: X:129.89, Y:98.57, Z:11.50 [[ 2.51360061e-01 -9.65803071e-01 -6.35810340e-02 1.29889159e+02] [ 9.43059070e-01 2.59166729e-01 -2.08499873e-01 9.85662412e+01] [ 2.17847906e-01 -7.55213005e-03 9.75953511e-01 1.15016668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.600371743 meters Centerline goodness : 0.985464 Centerline is valid? [True, True] Translation: X:129.91, Y:98.59, Z:11.50 [[ 2.47083357e-01 -9.64944338e-01 -8.84999387e-02 1.29907776e+02] [ 9.45991090e-01 2.59991937e-01 -1.93662206e-01 9.85888636e+01] [ 2.09882520e-01 -3.58694454e-02 9.77068427e-01 1.14959737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630371743 meters Centerline goodness : 0.986184 Centerline is valid? [True, True] Translation: X:129.91, Y:98.61, Z:11.51 [[ 2.46474243e-01 -9.66880523e-01 -6.62759509e-02 1.29909882e+02] [ 9.45657480e-01 2.54902424e-01 -2.01882848e-01 9.86148528e+01] [ 2.12090494e-01 -1.29154266e-02 9.77164681e-01 1.15084391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.660371743 meters Centerline goodness : 0.985832 Centerline is valid? [True, True] Translation: X:129.92, Y:98.64, Z:11.51 [[ 2.47244893e-01 -9.66614751e-01 -6.72747078e-02 1.29922308e+02] [ 9.45507210e-01 2.55861144e-01 -2.01373263e-01 9.86393325e+01] [ 2.11863351e-01 -1.38202103e-02 9.77201577e-01 1.15139753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690371743 meters Centerline goodness : 0.983659 Centerline is valid? [True, True] Translation: X:129.92, Y:98.66, Z:11.51 [[ 2.40111081e-01 -9.68541436e-01 -6.53770336e-02 1.29924230e+02] [ 9.48651648e-01 2.48400206e-01 -1.95850424e-01 9.86570425e+01] [ 2.05928919e-01 -1.49941737e-02 9.78452071e-01 1.15141041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.720371743 meters Centerline goodness : 0.989575 Centerline is valid? [True, True] Translation: X:129.93, Y:98.69, Z:11.54 [[ 2.37221637e-01 -9.70323038e-01 -4.68945202e-02 1.29929749e+02] [ 9.44875645e-01 2.41676768e-01 -2.20912552e-01 9.86897090e+01] [ 2.25689854e-01 8.09574717e-03 9.74165565e-01 1.15400676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750371743 meters Centerline goodness : 0.986044 Centerline is valid? [True, True] Translation: X:129.97, Y:98.71, Z:11.53 [[ 2.42792577e-01 -9.64338604e-01 -1.05369929e-01 1.29968231e+02] [ 9.47007012e-01 2.59164199e-01 -1.89767325e-01 9.87084036e+01] [ 2.10308070e-01 -5.37119642e-02 9.76158563e-01 1.15270325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.780371743 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:129.95, Y:98.74, Z:11.56 [[ 2.33730283e-01 -9.71756180e-01 -3.25588983e-02 1.29951546e+02] [ 9.45726083e-01 2.34989981e-01 -2.24459096e-01 9.87397833e+01] [ 2.25770528e-01 2.16710886e-02 9.73939440e-01 1.15563750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810371743 meters Centerline goodness : 0.982754 Centerline is valid? [True, True] Translation: X:129.98, Y:98.75, Z:11.53 [[ 2.34682353e-01 -9.68676345e-01 -8.11808552e-02 1.29979062e+02] [ 9.50627228e-01 2.46148418e-01 -1.88994259e-01 9.87535666e+01] [ 2.03056808e-01 -3.28191139e-02 9.78616799e-01 1.15324507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.840371743 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:129.98, Y:98.79, Z:11.56 [[ 2.30688424e-01 -9.71931959e-01 -4.61640384e-02 1.29982172e+02] [ 9.46888435e-01 2.35161432e-01 -2.19320297e-01 9.87863382e+01] [ 2.24020407e-01 6.88245952e-03 9.74560152e-01 1.15639918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870371743 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:130.00, Y:98.81, Z:11.56 [[ 2.30746444e-01 -9.70434825e-01 -7.07978085e-02 1.30002235e+02] [ 9.47224717e-01 2.40676180e-01 -2.11755312e-01 9.88100873e+01] [ 2.22534075e-01 -1.81996489e-02 9.74755025e-01 1.15622748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.900371743 meters Centerline goodness : 0.989617 Centerline is valid? [True, True] Translation: X:130.01, Y:98.83, Z:11.57 [[ 2.31996060e-01 -9.70130701e-01 -7.08819525e-02 1.30012276e+02] [ 9.46806157e-01 2.41922943e-01 -2.12206012e-01 9.88339733e+01] [ 2.23015537e-01 -1.78805105e-02 9.74650890e-01 1.15683376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930371743 meters Centerline goodness : 0.990050 Centerline is valid? [True, True] Translation: X:130.02, Y:98.86, Z:11.57 [[ 2.35014604e-01 -9.69388271e-01 -7.10951218e-02 1.30023600e+02] [ 9.45857877e-01 2.44930254e-01 -2.12983678e-01 9.88578609e+01] [ 2.23877226e-01 -1.71916062e-02 9.74465719e-01 1.15743408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.960371743 meters Centerline goodness : 0.989350 Centerline is valid? [True, True] Translation: X:130.03, Y:98.88, Z:11.58 [[ 2.36053647e-01 -9.69118717e-01 -7.13273379e-02 1.30033166e+02] [ 9.45387603e-01 2.46010858e-01 -2.13824547e-01 9.88834671e+01] [ 2.24768670e-01 -1.69579170e-02 9.74264581e-01 1.15802851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990371743 meters Centerline goodness : 0.985946 Centerline is valid? [True, True] Translation: X:130.06, Y:98.90, Z:11.58 [[ 2.46990212e-01 -9.62517349e-01 -1.12054402e-01 1.30064882e+02] [ 9.45265025e-01 2.64766024e-01 -1.90717029e-01 9.89000061e+01] [ 2.13236648e-01 -5.88158672e-02 9.75228602e-01 1.15777725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.020371743 meters Centerline goodness : 0.985127 Centerline is valid? [True, True] Translation: X:130.06, Y:98.93, Z:11.60 [[ 2.49081552e-01 -9.66562818e-01 -6.09483338e-02 1.30058622e+02] [ 9.43684127e-01 2.56372521e-01 -2.09125320e-01 9.89276707e+01] [ 2.17758237e-01 -5.42671576e-03 9.75987654e-01 1.15986296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050371743 meters Centerline goodness : 0.984002 Centerline is valid? [True, True] Translation: X:130.06, Y:98.95, Z:11.60 [[ 2.43071345e-01 -9.68659719e-01 -5.11338384e-02 1.30055888e+02] [ 9.46485895e-01 2.48385741e-01 -2.06080020e-01 9.89488472e+01] [ 2.12322331e-01 1.69469095e-03 9.77198217e-01 1.15985680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.080371743 meters Centerline goodness : 0.984135 Centerline is valid? [True, True] Translation: X:130.09, Y:98.98, Z:11.60 [[ 2.50093138e-01 -9.65471375e-01 -7.29276746e-02 1.30085402e+02] [ 9.44775372e-01 2.59819142e-01 -1.99733596e-01 9.89751225e+01] [ 2.11785075e-01 -1.89482691e-02 9.77132563e-01 1.16049254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11037174300003 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:130.07, Y:99.01, Z:11.62 [[ 2.41972261e-01 -9.69863984e-01 -2.85180374e-02 1.30074193e+02] [ 9.43979766e-01 2.42108122e-01 -2.24245087e-01 9.90073691e+01] [ 2.24391681e-01 2.73406402e-02 9.74115426e-01 1.16221175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.140371743 meters Centerline goodness : 0.983983 Centerline is valid? [True, True] Translation: X:130.12, Y:99.02, Z:11.61 [[ 2.51913151e-01 -9.62570171e-01 -9.99921553e-02 1.30116064e+02] [ 9.44741365e-01 2.67004269e-01 -1.90190625e-01 9.90235521e+01] [ 2.09770155e-01 -4.65552056e-02 9.76641743e-01 1.16082040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17037174300003 meters Centerline goodness : 0.983334 Centerline is valid? [True, True] Translation: X:130.11, Y:99.05, Z:11.62 [[ 2.52471121e-01 -9.65870411e-01 -5.79023528e-02 1.30111969e+02] [ 9.44241505e-01 2.59004103e-01 -2.03285158e-01 9.90490578e+01] [ 2.11344066e-01 -3.35017319e-03 9.77405986e-01 1.16244294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.200371743 meters Centerline goodness : 0.982768 Centerline is valid? [True, True] Translation: X:130.13, Y:99.07, Z:11.63 [[ 2.52860976e-01 -9.65300660e-01 -6.52377322e-02 1.30126048e+02] [ 9.44456984e-01 2.60905575e-01 -1.99823136e-01 9.90749520e+01] [ 2.09910293e-01 -1.10867586e-02 9.77657789e-01 1.16280390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.230371743 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:130.12, Y:99.11, Z:11.64 [[ 2.41881568e-01 -9.69537937e-01 -3.85939871e-02 1.30122938e+02] [ 9.44679147e-01 2.44387848e-01 -2.18759889e-01 9.91067965e+01] [ 2.21527913e-01 1.64550501e-02 9.75015187e-01 1.16423896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.260371743 meters Centerline goodness : 0.985042 Centerline is valid? [True, True] Translation: X:130.16, Y:99.14, Z:11.64 [[ 2.44446678e-01 -9.66574595e-01 -7.73264162e-02 1.30155815e+02] [ 9.44670705e-01 2.55376430e-01 -2.05864367e-01 9.91357676e+01] [ 2.18730611e-01 -2.27251397e-02 9.75520624e-01 1.16406799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.290371743 meters Centerline goodness : 0.983939 Centerline is valid? [True, True] Translation: X:130.16, Y:99.16, Z:11.65 [[ 2.44575660e-01 -9.66835223e-01 -7.35689997e-02 1.30164873e+02] [ 9.44588416e-01 2.54704547e-01 -2.07070802e-01 9.91622374e+01] [ 2.18941704e-01 -1.88479467e-02 9.75555885e-01 1.16468934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.320371743 meters Centerline goodness : 0.981718 Centerline is valid? [True, True] Translation: X:130.18, Y:99.18, Z:11.65 [[ 2.52945711e-01 -9.63269270e-01 -9.01708411e-02 1.30182650e+02] [ 9.44781711e-01 2.66006411e-01 -1.91384713e-01 9.91760126e+01] [ 2.08341035e-01 -3.67818192e-02 9.77364370e-01 1.16454478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.350371743 meters Centerline goodness : 0.981414 Centerline is valid? [True, True] Translation: X:130.18, Y:99.21, Z:11.66 [[ 2.53845461e-01 -9.66338897e-01 -4.18523466e-02 1.30176629e+02] [ 9.45193431e-01 2.57012615e-01 -2.01379974e-01 9.92058273e+01] [ 2.05357883e-01 1.15608292e-02 9.78618663e-01 1.16594179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380371743 meters Centerline goodness : 0.982178 Centerline is valid? [True, True] Translation: X:130.20, Y:99.23, Z:11.66 [[ 2.52896635e-01 -9.63409904e-01 -8.87955503e-02 1.30202336e+02] [ 9.45593702e-01 2.65545941e-01 -1.87983789e-01 9.92293335e+01] [ 2.04684742e-01 -3.64240454e-02 9.78150012e-01 1.16568974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.410371743 meters Centerline goodness : 0.980803 Centerline is valid? [True, True] Translation: X:130.20, Y:99.26, Z:11.67 [[ 2.54926357e-01 -9.65349040e-01 -5.58012803e-02 1.30201885e+02] [ 9.44538736e-01 2.60955342e-01 -1.99371228e-01 9.92565095e+01] [ 2.07024466e-01 -1.88148980e-03 9.78333957e-01 1.16713943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440371743 meters Centerline goodness : 0.981980 Centerline is valid? [True, True] Translation: X:130.21, Y:99.28, Z:11.67 [[ 2.54398635e-01 -9.64774942e-01 -6.70122829e-02 1.30214022e+02] [ 9.44932689e-01 2.62720784e-01 -1.95140980e-01 9.92793347e+01] [ 2.05872647e-01 -1.36784977e-02 9.78483189e-01 1.16731388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.470371743 meters Centerline goodness : 0.981256 Centerline is valid? [True, True] Translation: X:130.22, Y:99.31, Z:11.68 [[ 2.55793950e-01 -9.65031008e-01 -5.73115133e-02 1.30221825e+02] [ 9.44424276e-01 2.62113975e-01 -1.98391158e-01 9.93067318e+01] [ 2.06475768e-01 -3.37912639e-03 9.78445879e-01 1.16813105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500371743 meters Centerline goodness : 0.986004 Centerline is valid? [True, True] Translation: X:130.22, Y:99.34, Z:11.69 [[ 2.44118530e-01 -9.68467354e-01 -4.97707585e-02 1.30220752e+02] [ 9.44951801e-01 2.49094928e-01 -2.12174011e-01 9.93352022e+01] [ 2.17881246e-01 4.76463974e-03 9.75963657e-01 1.16924057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.530371743 meters Centerline goodness : 0.982116 Centerline is valid? [True, True] Translation: X:130.25, Y:99.36, Z:11.69 [[ 2.52774985e-01 -9.63592022e-01 -8.71505700e-02 1.30251213e+02] [ 9.45976641e-01 2.65045215e-01 -1.86759813e-01 9.93556933e+01] [ 2.03059107e-01 -3.52341946e-02 9.78532345e-01 1.16859931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560371743 meters Centerline goodness : 0.984824 Centerline is valid? [True, True] Translation: X:130.24, Y:99.39, Z:11.71 [[ 2.42035500e-01 -9.69241933e-01 -4.45969929e-02 1.30238313e+02] [ 9.45364798e-01 2.45920932e-01 -2.14028725e-01 9.93863005e+01] [ 2.18412949e-01 9.64212233e-03 9.75808800e-01 1.17053250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.590371743 meters Centerline goodness : 0.981738 Centerline is valid? [True, True] Translation: X:130.27, Y:99.41, Z:11.70 [[ 2.48698047e-01 -9.64518766e-01 -8.86162046e-02 1.30270223e+02] [ 9.46858326e-01 2.61368561e-01 -1.87472094e-01 9.94056691e+01] [ 2.03981843e-01 -3.72830475e-02 9.78264475e-01 1.16970695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620371743 meters Centerline goodness : 0.980247 Centerline is valid? [True, True] Translation: X:130.27, Y:99.43, Z:11.71 [[ 2.49636641e-01 -9.66997460e-01 -5.09652849e-02 1.30268857e+02] [ 9.46372774e-01 2.54782385e-01 -1.98656760e-01 9.94331559e+01] [ 2.05085639e-01 1.35984825e-03 9.78743088e-01 1.17141648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.650371743 meters Centerline goodness : 0.985358 Centerline is valid? [True, True] Translation: X:130.27, Y:99.46, Z:11.72 [[ 2.40005457e-01 -9.69292172e-01 -5.35730054e-02 1.30272010e+02] [ 9.46337118e-01 2.45911671e-01 -2.09698617e-01 9.94619160e+01] [ 2.16433455e-01 -3.69311082e-04 9.76297303e-01 1.17214908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680371743 meters Centerline goodness : 0.981823 Centerline is valid? [True, True] Translation: X:130.30, Y:99.48, Z:11.72 [[ 2.48588382e-01 -9.63226338e-01 -1.01974692e-01 1.30304940e+02] [ 9.46930109e-01 2.63823361e-01 -1.83631706e-01 9.94814632e+01] [ 2.03782202e-01 -5.09141972e-02 9.77691444e-01 1.17177964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.710371743 meters Centerline goodness : 0.984965 Centerline is valid? [True, True] Translation: X:130.28, Y:99.51, Z:11.74 [[ 2.39991407e-01 -9.70339836e-01 -2.90641729e-02 1.30282736e+02] [ 9.46236646e-01 2.40509180e-01 -2.16313534e-01 9.95145168e+01] [ 2.16887839e-01 2.44118039e-02 9.75891249e-01 1.17410478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740371743 meters Centerline goodness : 0.979423 Centerline is valid? [True, True] Translation: X:130.32, Y:99.53, Z:11.73 [[ 2.47737988e-01 -9.64933626e-01 -8.67697349e-02 1.30317097e+02] [ 9.47298106e-01 2.60035203e-01 -1.87104228e-01 9.95327033e+01] [ 2.03106347e-01 -3.58439805e-02 9.78500394e-01 1.17317434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.770371743 meters Centerline goodness : 0.980598 Centerline is valid? [True, True] Translation: X:130.32, Y:99.56, Z:11.74 [[ 2.49377920e-01 -9.66270246e-01 -6.42842523e-02 1.30321984e+02] [ 9.46634087e-01 2.57230420e-01 -1.94207146e-01 9.95622272e+01] [ 2.04192452e-01 -1.24226903e-02 9.78851939e-01 1.17422381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800371743 meters Centerline goodness : 0.980494 Centerline is valid? [True, True] Translation: X:130.33, Y:99.59, Z:11.75 [[ 2.48009997e-01 -9.66597816e-01 -6.46506271e-02 1.30330344e+02] [ 9.47199775e-01 2.55950740e-01 -1.93136753e-01 9.95870606e+01] [ 2.03232940e-01 -1.33372138e-02 9.79039576e-01 1.17477881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.830371743 meters Centerline goodness : 0.981118 Centerline is valid? [True, True] Translation: X:130.32, Y:99.61, Z:11.76 [[ 2.42516757e-01 -9.69261479e-01 -4.14464442e-02 1.30322124e+02] [ 9.48477667e-01 2.45862430e-01 -1.99854397e-01 9.96074012e+01] [ 2.03901292e-01 9.15701355e-03 9.78948626e-01 1.17551697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86037174300003 meters Centerline goodness : 0.980450 Centerline is valid? [True, True] Translation: X:130.35, Y:99.63, Z:11.76 [[ 2.46953187e-01 -9.65744327e-01 -7.96995465e-02 1.30351894e+02] [ 9.47417019e-01 2.57900649e-01 -1.89441940e-01 9.96323129e+01] [ 2.03507043e-01 -2.87254160e-02 9.78651998e-01 1.17581428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.890371743 meters Centerline goodness : 0.979990 Centerline is valid? [True, True] Translation: X:130.36, Y:99.66, Z:11.77 [[ 2.46621092e-01 -9.66174103e-01 -7.54031864e-02 1.30359395e+02] [ 9.47741092e-01 2.56701226e-01 -1.89450001e-01 9.96585848e+01] [ 2.02397775e-01 -2.47403321e-02 9.78990836e-01 1.17657636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.920371743 meters Centerline goodness : 0.983558 Centerline is valid? [True, True] Translation: X:130.35, Y:99.69, Z:11.78 [[ 2.45114700e-01 -9.68734612e-01 -3.83671224e-02 1.30353281e+02] [ 9.47879986e-01 2.47772134e-01 -2.00330980e-01 9.96879463e+01] [ 2.03573858e-01 1.27366406e-02 9.78976743e-01 1.17765512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.950371743 meters Centerline goodness : 0.980626 Centerline is valid? [True, True] Translation: X:130.37, Y:99.71, Z:11.78 [[ 2.44634995e-01 -9.66451315e-01 -7.82660549e-02 1.30373792e+02] [ 9.48620779e-01 2.55263303e-01 -1.86973969e-01 9.97079750e+01] [ 2.00679690e-01 -2.85044301e-02 9.79242135e-01 1.17751056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.980371743 meters Centerline goodness : 0.980186 Centerline is valid? [True, True] Translation: X:130.38, Y:99.74, Z:11.79 [[ 2.48574027e-01 -9.67741092e-01 -4.10868779e-02 1.30376026e+02] [ 9.47258794e-01 2.51732962e-01 -1.98321187e-01 9.97385355e+01] [ 2.02266484e-01 1.03775898e-02 9.79275536e-01 1.17889804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.010371743 meters Centerline goodness : 0.981016 Centerline is valid? [True, True] Translation: X:130.38, Y:99.76, Z:11.79 [[ 2.44233474e-01 -9.67599596e-01 -6.40392994e-02 1.30384635e+02] [ 9.48715894e-01 2.52091933e-01 -1.90755890e-01 9.97603985e+01] [ 2.00719112e-01 -1.41661276e-02 9.79546405e-01 1.17882536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.040371743 meters Centerline goodness : 0.984112 Centerline is valid? [True, True] Translation: X:130.39, Y:99.80, Z:11.80 [[ 2.40470843e-01 -9.69952594e-01 -3.69559187e-02 1.30387273e+02] [ 9.47166193e-01 2.42806553e-01 -2.09573806e-01 9.97954192e+01] [ 2.12249795e-01 1.53929929e-02 9.77094202e-01 1.18033216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.070371743 meters Centerline goodness : 0.981358 Centerline is valid? [True, True] Translation: X:130.41, Y:99.81, Z:11.79 [[ 2.42600336e-01 -9.65561013e-01 -9.40053523e-02 1.30412224e+02] [ 9.48665257e-01 2.56386304e-01 -1.85203383e-01 9.98110127e+01] [ 2.02926851e-01 -4.42492088e-02 9.78193591e-01 1.17948190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.100371743 meters Centerline goodness : 0.981299 Centerline is valid? [True, True] Translation: X:130.41, Y:99.84, Z:11.81 [[ 2.42500967e-01 -9.68587832e-01 -5.50535369e-02 1.30407428e+02] [ 9.48573437e-01 2.48627153e-01 -1.95941252e-01 9.98380411e+01] [ 2.03474117e-01 -4.70637943e-03 9.79069014e-01 1.18096907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130371743 meters Centerline goodness : 0.981510 Centerline is valid? [True, True] Translation: X:130.42, Y:99.86, Z:11.82 [[ 2.43245589e-01 -9.68246060e-01 -5.77161253e-02 1.30417646e+02] [ 9.48454781e-01 2.49891610e-01 -1.94904367e-01 9.98648903e+01] [ 2.03138161e-01 -7.33150733e-03 9.79122636e-01 1.18150022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.160371743 meters Centerline goodness : 0.982065 Centerline is valid? [True, True] Translation: X:130.43, Y:99.89, Z:11.82 [[ 2.41080355e-01 -9.68040306e-01 -6.91247282e-02 1.30427322e+02] [ 9.48839408e-01 2.50065651e-01 -1.92797685e-01 9.98910412e+01] [ 2.03921650e-01 -1.91085318e-02 9.78800707e-01 1.18200868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190371743 meters Centerline goodness : 0.981551 Centerline is valid? [True, True] Translation: X:130.43, Y:99.92, Z:11.83 [[ 2.43729984e-01 -9.68586319e-01 -4.93582519e-02 1.30433150e+02] [ 9.48474012e-01 2.48675395e-01 -1.96360885e-01 9.99196007e+01] [ 2.02466650e-01 1.04401621e-03 9.79288602e-01 1.18306194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.220371743 meters Centerline goodness : 0.982950 Centerline is valid? [True, True] Translation: X:130.45, Y:99.95, Z:11.84 [[ 2.37565904e-01 -9.69839606e-01 -5.45305484e-02 1.30445439e+02] [ 9.48448984e-01 2.43717581e-01 -2.02598779e-01 9.99543748e+01] [ 2.09778373e-01 -3.58888130e-03 9.77742376e-01 1.18385505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250371743 meters Centerline goodness : 0.979954 Centerline is valid? [True, True] Translation: X:130.46, Y:99.97, Z:11.83 [[ 2.46787266e-01 -9.66442721e-01 -7.13057669e-02 1.30461191e+02] [ 9.48986533e-01 2.55920252e-01 -1.84199305e-01 9.99748466e+01] [ 1.96266667e-01 -2.22101696e-02 9.80298987e-01 1.18341410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.280371743 meters Centerline goodness : 0.981088 Centerline is valid? [True, True] Translation: X:130.46, Y:100.00, Z:11.84 [[ 2.43257720e-01 -9.67489610e-01 -6.92064722e-02 1.30464424e+02] [ 9.49042603e-01 2.52143079e-01 -1.89055563e-01 1.00001765e+02] [ 2.00359226e-01 -1.96906651e-02 9.79524608e-01 1.18407933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310371743 meters Centerline goodness : 0.981483 Centerline is valid? [True, True] Translation: X:130.45, Y:100.02, Z:11.85 [[ 2.39950952e-01 -9.70197783e-01 -3.37609678e-02 1.30453080e+02] [ 9.49379847e-01 2.41780933e-01 -2.00548963e-01 1.00022516e+02] [ 2.02734917e-01 1.60699320e-02 9.79101788e-01 1.18546706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.340371743 meters Centerline goodness : 0.979867 Centerline is valid? [True, True] Translation: X:130.48, Y:100.06, Z:11.86 [[ 2.41860540e-01 -9.68144606e-01 -6.48035537e-02 1.30477904e+02] [ 9.48604719e-01 2.49969546e-01 -1.94072961e-01 1.00055091e+02] [ 2.04089605e-01 -1.45343655e-02 9.78844311e-01 1.18561771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370371743 meters Centerline goodness : 0.981565 Centerline is valid? [True, True] Translation: X:130.49, Y:100.08, Z:11.86 [[ 2.38557474e-01 -9.68328915e-01 -7.36847673e-02 1.30486841e+02] [ 9.49266656e-01 2.48523855e-01 -1.92688114e-01 1.00083248e+02] [ 2.04897895e-01 -2.39793028e-02 9.78489574e-01 1.18623653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.400371743 meters Centerline goodness : 0.982665 Centerline is valid? [True, True] Translation: X:130.49, Y:100.12, Z:11.87 [[ 2.33727083e-01 -9.70735320e-01 -5.51777938e-02 1.30490874e+02] [ 9.49974066e-01 2.40083653e-01 -1.99772656e-01 1.00117870e+02] [ 2.07173660e-01 -5.72519300e-03 9.78287431e-01 1.18719763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430371743 meters Centerline goodness : 0.982011 Centerline is valid? [True, True] Translation: X:130.50, Y:100.14, Z:11.87 [[ 2.35660407e-01 -9.68785583e-01 -7.69328760e-02 1.30502373e+02] [ 9.50866517e-01 2.46207799e-01 -1.87708780e-01 1.00139858e+02] [ 2.00791034e-01 -2.89173684e-02 9.79207203e-01 1.18700022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.460371743 meters Centerline goodness : 0.982011 Centerline is valid? [True, True] Translation: X:130.51, Y:100.17, Z:11.88 [[ 2.34981678e-01 -9.69710522e-01 -6.66716877e-02 1.30507252e+02] [ 9.50920907e-01 2.43551777e-01 -1.90871581e-01 1.00166909e+02] [ 2.01328188e-01 -1.85481773e-02 9.79348215e-01 1.18779196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490371743 meters Centerline goodness : 0.980610 Centerline is valid? [True, True] Translation: X:130.51, Y:100.20, Z:11.88 [[ 2.36892113e-01 -9.70561687e-01 -4.34987188e-02 1.30508937e+02] [ 9.52065956e-01 2.40830547e-01 -1.88602926e-01 1.00196066e+02] [ 1.93526594e-01 3.26489640e-03 9.81089597e-01 1.18807979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.520371743 meters Centerline goodness : 0.983973 Centerline is valid? [True, True] Translation: X:130.52, Y:100.23, Z:11.89 [[ 2.29421003e-01 -9.71130048e-01 -6.53638589e-02 1.30519593e+02] [ 9.52285206e-01 2.37842794e-01 -1.91268640e-01 1.00228250e+02] [ 2.01293046e-01 -1.83639927e-02 9.79358909e-01 1.18857788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550371743 meters Centerline goodness : 0.980909 Centerline is valid? [True, True] Translation: X:130.53, Y:100.25, Z:11.89 [[ 2.33002034e-01 -9.69829397e-01 -7.17007183e-02 1.30527365e+02] [ 9.53078355e-01 2.42385640e-01 -1.81358349e-01 1.00249277e+02] [ 1.93265883e-01 -2.60795385e-02 9.80799753e-01 1.18872295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.580371743 meters Centerline goodness : 0.979040 Centerline is valid? [True, True] Translation: X:130.53, Y:100.28, Z:11.90 [[ 2.32079980e-01 -9.71141224e-01 -5.49873225e-02 1.30527823e+02] [ 9.52957538e-01 2.38337545e-01 -1.87262240e-01 1.00275728e+02] [ 1.94963624e-01 -8.94076666e-03 9.80769722e-01 1.18961228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61037174300003 meters Centerline goodness : 0.981458 Centerline is valid? [True, True] Translation: X:130.54, Y:100.30, Z:11.90 [[ 2.27732917e-01 -9.70060125e-01 -8.43864479e-02 1.30538678e+02] [ 9.53678574e-01 2.39699714e-01 -1.81772455e-01 1.00297598e+02] [ 1.96557618e-01 -3.90819759e-02 9.79713071e-01 1.18974401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.640371743 meters Centerline goodness : 0.982594 Centerline is valid? [True, True] Translation: X:130.54, Y:100.33, Z:11.91 [[ 2.23335842e-01 -9.71377720e-01 -8.09099935e-02 1.30541711e+02] [ 9.55052577e-01 2.34668797e-01 -1.81121866e-01 1.00325056e+02] [ 1.94924796e-01 -3.68222933e-02 9.80126748e-01 1.19083194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.670371743 meters Centerline goodness : 0.982312 Centerline is valid? [True, True] Translation: X:130.53, Y:100.35, Z:11.92 [[ 2.22080762e-01 -9.74294194e-01 -3.78280109e-02 1.30533622e+02] [ 9.54884409e-01 2.25174354e-01 -1.93629225e-01 1.00354436e+02] [ 1.97169727e-01 6.87994809e-03 9.80345227e-01 1.19206746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.700371743 meters Centerline goodness : 0.984600 Centerline is valid? [True, True] Translation: X:130.54, Y:100.38, Z:11.92 [[ 2.19348583e-01 -9.73550677e-01 -6.39161853e-02 1.30544636e+02] [ 9.56011332e-01 2.27549419e-01 -1.85104284e-01 1.00379337e+02] [ 1.94752492e-01 -2.05022349e-02 9.80638122e-01 1.19198672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.730371743 meters Centerline goodness : 0.985496 Centerline is valid? [True, True] Translation: X:130.55, Y:100.41, Z:11.92 [[ 2.17029573e-01 -9.73372923e-01 -7.37788376e-02 1.30553161e+02] [ 9.57139860e-01 2.27040150e-01 -1.79822297e-01 1.00406183e+02] [ 1.91784913e-01 -3.15899100e-02 9.80928450e-01 1.19230262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.760371743 meters Centerline goodness : 0.985492 Centerline is valid? [True, True] Translation: X:130.55, Y:100.43, Z:11.93 [[ 2.13606748e-01 -9.74919060e-01 -6.24898727e-02 1.30550825e+02] [ 9.57452410e-01 2.21627598e-01 -1.84840718e-01 1.00430820e+02] [ 1.94054219e-01 -2.03478545e-02 9.80779754e-01 1.19336303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.790371743 meters Centerline goodness : 0.984218 Centerline is valid? [True, True] Translation: X:130.55, Y:100.46, Z:11.94 [[ 2.15471272e-01 -9.74883460e-01 -5.63415484e-02 1.30554696e+02] [ 9.55962123e-01 2.22359679e-01 -1.91553105e-01 1.00458902e+02] [ 1.99270043e-01 -1.25861949e-02 9.79863785e-01 1.19422781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.820371743 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:130.55, Y:100.49, Z:11.95 [[ 2.07263403e-01 -9.77248792e-01 -4.50186641e-02 1.30549975e+02] [ 9.55675676e-01 2.12095049e-01 -2.04205025e-01 1.00490074e+02] [ 2.09107350e-01 -6.99013817e-04 9.77892442e-01 1.19522601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.850371743 meters Centerline goodness : 0.983769 Centerline is valid? [True, True] Translation: X:130.57, Y:100.51, Z:11.95 [[ 2.15690858e-01 -9.73732810e-01 -7.29511415e-02 1.30570777e+02] [ 9.56061113e-01 2.25786038e-01 -1.86996828e-01 1.00512557e+02] [ 1.98556296e-01 -2.94122433e-02 9.79648058e-01 1.19486910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880371743 meters Centerline goodness : 0.984895 Centerline is valid? [True, True] Translation: X:130.58, Y:100.54, Z:11.95 [[ 2.16649055e-01 -9.72730088e-01 -8.28212710e-02 1.30579545e+02] [ 9.57110599e-01 2.28352144e-01 -1.78310404e-01 1.00540131e+02] [ 1.92360310e-01 -4.06383356e-02 9.80482553e-01 1.19512545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.910371743 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:130.56, Y:100.57, Z:11.98 [[ 2.13060186e-01 -9.76679228e-01 -2.65149478e-02 1.30555772e+02] [ 9.54043162e-01 2.13822097e-01 -2.09956558e-01 1.00573377e+02] [ 2.10729691e-01 1.94369788e-02 9.77351115e-01 1.19752283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940371743 meters Centerline goodness : 0.983244 Centerline is valid? [True, True] Translation: X:130.58, Y:100.60, Z:11.97 [[ 2.22524639e-01 -9.72093379e-01 -7.42781713e-02 1.30583291e+02] [ 9.54419009e-01 2.32755319e-01 -1.86840350e-01 1.00595975e+02] [ 1.98914907e-01 -2.93159172e-02 9.79578193e-01 1.19666281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.970371743 meters Centerline goodness : 0.982851 Centerline is valid? [True, True] Translation: X:130.58, Y:100.62, Z:11.97 [[ 2.25639800e-01 -9.71969186e-01 -6.60498413e-02 1.30580161e+02] [ 9.53872412e-01 2.34202019e-01 -1.87821288e-01 1.00621649e+02] [ 1.98025510e-01 -2.06231638e-02 9.79979889e-01 1.19728575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000371743 meters Centerline goodness : 0.984450 Centerline is valid? [True, True] Translation: X:130.59, Y:100.65, Z:11.98 [[ 2.28546789e-01 -9.70903708e-01 -7.15007282e-02 1.30591837e+02] [ 9.53927838e-01 2.38004633e-01 -1.82689556e-01 1.00651028e+02] [ 1.94391472e-01 -2.64534238e-02 9.80567271e-01 1.19767292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.030371743 meters Centerline goodness : 0.982274 Centerline is valid? [True, True] Translation: X:130.58, Y:100.67, Z:11.99 [[ 2.22881359e-01 -9.74012512e-01 -4.02929963e-02 1.30576298e+02] [ 9.55758606e-01 2.26469758e-01 -1.87715037e-01 1.00672263e+02] [ 1.91961940e-01 3.32780457e-03 9.81396729e-01 1.19858284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060371743 meters Centerline goodness : 0.982796 Centerline is valid? [True, True] Translation: X:130.60, Y:100.70, Z:11.99 [[ 2.33312678e-01 -9.70009190e-01 -6.81715958e-02 1.30600612e+02] [ 9.53464495e-01 2.41974501e-01 -1.79871614e-01 1.00703662e+02] [ 1.90972907e-01 -2.30328682e-02 9.81325041e-01 1.19866338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.090371743 meters Centerline goodness : 0.983746 Centerline is valid? [True, True] Translation: X:130.60, Y:100.73, Z:12.00 [[ 2.33988709e-01 -9.70789098e-01 -5.30830653e-02 1.30600363e+02] [ 9.52934359e-01 2.39826769e-01 -1.85470292e-01 1.00730000e+02] [ 1.92783277e-01 -7.18672260e-03 9.81215042e-01 1.19964831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120371743 meters Centerline goodness : 0.985073 Centerline is valid? [True, True] Translation: X:130.61, Y:100.76, Z:12.00 [[ 2.38311570e-01 -9.69508090e-01 -5.71109350e-02 1.30608687e+02] [ 9.52030339e-01 2.44828861e-01 -1.83567595e-01 1.00759283e+02] [ 1.91952674e-01 -1.06250610e-02 9.81346666e-01 1.19991001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.150371743 meters Centerline goodness : 0.984331 Centerline is valid? [True, True] Translation: X:130.61, Y:100.78, Z:12.01 [[ 2.38575966e-01 -9.69690261e-01 -5.27475705e-02 1.30612296e+02] [ 9.51869174e-01 2.44262892e-01 -1.85150518e-01 1.00784771e+02] [ 1.92422928e-01 -6.03632265e-03 9.81293524e-01 1.20050305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180371743 meters Centerline goodness : 0.983955 Centerline is valid? [True, True] Translation: X:130.62, Y:100.81, Z:12.01 [[ 2.40118798e-01 -9.69110068e-01 -5.62906567e-02 1.30621451e+02] [ 9.51708048e-01 2.46441272e-01 -1.83080561e-01 1.00812076e+02] [ 1.91297556e-01 -9.61118681e-03 9.81485033e-01 1.20094475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.210371743 meters Centerline goodness : 0.982500 Centerline is valid? [True, True] Translation: X:130.63, Y:100.84, Z:12.01 [[ 2.40668918e-01 -9.68869808e-01 -5.80496926e-02 1.30628918e+02] [ 9.51834147e-01 2.47297483e-01 -1.81261443e-01 1.00838491e+02] [ 1.89974283e-01 -1.16296842e-02 9.81720185e-01 1.20135024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240371743 meters Centerline goodness : 0.983860 Centerline is valid? [True, True] Translation: X:130.63, Y:100.86, Z:12.02 [[ 2.43209026e-01 -9.68586562e-01 -5.18598216e-02 1.30632814e+02] [ 9.51087196e-01 2.48631614e-01 -1.83345211e-01 1.00864731e+02] [ 1.90479699e-01 -4.73200209e-03 9.81679730e-01 1.20209124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.270371743 meters Centerline goodness : 0.982173 Centerline is valid? [True, True] Translation: X:130.65, Y:100.89, Z:12.02 [[ 2.46820917e-01 -9.67195760e-01 -6.00982260e-02 1.30646413e+02] [ 9.50429610e-01 2.53712013e-01 -1.79760313e-01 1.00892750e+02] [ 1.89111055e-01 -1.27505282e-02 9.81872921e-01 1.20237427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300371743 meters Centerline goodness : 0.982044 Centerline is valid? [True, True] Translation: X:130.65, Y:100.92, Z:12.03 [[ 2.47347621e-01 -9.67357116e-01 -5.51304266e-02 1.30650123e+02] [ 9.50451424e-01 2.53296406e-01 -1.80230468e-01 1.00918302e+02] [ 1.88311564e-01 -7.81921512e-03 9.82078212e-01 1.20292451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.330371743 meters Centerline goodness : 0.981119 Centerline is valid? [True, True] Translation: X:130.63, Y:100.94, Z:12.04 [[ 2.44779649e-01 -9.69284095e-01 -2.39011815e-02 1.30634891e+02] [ 9.50002703e-01 2.44693151e-01 -1.93959082e-01 1.00937261e+02] [ 1.93849909e-01 2.47710491e-02 9.80718414e-01 1.20448642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36037174300003 meters Centerline goodness : 0.987164 Centerline is valid? [True, True] Translation: X:130.66, Y:100.97, Z:12.05 [[ 2.40764451e-01 -9.68126687e-01 -6.90159122e-02 1.30658186e+02] [ 9.48158343e-01 2.49803314e-01 -1.96453710e-01 1.00972078e+02] [ 2.07432483e-01 -1.81389434e-02 9.78081154e-01 1.20451781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.390371743 meters Centerline goodness : 0.979241 Centerline is valid? [True, True] Translation: X:130.69, Y:101.00, Z:12.05 [[ 2.62766610e-01 -9.62111169e-01 -7.27722970e-02 1.30689789e+02] [ 9.45879318e-01 2.71750244e-01 -1.77381286e-01 1.01001220e+02] [ 1.90436406e-01 -2.22239316e-02 9.81447947e-01 1.20466829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.420371743 meters Centerline goodness : 0.981856 Centerline is valid? [True, True] Translation: X:130.69, Y:101.03, Z:12.05 [[ 2.61065951e-01 -9.64345388e-01 -4.33882637e-02 1.30685825e+02] [ 9.46894652e-01 2.64563950e-01 -1.82746913e-01 1.01031160e+02] [ 1.87710113e-01 6.62488185e-03 9.82202130e-01 1.20547727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.450371743 meters Centerline goodness : 0.980771 Centerline is valid? [True, True] Translation: X:130.70, Y:101.05, Z:12.05 [[ 2.64644037e-01 -9.62469780e-01 -6.01286725e-02 1.30699800e+02] [ 9.46084136e-01 2.71204142e-01 -1.77124590e-01 1.01054687e+02] [ 1.86784210e-01 -1.00118167e-02 9.82349949e-01 1.20539051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.480371743 meters Centerline goodness : 0.988053 Centerline is valid? [True, True] Translation: X:130.69, Y:101.08, Z:12.07 [[ 2.53058021e-01 -9.64974599e-01 -6.91784725e-02 1.30694029e+02] [ 9.44723991e-01 2.61888773e-01 -1.97258337e-01 1.01078980e+02] [ 2.08466350e-01 -1.54367585e-02 9.77907709e-01 1.20679190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.510371743 meters Centerline goodness : 0.987634 Centerline is valid? [True, True] Translation: X:130.70, Y:101.11, Z:12.08 [[ 2.54808897e-01 -9.64956684e-01 -6.26978731e-02 1.30701015e+02] [ 9.44315462e-01 2.62269071e-01 -1.98703908e-01 1.01105169e+02] [ 2.08184377e-01 -8.57504756e-03 9.78052010e-01 1.20757499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.540371743 meters Centerline goodness : 0.981782 Centerline is valid? [True, True] Translation: X:130.73, Y:101.13, Z:12.07 [[ 2.68954962e-01 -9.60037047e-01 -7.74086307e-02 1.30729518e+02] [ 9.44810015e-01 2.78589856e-01 -1.72399906e-01 1.01130799e+02] [ 1.87075556e-01 -2.67686392e-02 9.81980741e-01 1.20690439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.570371743 meters Centerline goodness : 0.987942 Centerline is valid? [True, True] Translation: X:130.71, Y:101.16, Z:12.09 [[ 2.58435462e-01 -9.65073543e-01 -4.29437779e-02 1.30714714e+02] [ 9.43543019e-01 2.61705940e-01 -2.03067902e-01 1.01157441e+02] [ 2.07214102e-01 1.19606454e-02 9.78222500e-01 1.20927741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.600371743 meters Centerline goodness : 0.988893 Centerline is valid? [True, True] Translation: X:130.73, Y:101.18, Z:12.09 [[ 2.59575387e-01 -9.63739171e-01 -6.18662139e-02 1.30730247e+02] [ 9.43512834e-01 2.66744722e-01 -1.96547159e-01 1.01182363e+02] [ 2.05922682e-01 -7.35276208e-03 9.78540641e-01 1.20910643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630371743 meters Centerline goodness : 0.983902 Centerline is valid? [True, True] Translation: X:130.74, Y:101.20, Z:12.08 [[ 2.63632555e-01 -9.60980508e-01 -8.37516540e-02 1.30744466e+02] [ 9.45789327e-01 2.74582186e-01 -1.73456544e-01 1.01199232e+02] [ 1.89685070e-01 -3.34826286e-02 9.81273911e-01 1.20765841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.660371743 meters Centerline goodness : 0.988290 Centerline is valid? [True, True] Translation: X:130.74, Y:101.23, Z:12.11 [[ 2.65441209e-01 -9.63646797e-01 -3.04272078e-02 1.30739895e+02] [ 9.41905948e-01 2.65930786e-01 -2.05168227e-01 1.01233064e+02] [ 2.05801236e-01 2.58005343e-02 9.78253640e-01 1.21109636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690371743 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:130.76, Y:101.26, Z:12.11 [[ 2.66773453e-01 -9.61791295e-01 -6.15583406e-02 1.30759217e+02] [ 9.41797610e-01 2.73719950e-01 -1.95178509e-01 1.01257255e+02] [ 2.04570737e-01 -5.90705318e-03 9.78833959e-01 1.21050038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.720371743 meters Centerline goodness : 0.988322 Centerline is valid? [True, True] Translation: X:130.77, Y:101.28, Z:12.11 [[ 2.68328230e-01 -9.61357240e-01 -6.15809803e-02 1.30768963e+02] [ 9.41317776e-01 2.75247968e-01 -1.95344311e-01 1.01282979e+02] [ 2.04745708e-01 -5.55087812e-03 9.78799460e-01 1.21100981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750371743 meters Centerline goodness : 0.988841 Centerline is valid? [True, True] Translation: X:130.78, Y:101.31, Z:12.11 [[ 2.70765344e-01 -9.60679557e-01 -6.14891620e-02 1.30780580e+02] [ 9.40643470e-01 2.77614922e-01 -1.95242972e-01 1.01307068e+02] [ 2.04636241e-01 -4.97434814e-03 9.78825452e-01 1.21146351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.780371743 meters Centerline goodness : 0.983851 Centerline is valid? [True, True] Translation: X:130.79, Y:101.33, Z:12.11 [[ 2.76315236e-01 -9.59478540e-01 -5.52342478e-02 1.30789718e+02] [ 9.43171264e-01 2.81761018e-01 -1.76178019e-01 1.01325366e+02] [ 1.84601887e-01 -3.41468450e-03 9.82807450e-01 1.21090642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810371743 meters Centerline goodness : 0.983901 Centerline is valid? [True, True] Translation: X:130.80, Y:101.35, Z:12.11 [[ 2.77974717e-01 -9.58814500e-01 -5.83507609e-02 1.30803418e+02] [ 9.43908673e-01 2.83914373e-01 -1.68609150e-01 1.01351800e+02] [ 1.78231517e-01 -8.20870868e-03 9.83954340e-01 1.21088567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.840371743 meters Centerline goodness : 0.983276 Centerline is valid? [True, True] Translation: X:130.81, Y:101.38, Z:12.12 [[ 2.79387480e-01 -9.59527118e-01 -3.53602418e-02 1.30810159e+02] [ 9.43435211e-01 2.81176729e-01 -1.75697610e-01 1.01378138e+02] [ 1.78529098e-01 1.57276153e-02 9.83808926e-01 1.21233136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870371743 meters Centerline goodness : 0.983877 Centerline is valid? [True, True] Translation: X:130.83, Y:101.40, Z:12.13 [[ 2.80260129e-01 -9.58773634e-01 -4.69827410e-02 1.30825049e+02] [ 9.43108809e-01 2.84141667e-01 -1.72653661e-01 1.01402699e+02] [ 1.78885533e-01 4.07810052e-03 9.83861441e-01 1.21251640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.900371743 meters Centerline goodness : 0.985483 Centerline is valid? [True, True] Translation: X:130.85, Y:101.43, Z:12.13 [[ 2.82688823e-01 -9.56346379e-01 -7.40853124e-02 1.30851711e+02] [ 9.41680897e-01 2.91392163e-01 -1.68308337e-01 1.01427483e+02] [ 1.82548948e-01 -2.21858377e-02 9.82946423e-01 1.21264103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930371743 meters Centerline goodness : 0.985610 Centerline is valid? [True, True] Translation: X:130.86, Y:101.45, Z:12.14 [[ 2.82489377e-01 -9.57740674e-01 -5.41530538e-02 1.30857368e+02] [ 9.41604541e-01 2.87629008e-01 -1.75072675e-01 1.01454636e+02] [ 1.83250211e-01 -1.53459061e-03 9.83065107e-01 1.21373890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.960371743 meters Centerline goodness : 0.983573 Centerline is valid? [True, True] Translation: X:130.86, Y:101.48, Z:12.14 [[ 2.79248159e-01 -9.59758256e-01 -2.97414870e-02 1.30856341e+02] [ 9.43007480e-01 2.79949349e-01 -1.79903461e-01 1.01478665e+02] [ 1.80989942e-01 2.21912655e-02 9.83234554e-01 1.21435756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990371743 meters Centerline goodness : 0.983271 Centerline is valid? [True, True] Translation: X:130.87, Y:101.50, Z:12.15 [[ 2.79328963e-01 -9.59371380e-01 -3.97729257e-02 1.30874545e+02] [ 9.42809243e-01 2.81882540e-01 -1.77912800e-01 1.01501866e+02] [ 1.81895741e-01 1.21979160e-02 9.83242163e-01 1.21470186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.020371743 meters Centerline goodness : 0.982988 Centerline is valid? [True, True] Translation: X:130.89, Y:101.53, Z:12.15 [[ 2.79648057e-01 -9.58828956e-01 -4.94368103e-02 1.30889416e+02] [ 9.42909506e-01 2.83976840e-01 -1.74008099e-01 1.01526712e+02] [ 1.80882913e-01 2.04658837e-03 9.83502508e-01 1.21490981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050371743 meters Centerline goodness : 0.984440 Centerline is valid? [True, True] Translation: X:130.90, Y:101.55, Z:12.15 [[ 2.79889235e-01 -9.58671497e-01 -5.10977146e-02 1.30901551e+02] [ 9.42849216e-01 2.84515067e-01 -1.73454699e-01 1.01551707e+02] [ 1.80824145e-01 3.70662853e-04 9.83515374e-01 1.21546797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.080371743 meters Centerline goodness : 0.982472 Centerline is valid? [True, True] Translation: X:130.92, Y:101.58, Z:12.16 [[ 2.80422764e-01 -9.58589649e-01 -4.96886099e-02 1.30916373e+02] [ 9.42761351e-01 2.84785224e-01 -1.73488939e-01 1.01575412e+02] [ 1.80455283e-01 1.80574692e-03 9.83581532e-01 1.21607527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11037174300003 meters Centerline goodness : 0.982380 Centerline is valid? [True, True] Translation: X:130.93, Y:101.60, Z:12.17 [[ 2.80300622e-01 -9.58668805e-01 -4.88434658e-02 1.30927526e+02] [ 9.42643107e-01 2.84509672e-01 -1.74580124e-01 1.01599944e+02] [ 1.81260957e-01 2.89296085e-03 9.83430779e-01 1.21666334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.140371743 meters Centerline goodness : 0.985362 Centerline is valid? [True, True] Translation: X:130.96, Y:101.62, Z:12.17 [[ 2.84335063e-01 -9.55710125e-01 -7.59718987e-02 1.30955497e+02] [ 9.40892623e-01 2.93381469e-01 -1.69258341e-01 1.01624649e+02] [ 1.84050657e-01 -2.33553180e-02 9.82639244e-01 1.21691513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.170371743 meters Centerline goodness : 0.978932 Centerline is valid? [True, True] Translation: X:130.95, Y:101.67, Z:12.18 [[ 2.96229679e-01 -9.53812926e-01 4.98886726e-02 1.30951422e+02] [ 9.40696926e-01 2.82317056e-01 -1.88112663e-01 1.01673720e+02] [ 1.65339866e-01 1.02654675e-01 9.80879578e-01 1.21786370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.200371743 meters Centerline goodness : 0.978165 Centerline is valid? [True, True] Translation: X:131.02, Y:101.68, Z:12.16 [[ 2.97142522e-01 -9.43072134e-01 -1.49403053e-01 1.31022626e+02] [ 9.37571290e-01 3.17794784e-01 -1.41303052e-01 1.01677293e+02] [ 1.80738482e-01 -9.80888680e-02 9.78627700e-01 1.21596562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.230371743 meters Centerline goodness : 0.982051 Centerline is valid? [True, True] Translation: X:130.98, Y:101.70, Z:12.19 [[ 2.90538348e-01 -9.56333053e-01 -3.18521716e-02 1.30983208e+02] [ 9.39155385e-01 2.91378013e-01 -1.81895621e-01 1.01702993e+02] [ 1.83233817e-01 2.29335148e-02 9.82801822e-01 1.21925959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.260371743 meters Centerline goodness : 0.983154 Centerline is valid? [True, True] Translation: X:131.02, Y:101.73, Z:12.19 [[ 2.95356946e-01 -9.52320324e-01 -7.64870927e-02 1.31016971e+02] [ 9.37589099e-01 3.04305416e-01 -1.68300017e-01 1.01726210e+02] [ 1.83550963e-01 -2.20048851e-02 9.82763872e-01 1.21910460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.290371743 meters Centerline goodness : 0.983250 Centerline is valid? [True, True] Translation: X:131.02, Y:101.75, Z:12.20 [[ 2.95470693e-01 -9.53809371e-01 -5.42655872e-02 1.31022037e+02] [ 9.37680589e-01 3.00411650e-01 -1.74665260e-01 1.01752611e+02] [ 1.82899377e-01 7.24677761e-04 9.83131371e-01 1.22015417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.320371743 meters Centerline goodness : 0.978553 Centerline is valid? [True, True] Translation: X:131.05, Y:101.80, Z:12.20 [[ 3.12917112e-01 -9.49501994e-01 2.29966057e-02 1.31047082e+02] [ 9.35707755e-01 3.04037735e-01 -1.78919125e-01 1.01800533e+02] [ 1.62892230e-01 7.75049583e-02 9.83594989e-01 1.22016891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.350371743 meters Centerline goodness : 0.978553 Centerline is valid? [True, True] Translation: X:131.08, Y:101.82, Z:12.19 [[ 3.14138682e-01 -9.47479383e-01 -5.99975593e-02 1.31083932e+02] [ 9.35180045e-01 3.19710778e-01 -1.52391934e-01 1.01823550e+02] [ 1.63570082e-01 -8.23631876e-03 9.86497335e-01 1.21884683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380371743 meters Centerline goodness : 0.978300 Centerline is valid? [True, True] Translation: X:131.10, Y:101.84, Z:12.20 [[ 3.11625509e-01 -9.46843825e-01 -7.98518232e-02 1.31098975e+02] [ 9.35295514e-01 3.20479251e-01 -1.50051164e-01 1.01844595e+02] [ 1.67665870e-01 -2.79252816e-02 9.85448291e-01 1.21957622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.410371743 meters Centerline goodness : 0.976783 Centerline is valid? [True, True] Translation: X:131.10, Y:101.88, Z:12.20 [[ 3.10199593e-01 -9.50189332e-01 -3.02728688e-02 1.31101028e+02] [ 9.36712029e-01 3.10926659e-01 -1.60919816e-01 1.01875155e+02] [ 1.62316934e-01 2.15603011e-02 9.86503100e-01 1.22034079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440371743 meters Centerline goodness : 0.981206 Centerline is valid? [True, True] Translation: X:131.11, Y:101.87, Z:12.21 [[ 2.89518163e-01 -9.47501100e-01 -1.35723609e-01 1.31112293e+02] [ 9.40206707e-01 3.08092034e-01 -1.45226190e-01 1.01873737e+02] [ 1.79417338e-01 -8.55626278e-02 9.80045129e-01 1.22091789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.470371743 meters Centerline goodness : 0.980722 Centerline is valid? [True, True] Translation: X:131.10, Y:101.91, Z:12.23 [[ 2.88144722e-01 -9.56028490e-01 -5.46090301e-02 1.31097886e+02] [ 9.40198274e-01 2.93270377e-01 -1.73261915e-01 1.01905165e+02] [ 1.81658538e-01 -1.41880936e-03 9.83360647e-01 1.22325524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500371743 meters Centerline goodness : 0.980747 Centerline is valid? [True, True] Translation: X:131.11, Y:101.93, Z:12.24 [[ 2.87300444e-01 -9.56355158e-01 -5.33222872e-02 1.31109050e+02] [ 9.40422976e-01 2.92206726e-01 -1.73838589e-01 1.01930080e+02] [ 1.81832562e-01 -2.01600169e-04 9.83329486e-01 1.22379104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.530371743 meters Centerline goodness : 0.980399 Centerline is valid? [True, True] Translation: X:131.13, Y:101.95, Z:12.24 [[ 2.86809691e-01 -9.56317614e-01 -5.65404539e-02 1.31127098e+02] [ 9.39836867e-01 2.92319523e-01 -1.76793552e-01 1.01954505e+02] [ 1.85598666e-01 -2.43269911e-03 9.82622622e-01 1.22426682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560371743 meters Centerline goodness : 0.976533 Centerline is valid? [True, True] Translation: X:131.14, Y:102.00, Z:12.24 [[ 3.03043662e-01 -9.52620328e-01 2.60585901e-02 1.31143794e+02] [ 9.38565557e-01 2.93611934e-01 -1.81346982e-01 1.02004231e+02] [ 1.65103709e-01 7.94137487e-02 9.83073864e-01 1.22414330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.590371743 meters Centerline goodness : 0.978226 Centerline is valid? [True, True] Translation: X:131.19, Y:102.02, Z:12.23 [[ 3.02479996e-01 -9.50688802e-01 -6.85321387e-02 1.31186926e+02] [ 9.38484007e-01 3.09620014e-01 -1.52915717e-01 1.02020194e+02] [ 1.66594182e-01 -1.80623706e-02 9.85860096e-01 1.22306144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620371743 meters Centerline goodness : 0.982222 Centerline is valid? [True, True] Translation: X:131.19, Y:102.03, Z:12.25 [[ 2.83344715e-01 -9.52401974e-01 -1.12455557e-01 1.31185981e+02] [ 9.40002351e-01 2.99045792e-01 -1.64216911e-01 1.02031273e+02] [ 1.90029871e-01 -5.91784942e-02 9.79993140e-01 1.22518249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.650371743 meters Centerline goodness : 0.978115 Centerline is valid? [True, True] Translation: X:131.18, Y:102.08, Z:12.26 [[ 3.00124678e-01 -9.53889517e-01 4.46834525e-03 1.31184214e+02] [ 9.39546370e-01 2.94795813e-01 -1.74206908e-01 1.02077303e+02] [ 1.64856894e-01 5.64820097e-02 9.84698932e-01 1.22558738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680371743 meters Centerline goodness : 0.978748 Centerline is valid? [True, True] Translation: X:131.22, Y:102.10, Z:12.25 [[ 3.00924913e-01 -9.51123926e-01 -6.93359470e-02 1.31217983e+02] [ 9.38642989e-01 3.08252936e-01 -1.54691524e-01 1.02095283e+02] [ 1.68503818e-01 -1.85311672e-02 9.85526793e-01 1.22490981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.710371743 meters Centerline goodness : 0.980276 Centerline is valid? [True, True] Translation: X:131.23, Y:102.12, Z:12.26 [[ 2.98401121e-01 -9.52036959e-01 -6.76934277e-02 1.31227403e+02] [ 9.38683263e-01 3.05570118e-01 -1.59689182e-01 1.02119752e+02] [ 1.72715092e-01 -1.58912568e-02 9.84843625e-01 1.22597797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740371743 meters Centerline goodness : 0.981262 Centerline is valid? [True, True] Translation: X:131.24, Y:102.14, Z:12.27 [[ 2.96452889e-01 -9.52291760e-01 -7.24988827e-02 1.31236145e+02] [ 9.38389767e-01 3.04557848e-01 -1.63306959e-01 1.02143308e+02] [ 1.77595975e-01 -1.96193900e-02 9.83907897e-01 1.22711064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.770371743 meters Centerline goodness : 0.979861 Centerline is valid? [True, True] Translation: X:131.25, Y:102.17, Z:12.28 [[ 2.97451066e-01 -9.51864093e-01 -7.40108836e-02 1.31246357e+02] [ 9.37422195e-01 3.05874306e-01 -1.66374691e-01 1.02165153e+02] [ 1.81004122e-01 -1.98911158e-02 9.83281166e-01 1.22803127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800371743 meters Centerline goodness : 0.982138 Centerline is valid? [True, True] Translation: X:131.25, Y:102.20, Z:12.29 [[ 2.93055129e-01 -9.53625849e-01 -6.86762793e-02 1.31253558e+02] [ 9.36642168e-01 3.00766908e-01 -1.79557002e-01 1.02195309e+02] [ 1.91885751e-01 -1.17049986e-02 9.81347467e-01 1.22944494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.830371743 meters Centerline goodness : 0.980824 Centerline is valid? [True, True] Translation: X:131.26, Y:102.22, Z:12.30 [[ 2.98280316e-01 -9.52341791e-01 -6.38276273e-02 1.31262683e+02] [ 9.36609554e-01 3.04919968e-01 -1.72587246e-01 1.02219611e+02] [ 1.83824365e-01 -8.30218730e-03 9.82924044e-01 1.22973758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86037174300003 meters Centerline goodness : 0.981947 Centerline is valid? [True, True] Translation: X:131.27, Y:102.25, Z:12.31 [[ 2.97599550e-01 -9.52110464e-01 -7.01439364e-02 1.31273547e+02] [ 9.34845377e-01 3.05528594e-01 -1.80876751e-01 1.02247267e+02] [ 1.93645626e-01 -1.17448949e-02 9.81001238e-01 1.23111553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.890371743 meters Centerline goodness : 0.981225 Centerline is valid? [True, True] Translation: X:131.28, Y:102.28, Z:12.31 [[ 3.02825993e-01 -9.51670887e-01 -5.11755877e-02 1.31279472e+02] [ 9.34131887e-01 3.07032632e-01 -1.82012587e-01 1.02275001e+02] [ 1.88928655e-01 7.31339401e-03 9.81963583e-01 1.23138168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.920371743 meters Centerline goodness : 0.982599 Centerline is valid? [True, True] Translation: X:131.30, Y:102.30, Z:12.32 [[ 3.07794935e-01 -9.48259714e-01 -7.78831959e-02 1.31296642e+02] [ 9.31675400e-01 3.16988752e-01 -1.77479803e-01 1.02297632e+02] [ 1.92985044e-01 -1.79344734e-02 9.81037781e-01 1.23205421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.950371743 meters Centerline goodness : 0.981928 Centerline is valid? [True, True] Translation: X:131.30, Y:102.32, Z:12.33 [[ 3.11158398e-01 -9.48073193e-01 -6.58610097e-02 1.31301783e+02] [ 9.30419400e-01 3.18019013e-01 -1.82163792e-01 1.02323320e+02] [ 1.93649661e-01 -4.59656749e-03 9.81059978e-01 1.23282944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.980371743 meters Centerline goodness : 0.983531 Centerline is valid? [True, True] Translation: X:131.30, Y:102.34, Z:12.33 [[ 3.08422380e-01 -9.49333450e-01 -6.03459770e-02 1.31296687e+02] [ 9.31356986e-01 3.14270179e-01 -1.83870657e-01 1.02342321e+02] [ 1.93519506e-01 5.06178425e-04 9.81096297e-01 1.23312282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.010371743 meters Centerline goodness : 0.981096 Centerline is valid? [True, True] Translation: X:131.32, Y:102.37, Z:12.34 [[ 3.24265691e-01 -9.42858950e-01 -7.66078499e-02 1.31322131e+02] [ 9.26288266e-01 3.32909551e-01 -1.76525579e-01 1.02367211e+02] [ 1.91942207e-01 -1.37197637e-02 9.81310327e-01 1.23378511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.040371743 meters Centerline goodness : 0.981829 Centerline is valid? [True, True] Translation: X:131.32, Y:102.40, Z:12.35 [[ 3.24791580e-01 -9.44365746e-01 -5.18050942e-02 1.31323989e+02] [ 9.25500112e-01 3.28631872e-01 -1.88283390e-01 1.02396831e+02] [ 1.94833189e-01 1.32072393e-02 9.80747469e-01 1.23477561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.070371743 meters Centerline goodness : 0.983929 Centerline is valid? [True, True] Translation: X:131.33, Y:102.42, Z:12.35 [[ 3.25768323e-01 -9.43743800e-01 -5.67683039e-02 1.31328462e+02] [ 9.25654798e-01 3.30594598e-01 -1.84039146e-01 1.02417876e+02] [ 1.92453098e-01 7.40627126e-03 9.81278224e-01 1.23493754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.100371743 meters Centerline goodness : 0.983066 Centerline is valid? [True, True] Translation: X:131.35, Y:102.44, Z:12.36 [[ 3.32447658e-01 -9.40023083e-01 -7.63882089e-02 1.31352839e+02] [ 9.22337920e-01 3.40963345e-01 -1.81760170e-01 1.02444848e+02] [ 1.96904334e-01 -1.00299990e-02 9.80371400e-01 1.23606965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130371743 meters Centerline goodness : 0.984551 Centerline is valid? [True, True] Translation: X:131.36, Y:102.47, Z:12.37 [[ 3.33231862e-01 -9.39192585e-01 -8.29084643e-02 1.31363112e+02] [ 9.21154128e-01 3.43057833e-01 -1.83810760e-01 1.02467599e+02] [ 2.01076101e-01 -1.51198724e-02 9.79458928e-01 1.23720148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.160371743 meters Centerline goodness : 0.985762 Centerline is valid? [True, True] Translation: X:131.35, Y:102.50, Z:12.37 [[ 3.32482332e-01 -9.42732203e-01 -2.66738023e-02 1.31352542e+02] [ 9.23856547e-01 3.31250256e-01 -1.91735102e-01 1.02496466e+02] [ 1.89590559e-01 3.91057670e-02 9.81084175e-01 1.23715917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190371743 meters Centerline goodness : 0.985464 Centerline is valid? [True, True] Translation: X:131.39, Y:102.51, Z:12.39 [[ 3.34941123e-01 -9.35068569e-01 -1.16022479e-01 1.31393728e+02] [ 9.19309536e-01 3.51302823e-01 -1.77359249e-01 1.02512084e+02] [ 2.06602084e-01 -4.72556657e-02 9.77283214e-01 1.23866973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.220371743 meters Centerline goodness : 0.985757 Centerline is valid? [True, True] Translation: X:131.39, Y:102.54, Z:12.40 [[ 3.38840576e-01 -9.39362449e-01 -5.27755006e-02 1.31390641e+02] [ 9.19372691e-01 3.42501862e-01 -1.93510540e-01 1.02544395e+02] [ 1.99852242e-01 1.70488690e-02 9.79677711e-01 1.23959276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250371743 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:131.39, Y:102.57, Z:12.39 [[ 3.38274101e-01 -9.40847603e-01 -1.94015646e-02 1.31392651e+02] [ 9.22183531e-01 3.35530032e-01 -1.92346386e-01 1.02571268e+02] [ 1.87478444e-01 4.71739976e-02 9.81135285e-01 1.23888845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.280371743 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:131.42, Y:102.59, Z:12.39 [[ 3.37797240e-01 -9.39417177e-01 -5.82098962e-02 1.31416240e+02] [ 9.21960100e-01 3.42698780e-01 -1.80408203e-01 1.02593979e+02] [ 1.89427025e-01 7.27419142e-03 9.81867857e-01 1.23887195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310371743 meters Centerline goodness : 0.988927 Centerline is valid? [True, True] Translation: X:131.43, Y:102.62, Z:12.39 [[ 3.37520605e-01 -9.39509422e-01 -5.83257042e-02 1.31428295e+02] [ 9.21951099e-01 3.42445351e-01 -1.80934663e-01 1.02617377e+02] [ 1.89963187e-01 7.29572985e-03 9.81764106e-01 1.23945088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.340371743 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:131.44, Y:102.64, Z:12.40 [[ 3.35096528e-01 -9.40376459e-01 -5.83303710e-02 1.31444610e+02] [ 9.22809447e-01 3.40066659e-01 -1.81045275e-01 1.02640310e+02] [ 1.90086929e-01 6.83982584e-03 9.81743437e-01 1.24010654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370371743 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:131.46, Y:102.66, Z:12.41 [[ 3.33322047e-01 -9.41019727e-01 -5.81230265e-02 1.31457433e+02] [ 9.23555921e-01 3.38289115e-01 -1.80568371e-01 1.02664871e+02] [ 1.89580786e-01 6.50755391e-03 9.81843560e-01 1.24067955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.400371743 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:131.47, Y:102.69, Z:12.41 [[ 3.28752015e-01 -9.42638495e-01 -5.79204576e-02 1.31474439e+02] [ 9.25290067e-01 3.33768073e-01 -1.80103205e-01 1.02687219e+02] [ 1.89104214e-01 5.61606742e-03 9.81940964e-01 1.24134231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430371743 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:131.49, Y:102.71, Z:12.42 [[ 3.25518159e-01 -9.43761156e-01 -5.79034409e-02 1.31486970e+02] [ 9.26422176e-01 3.30590241e-01 -1.80144510e-01 1.02711633e+02] [ 1.89155704e-01 4.99727760e-03 9.81934390e-01 1.24188685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.460371743 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:131.50, Y:102.74, Z:12.42 [[ 3.22827671e-01 -9.44687556e-01 -5.78594501e-02 1.31499287e+02] [ 9.27356342e-01 3.27940653e-01 -1.80180860e-01 1.02735261e+02] [ 1.89189082e-01 4.51103934e-03 9.81930314e-01 1.24242706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490371743 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:131.52, Y:102.76, Z:12.43 [[ 3.16477479e-01 -9.46813810e-01 -5.81860280e-02 1.31515943e+02] [ 9.29299859e-01 3.21764959e-01 -1.81298329e-01 1.02759204e+02] [ 1.90377987e-01 3.30457070e-03 9.81705303e-01 1.24296085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.520371743 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:131.53, Y:102.78, Z:12.43 [[ 3.12872640e-01 -9.47995434e-01 -5.84411470e-02 1.31527879e+02] [ 9.30312780e-01 3.18272833e-01 -1.82265016e-01 1.02783040e+02] [ 1.91386632e-01 2.65719076e-03 9.81511129e-01 1.24348003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550371743 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:131.54, Y:102.81, Z:12.44 [[ 3.06191675e-01 -9.50157438e-01 -5.87154329e-02 1.31543971e+02] [ 9.32314505e-01 3.11767458e-01 -1.83277702e-01 1.02806574e+02] [ 1.92448233e-01 1.37685665e-03 9.81306161e-01 1.24406038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.580371743 meters Centerline goodness : 0.996151 Centerline is valid? [True, True] Translation: X:131.56, Y:102.83, Z:12.45 [[ 3.03113462e-01 -9.51146317e-01 -5.86763438e-02 1.31555484e+02] [ 9.33310053e-01 3.08739421e-01 -1.83336614e-01 1.02830418e+02] [ 1.92495646e-01 8.08574376e-04 9.81297494e-01 1.24458515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61037174300003 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:131.57, Y:102.86, Z:12.45 [[ 2.99851043e-01 -9.52185204e-01 -5.85891520e-02 1.31567067e+02] [ 9.34405266e-01 3.05521370e-01 -1.83148824e-01 1.02855651e+02] [ 1.92291838e-01 1.71353747e-04 9.81337770e-01 1.24512766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.640371743 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:131.58, Y:102.88, Z:12.46 [[ 2.93995988e-01 -9.54012320e-01 -5.85393269e-02 1.31580310e+02] [ 9.36262481e-01 2.99765876e-01 -1.83174742e-01 1.02879994e+02] [ 1.92299054e-01 -9.55536119e-04 9.81335906e-01 1.24578263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.670371743 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:131.59, Y:102.90, Z:12.46 [[ 2.91976595e-01 -9.54638975e-01 -5.84302602e-02 1.31590511e+02] [ 9.36933294e-01 2.97762843e-01 -1.83011728e-01 1.02904276e+02] [ 1.92108489e-01 -1.31011492e-03 9.81372820e-01 1.24631181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.700371743 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:131.60, Y:102.93, Z:12.47 [[ 2.87431726e-01 -9.56020790e-01 -5.83716711e-02 1.31601889e+02] [ 9.38354202e-01 2.93290756e-01 -1.82953341e-01 1.02929215e+02] [ 1.92027069e-01 -2.18670824e-03 9.81387193e-01 1.24692284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.730371743 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:131.61, Y:102.96, Z:12.47 [[ 2.85087396e-01 -9.56722035e-01 -5.83791466e-02 1.31611345e+02] [ 9.39029871e-01 2.90991698e-01 -1.83157674e-01 1.02955158e+02] [ 1.92218830e-01 -2.60381801e-03 9.81348634e-01 1.24744769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.760371743 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:131.62, Y:102.98, Z:12.48 [[ 2.83132118e-01 -9.57309498e-01 -5.82642978e-02 1.31620481e+02] [ 9.39663214e-01 2.89049961e-01 -1.82984056e-01 1.02981246e+02] [ 1.92013668e-01 -2.94015403e-03 9.81387847e-01 1.24799235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.790371743 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:131.63, Y:103.01, Z:12.49 [[ 2.80952699e-01 -9.57948921e-01 -5.83047694e-02 1.31629308e+02] [ 9.40254614e-01 2.86919540e-01 -1.83298769e-01 1.03007372e+02] [ 1.92319636e-01 -3.32304459e-03 9.81326712e-01 1.24854041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.820371743 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:131.64, Y:103.03, Z:12.49 [[ 2.77507111e-01 -9.58968395e-01 -5.80467073e-02 1.31639353e+02] [ 9.41417427e-01 2.83485429e-01 -1.82672492e-01 1.03032585e+02] [ 1.91632543e-01 -3.95326621e-03 9.81458782e-01 1.24907991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.850371743 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:131.65, Y:103.06, Z:12.50 [[ 2.75543418e-01 -9.59537089e-01 -5.80034404e-02 1.31647795e+02] [ 9.41988949e-01 2.81549568e-01 -1.82720168e-01 1.03057832e+02] [ 1.91657622e-01 -4.29126024e-03 9.81452465e-01 1.24956893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880371743 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:131.66, Y:103.08, Z:12.50 [[ 2.73163018e-01 -9.60194871e-01 -5.83761529e-02 1.31656557e+02] [ 9.42411627e-01 2.79290588e-01 -1.84002971e-01 1.03083939e+02] [ 1.92982619e-01 -4.75155837e-03 9.81190670e-01 1.24997029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.910371743 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:131.66, Y:103.11, Z:12.51 [[ 2.71022501e-01 -9.60816338e-01 -5.81271794e-02 1.31663818e+02] [ 9.43163731e-01 2.77138554e-01 -1.83402287e-01 1.03109177e+02] [ 1.92325196e-01 -5.11730087e-03 9.81317906e-01 1.25056983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940371743 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:131.67, Y:103.14, Z:12.51 [[ 2.69168122e-01 -9.61343326e-01 -5.80304396e-02 1.31671825e+02] [ 9.43740944e-01 2.75298519e-01 -1.83204139e-01 1.03135527e+02] [ 1.92097770e-01 -5.45298784e-03 9.81360643e-01 1.25116153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.970371743 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:131.68, Y:103.16, Z:12.52 [[ 2.67134120e-01 -9.61917541e-01 -5.79137838e-02 1.31679541e+02] [ 9.44363307e-01 2.73278248e-01 -1.83021700e-01 1.03161446e+02] [ 1.91878361e-01 -5.80031160e-03 9.81401575e-01 1.25165359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000371743 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:131.69, Y:103.19, Z:12.52 [[ 2.63381208e-01 -9.62963507e-01 -5.77202182e-02 1.31687091e+02] [ 9.45514786e-01 2.69553829e-01 -1.82599348e-01 1.03187981e+02] [ 1.91395214e-01 -6.48208295e-03 9.81491648e-01 1.25222834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.030371743 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:131.69, Y:103.21, Z:12.53 [[ 2.61166206e-01 -9.63570189e-01 -5.76602518e-02 1.31694804e+02] [ 9.46135461e-01 2.67367449e-01 -1.82598842e-01 1.03214653e+02] [ 1.91363275e-01 -6.86576226e-03 9.81495267e-01 1.25272722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060371743 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:131.70, Y:103.24, Z:12.53 [[ 2.57198867e-01 -9.64641966e-01 -5.75727454e-02 1.31701273e+02] [ 9.47249650e-01 2.63454366e-01 -1.82509991e-01 1.03240434e+02] [ 1.91224588e-01 -7.59440006e-03 9.81516929e-01 1.25320675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.090371743 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:131.71, Y:103.27, Z:12.54 [[ 2.54988558e-01 -9.65231662e-01 -5.75210791e-02 1.31708012e+02] [ 9.47864714e-01 2.61273523e-01 -1.82451721e-01 1.03266049e+02] [ 1.91136913e-01 -7.99909971e-03 9.81530792e-01 1.25372130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120371743 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:131.71, Y:103.29, Z:12.54 [[ 2.53069030e-01 -9.65732940e-01 -5.75843195e-02 1.31714672e+02] [ 9.48318830e-01 2.59403245e-01 -1.82760373e-01 1.03292994e+02] [ 1.91435271e-01 -8.35730409e-03 9.81469659e-01 1.25422550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.150371743 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:131.72, Y:103.32, Z:12.55 [[ 2.49036666e-01 -9.66782477e-01 -5.75532922e-02 1.31718410e+02] [ 9.49376522e-01 2.55438421e-01 -1.82853582e-01 1.03320512e+02] [ 1.91480961e-01 -9.10249800e-03 9.81454118e-01 1.25466764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180371743 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:131.72, Y:103.35, Z:12.55 [[ 2.47587111e-01 -9.67136033e-01 -5.78663639e-02 1.31724877e+02] [ 9.49509639e-01 2.54086487e-01 -1.84042124e-01 1.03347004e+02] [ 1.92696830e-01 -9.37821256e-03 9.81213525e-01 1.25507291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.210371743 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:131.73, Y:103.37, Z:12.56 [[ 2.44161333e-01 -9.68015229e-01 -5.77213998e-02 1.31728377e+02] [ 9.50463156e-01 2.50692418e-01 -1.83774595e-01 1.03374804e+02] [ 1.92366924e-01 -9.99141372e-03 9.81272204e-01 1.25569603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240371743 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:131.73, Y:103.40, Z:12.56 [[ 2.43195667e-01 -9.68268258e-01 -5.75538787e-02 1.31734081e+02] [ 9.50788401e-01 2.49708495e-01 -1.83431414e-01 1.03401381e+02] [ 1.91982508e-01 -1.01118352e-02 9.81346253e-01 1.25615258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.270371743 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:131.74, Y:103.43, Z:12.57 [[ 2.42935156e-01 -9.68335520e-01 -5.75224396e-02 1.31742368e+02] [ 9.50855204e-01 2.49446749e-01 -1.83441272e-01 1.03428103e+02] [ 1.91981485e-01 -1.01311768e-02 9.81346253e-01 1.25667741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300371743 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:131.75, Y:103.45, Z:12.57 [[ 2.41985928e-01 -9.68576930e-01 -5.74590339e-02 1.31747937e+02] [ 9.51107444e-01 2.48502203e-01 -1.83415610e-01 1.03454928e+02] [ 1.91930825e-01 -1.02657183e-02 9.81354764e-01 1.25721321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.330371743 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:131.75, Y:103.48, Z:12.58 [[ 2.40432662e-01 -9.68975622e-01 -5.72571362e-02 1.31750252e+02] [ 9.51603322e-01 2.46933345e-01 -1.82961855e-01 1.03482872e+02] [ 1.91424274e-01 -1.04960752e-02 9.81451262e-01 1.25772827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36037174300003 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:131.76, Y:103.51, Z:12.58 [[ 2.39979786e-01 -9.69094037e-01 -5.71528697e-02 1.31755180e+02] [ 9.51751390e-01 2.46467102e-01 -1.82820290e-01 1.03510626e+02] [ 1.91256355e-01 -1.05221490e-02 9.81483719e-01 1.25825489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.390371743 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:131.76, Y:103.54, Z:12.59 [[ 2.39717220e-01 -9.69164723e-01 -5.70560562e-02 1.31756999e+02] [ 9.51845999e-01 2.46189442e-01 -1.82701814e-01 1.03539436e+02] [ 1.91114751e-01 -1.05118080e-02 9.81511413e-01 1.25871968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.420371743 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:131.76, Y:103.57, Z:12.59 [[ 2.39847535e-01 -9.69127576e-01 -5.71393184e-02 1.31761605e+02] [ 9.51719099e-01 2.46338275e-01 -1.83161705e-01 1.03565390e+02] [ 1.91582660e-01 -1.04496972e-02 9.81420852e-01 1.25917731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.450371743 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:131.77, Y:103.59, Z:12.60 [[ 2.39719387e-01 -9.69152745e-01 -5.72500859e-02 1.31766312e+02] [ 9.51655389e-01 2.46238643e-01 -1.83626116e-01 1.03591870e+02] [ 1.92058938e-01 -1.04636130e-02 9.81327610e-01 1.25961516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.480371743 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:131.77, Y:103.62, Z:12.60 [[ 2.39617900e-01 -9.69166400e-01 -5.74434632e-02 1.31771222e+02] [ 9.51527915e-01 2.46184050e-01 -1.84358459e-01 1.03619570e+02] [ 1.92815689e-01 -1.04834718e-02 9.81178988e-01 1.26012248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.510371743 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:131.77, Y:103.65, Z:12.61 [[ 2.39913050e-01 -9.69089342e-01 -5.75115288e-02 1.31772199e+02] [ 9.51368115e-01 2.46491361e-01 -1.84772070e-01 1.03648648e+02] [ 1.93236739e-01 -1.03854037e-02 9.81097195e-01 1.26055722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.540371743 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:131.78, Y:103.68, Z:12.61 [[ 2.40110392e-01 -9.69047990e-01 -5.73845983e-02 1.31776535e+02] [ 9.51366455e-01 2.46658313e-01 -1.84557700e-01 1.03675969e+02] [ 1.92999656e-01 -1.02795602e-02 9.81144976e-01 1.26102797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.570371743 meters Centerline goodness : 0.991089 Centerline is valid? [True, True] Translation: X:131.78, Y:103.70, Z:12.62 [[ 2.40157683e-01 -9.69048290e-01 -5.71812906e-02 1.31777061e+02] [ 9.51455925e-01 2.46660680e-01 -1.84092724e-01 1.03703891e+02] [ 1.92499116e-01 -1.01941956e-02 9.81244194e-01 1.26152658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.600371743 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:131.78, Y:103.73, Z:12.62 [[ 2.40222223e-01 -9.69038246e-01 -5.70803013e-02 1.31781413e+02] [ 9.51486677e-01 2.46702382e-01 -1.83877778e-01 1.03731071e+02] [ 1.92266446e-01 -1.01396176e-02 9.81290376e-01 1.26203138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630371743 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:131.79, Y:103.76, Z:12.63 [[ 2.40023464e-01 -9.69080893e-01 -5.71923081e-02 1.31785799e+02] [ 9.51423248e-01 2.46534525e-01 -1.84430291e-01 1.03758623e+02] [ 1.92827749e-01 -1.01464943e-02 9.81180161e-01 1.26251221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.660371743 meters Centerline goodness : 0.989912 Centerline is valid? [True, True] Translation: X:131.79, Y:103.79, Z:12.63 [[ 2.40808365e-01 -9.68880609e-01 -5.72860916e-02 1.31787227e+02] [ 9.51121806e-01 2.47328235e-01 -1.84921750e-01 1.03785834e+02] [ 1.93335565e-01 -9.95534679e-03 9.81082183e-01 1.26286500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690371743 meters Centerline goodness : 0.987217 Centerline is valid? [True, True] Translation: X:131.80, Y:103.82, Z:12.63 [[ 2.48784652e-01 -9.68192835e-01 -2.66239017e-02 1.31795937e+02] [ 9.50273063e-01 2.49311644e-01 -1.86614066e-01 1.03824784e+02] [ 1.87316050e-01 2.11267388e-02 9.82072481e-01 1.26290314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.720371743 meters Centerline goodness : 0.987428 Centerline is valid? [True, True] Translation: X:131.81, Y:103.84, Z:12.63 [[ 2.40815427e-01 -9.66220432e-01 -9.17932871e-02 1.31807117e+02] [ 9.51174798e-01 2.53758216e-01 -1.75707915e-01 1.03838932e+02] [ 1.93065879e-01 -4.49982845e-02 9.80153417e-01 1.26343228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750371743 meters Centerline goodness : 0.985623 Centerline is valid? [True, True] Translation: X:131.80, Y:103.88, Z:12.64 [[ 2.50458341e-01 -9.67600823e-01 -3.19259447e-02 1.31804956e+02] [ 9.49540261e-01 2.51947071e-01 -1.86804619e-01 1.03880411e+02] [ 1.88795951e-01 1.64718051e-02 9.81878184e-01 1.26403575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.780371743 meters Centerline goodness : 0.985639 Centerline is valid? [True, True] Translation: X:131.82, Y:103.91, Z:12.64 [[ 2.50535288e-01 -9.66318869e-01 -5.88210284e-02 1.31819075e+02] [ 9.49681395e-01 2.57110602e-01 -1.78883722e-01 1.03907864e+02] [ 1.87982226e-01 -1.10445515e-02 9.82110330e-01 1.26422571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810371743 meters Centerline goodness : 0.982428 Centerline is valid? [True, True] Translation: X:131.82, Y:103.93, Z:12.64 [[ 2.55168082e-01 -9.65079535e-01 -5.92515142e-02 1.31822553e+02] [ 9.49230462e-01 2.61695760e-01 -1.74576230e-01 1.03933502e+02] [ 1.83985817e-01 -1.16970604e-02 9.82859297e-01 1.26445076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.840371743 meters Centerline goodness : 0.983642 Centerline is valid? [True, True] Translation: X:131.82, Y:103.95, Z:12.66 [[ 2.48620768e-01 -9.64323829e-01 -9.09245135e-02 1.31821563e+02] [ 9.49776840e-01 2.61129332e-01 -1.72439629e-01 1.03948209e+02] [ 1.90030701e-01 -4.34859242e-02 9.80814614e-01 1.26551728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870371743 meters Centerline goodness : 0.982519 Centerline is valid? [True, True] Translation: X:131.82, Y:103.99, Z:12.66 [[ 2.59793827e-01 -9.65608060e-01 -1.04039001e-02 1.31820434e+02] [ 9.48442271e-01 2.57171466e-01 -1.85256839e-01 1.03993223e+02] [ 1.81561083e-01 3.82610845e-02 9.82635061e-01 1.26593992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.900371743 meters Centerline goodness : 0.981611 Centerline is valid? [True, True] Translation: X:131.84, Y:104.02, Z:12.66 [[ 2.62042989e-01 -9.62572141e-01 -6.91978749e-02 1.31841711e+02] [ 9.47453215e-01 2.70233749e-01 -1.71190323e-01 1.04018667e+02] [ 1.83482637e-01 -2.07025252e-02 9.82804929e-01 1.26595155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930371743 meters Centerline goodness : 0.981952 Centerline is valid? [True, True] Translation: X:131.84, Y:104.03, Z:12.67 [[ 2.53220791e-01 -9.62775563e-01 -9.45645035e-02 1.31837612e+02] [ 9.48108741e-01 2.66408526e-01 -1.73540520e-01 1.04032267e+02] [ 1.92273362e-01 -4.57133644e-02 9.80276105e-01 1.26703921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.960371743 meters Centerline goodness : 0.980292 Centerline is valid? [True, True] Translation: X:131.84, Y:104.08, Z:12.67 [[ 2.65973658e-01 -9.63976205e-01 -2.80875272e-03 1.31835223e+02] [ 9.46639070e-01 2.61738077e-01 -1.88062891e-01 1.04078834e+02] [ 1.82023310e-01 4.73609000e-02 9.82152972e-01 1.26743476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990371743 meters Centerline goodness : 0.981364 Centerline is valid? [True, True] Translation: X:131.85, Y:104.09, Z:12.68 [[ 2.57575349e-01 -9.59420210e-01 -1.14751036e-01 1.31853984e+02] [ 9.46719209e-01 2.74342529e-01 -1.68697705e-01 1.04085926e+02] [ 1.93333077e-01 -6.51846396e-02 9.78965415e-01 1.26766149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.020371743 meters Centerline goodness : 0.979314 Centerline is valid? [True, True] Translation: X:131.85, Y:104.13, Z:12.69 [[ 2.68025485e-01 -9.63224360e-01 -1.90045345e-02 1.31848405e+02] [ 9.45132659e-01 2.66713370e-01 -1.88648444e-01 1.04130507e+02] [ 1.86779540e-01 3.26007846e-02 9.81860780e-01 1.26866973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050371743 meters Centerline goodness : 0.981132 Centerline is valid? [True, True] Translation: X:131.86, Y:104.14, Z:12.69 [[ 2.61420836e-01 -9.60121570e-01 -9.91247571e-02 1.31860171e+02] [ 9.45564593e-01 2.75363827e-01 -1.73442680e-01 1.04140602e+02] [ 1.93821431e-01 -4.83873300e-02 9.79842803e-01 1.26896129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.080371743 meters Centerline goodness : 0.979459 Centerline is valid? [True, True] Translation: X:131.86, Y:104.19, Z:12.70 [[ 2.73152482e-01 -9.61939404e-01 -7.76559580e-03 1.31858321e+02] [ 9.44338606e-01 2.69675592e-01 -1.88413570e-01 1.04185947e+02] [ 1.83336629e-01 4.41322824e-02 9.82059073e-01 1.26970879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11037174300003 meters Centerline goodness : 0.979662 Centerline is valid? [True, True] Translation: X:131.88, Y:104.21, Z:12.69 [[ 2.75655210e-01 -9.58701254e-01 -7.00436345e-02 1.31884501e+02] [ 9.43690997e-01 2.83764990e-01 -1.70072726e-01 1.04208188e+02] [ 1.82924867e-01 -1.92181142e-02 9.82939040e-01 1.26937257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.140371743 meters Centerline goodness : 0.978676 Centerline is valid? [True, True] Translation: X:131.89, Y:104.23, Z:12.71 [[ 2.75296348e-01 -9.56934822e-01 -9.21285362e-02 1.31892966e+02] [ 9.41995489e-01 2.87646988e-01 -1.72926891e-01 1.04230491e+02] [ 1.91980260e-01 -3.91785237e-02 9.80616451e-01 1.27073395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.170371743 meters Centerline goodness : 0.978036 Centerline is valid? [True, True] Translation: X:131.89, Y:104.26, Z:12.72 [[ 2.76593199e-01 -9.59664273e-01 -5.04052204e-02 1.31889811e+02] [ 9.42049418e-01 2.81130896e-01 -1.83052760e-01 1.04261489e+02] [ 1.89839658e-01 3.14693971e-03 9.81810064e-01 1.27160349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.200371743 meters Centerline goodness : 0.979123 Centerline is valid? [True, True] Translation: X:131.90, Y:104.28, Z:12.72 [[ 2.77614373e-01 -9.57799804e-01 -7.44969504e-02 1.31902523e+02] [ 9.41078665e-01 2.86717062e-01 -1.79344008e-01 1.04284898e+02] [ 1.93135202e-01 -2.03190163e-02 9.80961738e-01 1.27217975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.230371743 meters Centerline goodness : 0.978889 Centerline is valid? [True, True] Translation: X:131.91, Y:104.31, Z:12.73 [[ 2.76776959e-01 -9.58788739e-01 -6.41768628e-02 1.31906620e+02] [ 9.41035808e-01 2.83961276e-01 -1.83895627e-01 1.04311788e+02] [ 1.94540800e-01 -9.49465345e-03 9.80848474e-01 1.27300500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.260371743 meters Centerline goodness : 0.978943 Centerline is valid? [True, True] Translation: X:131.91, Y:104.34, Z:12.73 [[ 2.79741779e-01 -9.59359533e-01 -3.70651273e-02 1.31910665e+02] [ 9.41398249e-01 2.81673259e-01 -1.85551910e-01 1.04343401e+02] [ 1.88451249e-01 1.70135754e-02 9.81935163e-01 1.27310017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.290371743 meters Centerline goodness : 0.978430 Centerline is valid? [True, True] Translation: X:131.93, Y:104.36, Z:12.74 [[ 2.76748089e-01 -9.57004406e-01 -8.69083553e-02 1.31930274e+02] [ 9.40947572e-01 2.88232581e-01 -1.77594048e-01 1.04362455e+02] [ 1.95008106e-01 -3.26273924e-02 9.80258788e-01 1.27372033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.320371743 meters Centerline goodness : 0.979719 Centerline is valid? [True, True] Translation: X:131.93, Y:104.39, Z:12.75 [[ 2.77048798e-01 -9.59104373e-01 -5.79893584e-02 1.31930844e+02] [ 9.41123345e-01 2.83032762e-01 -1.84876459e-01 1.04390803e+02] [ 1.93728708e-01 -3.35533816e-03 9.81049402e-01 1.27456041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.350371743 meters Centerline goodness : 0.980671 Centerline is valid? [True, True] Translation: X:131.94, Y:104.42, Z:12.75 [[ 2.74922957e-01 -9.60104507e-01 -5.11537182e-02 1.31939122e+02] [ 9.42274484e-01 2.79630823e-01 -1.84188490e-01 1.04417784e+02] [ 1.91144355e-01 2.43680082e-03 9.81558912e-01 1.27492373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380371743 meters Centerline goodness : 0.980358 Centerline is valid? [True, True] Translation: X:131.94, Y:104.43, Z:12.75 [[ 2.65832673e-01 -9.61294832e-01 -7.24240032e-02 1.31940039e+02] [ 9.44138042e-01 2.74793449e-01 -1.81911842e-01 1.04434650e+02] [ 1.94772555e-01 -2.00201454e-02 9.80644097e-01 1.27546646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.410371743 meters Centerline goodness : 0.979597 Centerline is valid? [True, True] Translation: X:131.95, Y:104.47, Z:12.76 [[ 2.75019685e-01 -9.60876050e-01 -3.28844836e-02 1.31952693e+02] [ 9.42847723e-01 2.76237622e-01 -1.86362410e-01 1.04471521e+02] [ 1.88155108e-01 2.02482709e-02 9.81930579e-01 1.27604443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440371743 meters Centerline goodness : 0.980877 Centerline is valid? [True, True] Translation: X:131.96, Y:104.48, Z:12.76 [[ 2.63983475e-01 -9.61014652e-01 -8.22408886e-02 1.31962529e+02] [ 9.44753017e-01 2.74806617e-01 -1.78670258e-01 1.04484908e+02] [ 1.94305076e-01 -3.05313321e-02 9.80465897e-01 1.27645996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.470371743 meters Centerline goodness : 0.981530 Centerline is valid? [True, True] Translation: X:131.98, Y:104.52, Z:12.78 [[ 2.69629986e-01 -9.61041036e-01 -6.08259654e-02 1.31977109e+02] [ 9.43010974e-01 2.76307670e-01 -1.85430240e-01 1.04518277e+02] [ 1.95012750e-01 -7.36199997e-03 9.80773077e-01 1.27763106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500371743 meters Centerline goodness : 0.982158 Centerline is valid? [True, True] Translation: X:131.98, Y:104.54, Z:12.78 [[ 2.61642136e-01 -9.63618992e-01 -5.46061341e-02 1.31975895e+02] [ 9.45426802e-01 2.67264387e-01 -1.86381087e-01 1.04537381e+02] [ 1.94194630e-01 -2.86095689e-03 9.80958848e-01 1.27798461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.530371743 meters Centerline goodness : 0.981809 Centerline is valid? [True, True] Translation: X:131.99, Y:104.58, Z:12.78 [[ 2.71746164e-01 -9.62367869e-01 1.45191101e-03 1.31988332e+02] [ 9.45244572e-01 2.66627068e-01 -1.88209209e-01 1.04581513e+02] [ 1.80739377e-01 5.25175415e-02 9.82127887e-01 1.27782172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560371743 meters Centerline goodness : 0.984893 Centerline is valid? [True, True] Translation: X:132.01, Y:104.59, Z:12.78 [[ 2.59558771e-01 -9.58827364e-01 -1.15235974e-01 1.32013286e+02] [ 9.46142669e-01 2.76387366e-01 -1.68594408e-01 1.04585457e+02] [ 1.93502700e-01 -6.52695146e-02 9.78926246e-01 1.27830197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.590371743 meters Centerline goodness : 0.985380 Centerline is valid? [True, True] Translation: X:132.01, Y:104.61, Z:12.80 [[ 2.59793511e-01 -9.64103090e-01 -5.48868232e-02 1.32007144e+02] [ 9.45825198e-01 2.65506884e-01 -1.86871049e-01 1.04613360e+02] [ 1.94735785e-01 -3.36545443e-03 9.80849962e-01 1.27980662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620371743 meters Centerline goodness : 0.984842 Centerline is valid? [True, True] Translation: X:132.02, Y:104.65, Z:12.80 [[ 2.67018300e-01 -9.63148305e-01 -3.23507409e-02 1.32024346e+02] [ 9.44694017e-01 2.68239662e-01 -1.88681471e-01 1.04647033e+02] [ 1.90405990e-01 1.98198542e-02 9.81505340e-01 1.28023480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.650371743 meters Centerline goodness : 0.986517 Centerline is valid? [True, True] Translation: X:132.04, Y:104.66, Z:12.81 [[ 2.60791231e-01 -9.61985384e-01 -8.10682131e-02 1.32037419e+02] [ 9.45398672e-01 2.71490294e-01 -1.80317418e-01 1.04662084e+02] [ 1.95471953e-01 -2.96165796e-02 9.80261992e-01 1.28065966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680371743 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:132.04, Y:104.70, Z:12.81 [[ 2.67662669e-01 -9.63280633e-01 -2.11451557e-02 1.32040572e+02] [ 9.44845791e-01 2.66712759e-01 -1.90080866e-01 1.04699037e+02] [ 1.88740900e-01 3.08986406e-02 9.81540701e-01 1.28125531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.710371743 meters Centerline goodness : 0.989237 Centerline is valid? [True, True] Translation: X:132.06, Y:104.71, Z:12.82 [[ 2.63301329e-01 -9.60468196e-01 -9.04060532e-02 1.32063067e+02] [ 9.44548462e-01 2.75723615e-01 -1.78338699e-01 1.04713931e+02] [ 1.96215733e-01 -3.84360820e-02 9.79807151e-01 1.28182755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740371743 meters Centerline goodness : 0.989898 Centerline is valid? [True, True] Translation: X:132.06, Y:104.74, Z:12.83 [[ 2.64494439e-01 -9.62817237e-01 -5.50060013e-02 1.32062461e+02] [ 9.44154713e-01 2.70145942e-01 -1.88661196e-01 1.04741973e+02] [ 1.96505900e-01 -2.03433799e-03 9.80500532e-01 1.28289195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.770371743 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:132.07, Y:104.77, Z:12.83 [[ 2.67604334e-01 -9.61964419e-01 -5.48851243e-02 1.32074078e+02] [ 9.43325497e-01 2.73171467e-01 -1.88452529e-01 1.04765635e+02] [ 1.96277677e-01 -1.34382387e-03 9.80547433e-01 1.28345563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800371743 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:132.08, Y:104.79, Z:12.84 [[ 2.68851318e-01 -9.61619866e-01 -5.48288391e-02 1.32083924e+02] [ 9.42993429e-01 2.74383127e-01 -1.88354165e-01 1.04791366e+02] [ 1.96169216e-01 -1.06396949e-03 9.80569481e-01 1.28405046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.830371743 meters Centerline goodness : 0.990058 Centerline is valid? [True, True] Translation: X:132.10, Y:104.82, Z:12.85 [[ 2.73495866e-01 -9.59994279e-01 -6.00915596e-02 1.32101076e+02] [ 9.41465772e-01 2.79970971e-01 -1.87772348e-01 1.04819920e+02] [ 1.97084272e-01 -5.21918546e-03 9.80372659e-01 1.28481428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86037174300003 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:132.11, Y:104.84, Z:12.85 [[ 2.71795091e-01 -9.60931722e-01 -5.23225901e-02 1.32105205e+02] [ 9.42090745e-01 2.76776967e-01 -1.89366151e-01 1.04843393e+02] [ 1.96449630e-01 2.17616255e-03 9.80511503e-01 1.28519591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.890371743 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:132.12, Y:104.87, Z:12.86 [[ 2.72665831e-01 -9.60545386e-01 -5.48261530e-02 1.32115758e+02] [ 9.41750752e-01 2.78123276e-01 -1.89084543e-01 1.04867490e+02] [ 1.96872715e-01 -7.56767681e-05 9.80429053e-01 1.28569642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.920371743 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:132.13, Y:104.89, Z:12.86 [[ 2.73211906e-01 -9.60384952e-01 -5.49181046e-02 1.32128424e+02] [ 9.41504787e-01 2.78676765e-01 -1.89494052e-01 1.04891697e+02] [ 1.97291636e-01 6.63727661e-05 9.80344840e-01 1.28629837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.950371743 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:132.14, Y:104.92, Z:12.87 [[ 2.72698508e-01 -9.60537440e-01 -5.48028225e-02 1.32138629e+02] [ 9.41716795e-01 2.78150724e-01 -1.89213247e-01 1.04916744e+02] [ 1.96989853e-01 -1.05682016e-05 9.80405527e-01 1.28685202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.980371743 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:132.15, Y:104.94, Z:12.87 [[ 2.71135576e-01 -9.60994356e-01 -5.45467341e-02 1.32151914e+02] [ 9.42320234e-01 2.76567833e-01 -1.88528007e-01 1.04939800e+02] [ 1.96260223e-01 -2.83841255e-04 9.80551806e-01 1.28744744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.010371743 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:132.16, Y:104.96, Z:12.88 [[ 2.69237190e-01 -9.61535081e-01 -5.44208073e-02 1.32162279e+02] [ 9.42935768e-01 2.74681407e-01 -1.88208028e-01 1.04964827e+02] [ 1.95917005e-01 -6.42725241e-04 9.80620270e-01 1.28799854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.040371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:132.17, Y:104.99, Z:12.89 [[ 2.67598214e-01 -9.61995522e-01 -5.43673767e-02 1.32173087e+02] [ 9.43401442e-01 2.73063671e-01 -1.88228453e-01 1.04990091e+02] [ 1.95920684e-01 -9.20663584e-04 9.80619313e-01 1.28859754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.070371743 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:132.19, Y:105.01, Z:12.89 [[ 2.64193853e-01 -9.62939166e-01 -5.43117889e-02 1.32186863e+02] [ 9.44362345e-01 2.69714171e-01 -1.88239282e-01 1.05013257e+02] [ 1.95911636e-01 -1.55834723e-03 9.80620315e-01 1.28915452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.100371743 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:132.20, Y:105.04, Z:12.90 [[ 2.62188370e-01 -9.63493283e-01 -5.42028796e-02 1.32197728e+02] [ 9.44974999e-01 2.67725561e-01 -1.88003390e-01 1.05038611e+02] [ 1.95651500e-01 -1.92806372e-03 9.80671593e-01 1.28971203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130371743 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:132.21, Y:105.06, Z:12.90 [[ 2.59218132e-01 -9.64297216e-01 -5.41926208e-02 1.32211476e+02] [ 9.45763670e-01 2.64810767e-01 -1.88165720e-01 1.05061904e+02] [ 1.95798469e-01 -2.47744557e-03 9.80641026e-01 1.29030082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.160371743 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:132.22, Y:105.09, Z:12.91 [[ 2.58975621e-01 -9.64364073e-01 -5.41623622e-02 1.32219111e+02] [ 9.45830154e-01 2.64567014e-01 -1.88174429e-01 1.05088790e+02] [ 1.95798234e-01 -2.49580559e-03 9.80641026e-01 1.29084030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190371743 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:132.23, Y:105.11, Z:12.91 [[ 2.57769987e-01 -9.64689052e-01 -5.41263926e-02 1.32229705e+02] [ 9.46150711e-01 2.63377655e-01 -1.88231354e-01 1.05114312e+02] [ 1.95840409e-01 -2.69133121e-03 9.80632088e-01 1.29139801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.220371743 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:132.24, Y:105.14, Z:12.92 [[ 2.56425193e-01 -9.65053579e-01 -5.40158381e-02 1.32239877e+02] [ 9.46561093e-01 2.62036478e-01 -1.88039842e-01 1.05139766e+02] [ 1.95622643e-01 -2.91113783e-03 9.80674924e-01 1.29203960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250371743 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:132.25, Y:105.16, Z:12.93 [[ 2.54995064e-01 -9.65451994e-01 -5.36653004e-02 1.32252424e+02] [ 9.47169641e-01 2.60562054e-01 -1.87021624e-01 1.05164168e+02] [ 1.94543541e-01 -3.14055236e-03 9.80888856e-01 1.29251945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.280371743 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:132.26, Y:105.19, Z:12.93 [[ 2.53862060e-01 -9.65749013e-01 -5.36926236e-02 1.32262859e+02] [ 9.47431161e-01 2.59456543e-01 -1.87233807e-01 1.05189899e+02] [ 1.94751767e-01 -3.33850487e-03 9.80846881e-01 1.29317700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310371743 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:132.28, Y:105.22, Z:12.94 [[ 2.51074549e-01 -9.66477544e-01 -5.36910378e-02 1.32275222e+02] [ 9.48135683e-01 2.56722351e-01 -1.87436285e-01 1.05215373e+02] [ 1.94936650e-01 -3.84590797e-03 9.80808295e-01 1.29372704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.340371743 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:132.28, Y:105.24, Z:12.94 [[ 2.49594950e-01 -9.66859428e-01 -5.37141182e-02 1.32284781e+02] [ 9.48468511e-01 2.55276543e-01 -1.87726851e-01 1.05240352e+02] [ 1.95217430e-01 -4.09047568e-03 9.80751458e-01 1.29426671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370371743 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:132.29, Y:105.27, Z:12.95 [[ 2.47664859e-01 -9.67350278e-01 -5.38103823e-02 1.32294507e+02] [ 9.48874828e-01 2.53404162e-01 -1.88209701e-01 1.05265683e+02] [ 1.95700481e-01 -4.44638821e-03 9.80653635e-01 1.29479352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.400371743 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:132.31, Y:105.29, Z:12.95 [[ 2.43656428e-01 -9.68378816e-01 -5.36098226e-02 1.32307176e+02] [ 9.50025440e-01 2.49430348e-01 -1.87712984e-01 1.05289854e+02] [ 1.95149194e-01 -5.19322017e-03 9.80759819e-01 1.29539631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430371743 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:132.32, Y:105.31, Z:12.96 [[ 2.38633487e-01 -9.69637570e-01 -5.34512963e-02 1.32319666e+02] [ 9.51400629e-01 2.44468797e-01 -1.87274799e-01 1.05314600e+02] [ 1.94655855e-01 -6.16355856e-03 9.80852236e-01 1.29600489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.460371743 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:132.33, Y:105.34, Z:12.97 [[ 2.36050353e-01 -9.70271040e-01 -5.34260255e-02 1.32329271e+02] [ 9.52026419e-01 2.41930079e-01 -1.87391392e-01 1.05340297e+02] [ 1.94745803e-01 -6.62918360e-03 9.80831344e-01 1.29655316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490371743 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:132.34, Y:105.37, Z:12.97 [[ 2.33402713e-01 -9.70916178e-01 -5.33380568e-02 1.32338806e+02] [ 9.52707890e-01 2.39314294e-01 -1.87286797e-01 1.05365893e+02] [ 1.94604341e-01 -7.10234107e-03 9.80856109e-01 1.29709883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.520371743 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:132.35, Y:105.39, Z:12.98 [[ 2.28497047e-01 -9.72084881e-01 -5.32924461e-02 1.32350097e+02] [ 9.53897856e-01 2.34491969e-01 -1.87329646e-01 1.05391638e+02] [ 1.94596967e-01 -8.03127937e-03 9.80850406e-01 1.29762721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550371743 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:132.36, Y:105.42, Z:12.98 [[ 2.26083486e-01 -9.72649312e-01 -5.32876378e-02 1.32358991e+02] [ 9.54439246e-01 2.32124251e-01 -1.87520821e-01 1.05416375e+02] [ 1.94761350e-01 -8.46445191e-03 9.80814136e-01 1.29816041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.580371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:105.44, Z:12.99 [[ 2.21896979e-01 -9.73619530e-01 -5.31671012e-02 1.32370291e+02] [ 9.55495212e-01 2.27989676e-01 -1.87215403e-01 1.05442157e+02] [ 1.94398123e-01 -9.25837818e-03 9.80879020e-01 1.29872070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61037174300003 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:132.37, Y:105.47, Z:12.99 [[ 2.20702536e-01 -9.74635911e-01 -3.70841222e-02 1.32374462e+02] [ 9.54694489e-01 2.23656194e-01 -1.96306751e-01 1.05467745e+02] [ 1.99621703e-01 7.92139069e-03 9.79841021e-01 1.29943600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.640371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:105.49, Z:13.00 [[ 2.17631178e-01 -9.73603754e-01 -6.87924411e-02 1.32391869e+02] [ 9.56713289e-01 2.26746637e-01 -1.82443540e-01 1.05491630e+02] [ 1.93226170e-01 -2.61092401e-02 9.80806788e-01 1.29974950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.670371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:105.52, Z:13.00 [[ 2.13672544e-01 -9.75472797e-01 -5.28853978e-02 1.32396913e+02] [ 9.57440135e-01 2.19860893e-01 -1.87001540e-01 1.05518824e+02] [ 1.94042346e-01 -1.06775076e-02 9.80935043e-01 1.30031757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.700371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.41, Y:105.54, Z:13.01 [[ 2.11837852e-01 -9.75877580e-01 -5.27984298e-02 1.32405207e+02] [ 9.57874414e-01 2.18042159e-01 -1.86906992e-01 1.05544793e+02] [ 1.93910626e-01 -1.09802894e-02 9.80957747e-01 1.30085167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.730371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:105.57, Z:13.01 [[ 2.08661816e-01 -9.76560494e-01 -5.28190079e-02 1.32413780e+02] [ 9.58521178e-01 2.14932040e-01 -1.87193401e-01 1.05570675e+02] [ 1.94158177e-01 -1.15680228e-02 9.80902025e-01 1.30142438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.760371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:132.42, Y:105.60, Z:13.02 [[ 2.07646644e-01 -9.76784677e-01 -5.26741453e-02 1.32421330e+02] [ 9.58809440e-01 2.13903921e-01 -1.86894542e-01 1.05596552e+02] [ 1.93822931e-01 -1.16964433e-02 9.80966801e-01 1.30196165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.790371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:105.62, Z:13.03 [[ 2.06593756e-01 -9.77010710e-01 -5.26221647e-02 1.32428595e+02] [ 9.59053726e-01 2.12859584e-01 -1.86833475e-01 1.05622745e+02] [ 1.93739438e-01 -1.18688539e-02 9.80981223e-01 1.30250195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.820371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:105.65, Z:13.03 [[ 2.05215818e-01 -9.77303564e-01 -5.25757812e-02 1.32434744e+02] [ 9.59344748e-01 2.11498606e-01 -1.86884975e-01 1.05648536e+02] [ 1.93763056e-01 -1.20865466e-02 9.80973901e-01 1.30299257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.850371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:105.68, Z:13.04 [[ 2.04662281e-01 -9.77413591e-01 -5.26879820e-02 1.32441592e+02] [ 9.59356123e-01 2.10983525e-01 -1.87408064e-01 1.05675449e+02] [ 1.94291485e-01 -1.21911764e-02 9.80868082e-01 1.30354128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:132.45, Y:105.70, Z:13.04 [[ 2.03163870e-01 -9.77722183e-01 -5.27614912e-02 1.32447528e+02] [ 9.59580379e-01 2.09533178e-01 -1.87886517e-01 1.05702150e+02] [ 1.94756099e-01 -1.24571397e-02 9.80772594e-01 1.30408817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.910371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.45, Y:105.73, Z:13.05 [[ 2.02133890e-01 -9.77937989e-01 -5.27179235e-02 1.32454226e+02] [ 9.59790470e-01 2.08514586e-01 -1.87946591e-01 1.05729162e+02] [ 1.94792567e-01 -1.26077850e-02 9.80763427e-01 1.30463568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940371743 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:132.46, Y:105.76, Z:13.05 [[ 2.01566869e-01 -9.78043028e-01 -5.29399053e-02 1.32460675e+02] [ 9.59700844e-01 2.08014558e-01 -1.88955642e-01 1.05755958e+02] [ 1.95819019e-01 -1.27192747e-02 9.80557562e-01 1.30478987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.970371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:132.47, Y:105.78, Z:13.06 [[ 1.99381785e-01 -9.78508092e-01 -5.26195580e-02 1.32465467e+02] [ 9.60365677e-01 2.05795128e-01 -1.88005671e-01 1.05781737e+02] [ 1.94793919e-01 -1.30491112e-02 9.80757386e-01 1.30567614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000371743 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:132.47, Y:105.81, Z:13.06 [[ 1.96900178e-01 -9.79019736e-01 -5.24468881e-02 1.32470127e+02] [ 9.60975718e-01 2.03320038e-01 -1.87580998e-01 1.05809167e+02] [ 1.94309003e-01 -1.34654540e-02 9.80847946e-01 1.30619502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.030371743 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:132.48, Y:105.84, Z:13.07 [[ 1.95951109e-01 -9.79213013e-01 -5.23931073e-02 1.32475915e+02] [ 9.61170644e-01 2.02378272e-01 -1.87600714e-01 1.05835011e+02] [ 1.94304286e-01 -1.35981488e-02 9.80847050e-01 1.30677480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060371743 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:132.48, Y:105.86, Z:13.07 [[ 1.94700709e-01 -9.79466274e-01 -5.23206686e-02 1.32481569e+02] [ 9.61453326e-01 2.01135249e-01 -1.87488971e-01 1.05862355e+02] [ 1.94162655e-01 -1.37996451e-02 9.80872282e-01 1.30727421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.090371743 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:132.48, Y:105.89, Z:13.08 [[ 1.93045550e-01 -9.79800249e-01 -5.22004559e-02 1.32484790e+02] [ 9.61838672e-01 1.99484120e-01 -1.87276416e-01 1.05888553e+02] [ 1.93906641e-01 -1.40555384e-02 9.80919292e-01 1.30779169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120371743 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:132.49, Y:105.92, Z:13.08 [[ 1.91745562e-01 -9.80055773e-01 -5.21950249e-02 1.32489678e+02] [ 9.62081854e-01 1.98208436e-01 -1.87381758e-01 1.05915700e+02] [ 1.93990068e-01 -1.42862657e-02 9.80899463e-01 1.30828233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.150371743 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:132.49, Y:105.94, Z:13.09 [[ 1.90149429e-01 -9.80366827e-01 -5.21927197e-02 1.32491982e+02] [ 9.62362415e-01 1.96644195e-01 -1.87589028e-01 1.05942924e+02] [ 1.94169455e-01 -1.45583652e-02 9.80859968e-01 1.30882749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180371743 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:132.50, Y:105.97, Z:13.09 [[ 1.88996524e-01 -9.80585974e-01 -5.22633896e-02 1.32496388e+02] [ 9.62501195e-01 1.95532968e-01 -1.88038049e-01 1.05969005e+02] [ 1.94606689e-01 -1.47650373e-02 9.80770223e-01 1.30935053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.210371743 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:132.50, Y:106.00, Z:13.10 [[ 1.88073837e-01 -9.80770749e-01 -5.21245663e-02 1.32500961e+02] [ 9.62750873e-01 1.94595628e-01 -1.87731984e-01 1.05996690e+02] [ 1.94265251e-01 -1.48754970e-02 9.80836241e-01 1.30982812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240371743 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:132.50, Y:106.02, Z:13.10 [[ 1.86768782e-01 -9.81020192e-01 -5.21229768e-02 1.32502021e+02] [ 9.62967846e-01 1.93317432e-01 -1.87939615e-01 1.06024585e+02] [ 1.94448837e-01 -1.50914976e-02 9.80796562e-01 1.31029220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.270371743 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:132.50, Y:106.05, Z:13.11 [[ 1.85511699e-01 -9.81261259e-01 -5.20744765e-02 1.32502561e+02] [ 9.63207764e-01 1.92074732e-01 -1.87984310e-01 1.06053385e+02] [ 1.94463912e-01 -1.52852512e-02 9.80790573e-01 1.31078717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300371743 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:132.51, Y:106.08, Z:13.11 [[ 1.85099358e-01 -9.81344449e-01 -5.19740357e-02 1.32506652e+02] [ 9.63320959e-01 1.91648175e-01 -1.87839578e-01 1.06080826e+02] [ 1.94296056e-01 -1.52986926e-02 9.80823630e-01 1.31133382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.330371743 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:132.51, Y:106.11, Z:13.12 [[ 1.84619700e-01 -9.81441433e-01 -5.18486278e-02 1.32510377e+02] [ 9.63465696e-01 1.91149290e-01 -1.87605439e-01 1.06107985e+02] [ 1.94034579e-01 -1.53187143e-02 9.80875078e-01 1.31182105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36037174300003 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:132.51, Y:106.13, Z:13.12 [[ 1.84969185e-01 -9.81381033e-01 -5.17461890e-02 1.32510976e+02] [ 9.63431791e-01 1.91470114e-01 -1.87452342e-01 1.06134951e+02] [ 1.93870022e-01 -1.51810164e-02 9.80909757e-01 1.31235326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.390371743 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:132.51, Y:106.16, Z:13.13 [[ 1.84689913e-01 -9.81438658e-01 -5.16507289e-02 1.32514279e+02] [ 9.63519459e-01 1.91175116e-01 -1.87302766e-01 1.06162226e+02] [ 1.93700510e-01 -1.51735508e-02 9.80943360e-01 1.31281136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.420371743 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:132.51, Y:106.19, Z:13.13 [[ 1.85045717e-01 -9.81365219e-01 -5.17724903e-02 1.32514021e+02] [ 9.63315126e-01 1.91558204e-01 -1.87961224e-01 1.06190679e+02] [ 1.94376053e-01 -1.50918037e-02 9.80810985e-01 1.31338186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.450371743 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:132.52, Y:106.22, Z:13.14 [[ 1.85018283e-01 -9.81371227e-01 -5.17566456e-02 1.32517452e+02] [ 9.63287967e-01 1.91530759e-01 -1.88128309e-01 1.06218425e+02] [ 1.94536699e-01 -1.50493772e-02 9.80779786e-01 1.31387386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.480371743 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:132.52, Y:106.25, Z:13.14 [[ 1.85429382e-01 -9.81295318e-01 -5.17246895e-02 1.32520876e+02] [ 9.63188198e-01 1.91929648e-01 -1.88232582e-01 1.06245205e+02] [ 1.94639253e-01 -1.49167590e-02 9.80761465e-01 1.31431692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.510371743 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:132.52, Y:106.27, Z:13.15 [[ 1.87435515e-01 -9.81043037e-01 -4.92187775e-02 1.32520105e+02] [ 9.62554396e-01 1.93431849e-01 -1.89929340e-01 1.06273618e+02] [ 1.95849336e-01 -1.17762469e-02 9.80563286e-01 1.31481822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.540371743 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:132.52, Y:106.30, Z:13.15 [[ 1.87944582e-01 -9.80692735e-01 -5.40240156e-02 1.32524914e+02] [ 9.62724383e-01 1.94836469e-01 -1.87617999e-01 1.06302009e+02] [ 1.94521457e-01 -1.67484506e-02 9.80755266e-01 1.31528841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.570371743 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:132.52, Y:106.33, Z:13.16 [[ 1.90917123e-01 -9.80239758e-01 -5.17751789e-02 1.32522647e+02] [ 9.61958575e-01 1.97335621e-01 -1.88929493e-01 1.06330569e+02] [ 1.95413288e-01 -1.37357021e-02 9.80624789e-01 1.31580526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.600371743 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:132.53, Y:106.36, Z:13.16 [[ 1.96077182e-01 -9.79172835e-01 -5.26716026e-02 1.32532244e+02] [ 9.61066208e-01 2.02560936e-01 -1.87938318e-01 1.06362368e+02] [ 1.94693305e-01 -1.37704816e-02 9.80767501e-01 1.31634228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630371743 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:132.53, Y:106.38, Z:13.17 [[ 1.93893039e-01 -9.79535714e-01 -5.39932787e-02 1.32528309e+02] [ 9.61279630e-01 2.00689164e-01 -1.88852675e-01 1.06384506e+02] [ 1.95823806e-01 -1.52854198e-02 9.80519961e-01 1.31670920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.660371743 meters Centerline goodness : 0.989212 Centerline is valid? [True, True] Translation: X:132.53, Y:106.41, Z:13.17 [[ 1.97327966e-01 -9.78974543e-01 -5.16770628e-02 1.32526395e+02] [ 9.60590587e-01 2.03611282e-01 -1.89230468e-01 1.06414094e+02] [ 1.95773844e-01 -1.23000366e-02 9.80571931e-01 1.31716245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690371743 meters Centerline goodness : 0.987088 Centerline is valid? [True, True] Translation: X:132.53, Y:106.45, Z:13.17 [[ 2.06883162e-01 -9.77780224e-01 -3.38406586e-02 1.32531161e+02] [ 9.59426410e-01 2.09529759e-01 -1.88674970e-01 1.06452287e+02] [ 1.91573279e-01 6.56605274e-03 9.81456349e-01 1.31741073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.720371743 meters Centerline goodness : 0.986448 Centerline is valid? [True, True] Translation: X:132.54, Y:106.48, Z:13.18 [[ 2.08416610e-01 -9.76549577e-01 -5.39762910e-02 1.32540252e+02] [ 9.59334750e-01 2.14860874e-01 -1.83061854e-01 1.06479102e+02] [ 1.90366370e-01 -1.36282006e-02 9.81618519e-01 1.31752138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750371743 meters Centerline goodness : 0.985075 Centerline is valid? [True, True] Translation: X:132.54, Y:106.51, Z:13.18 [[ 2.09480862e-01 -9.76217881e-01 -5.58248780e-02 1.32543931e+02] [ 9.58963456e-01 2.16263487e-01 -1.83355378e-01 1.06507563e+02] [ 1.91067682e-01 -1.51245752e-02 9.81460335e-01 1.31801877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.780371743 meters Centerline goodness : 0.983812 Centerline is valid? [True, True] Translation: X:132.54, Y:106.55, Z:13.17 [[ 2.15652482e-01 -9.76240226e-01 2.11903035e-02 1.32535000e+02] [ 9.59937016e-01 2.07974775e-01 -1.87796216e-01 1.06554044e+02] [ 1.78927171e-01 6.08400768e-02 9.81979405e-01 1.31749110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810371743 meters Centerline goodness : 0.981534 Centerline is valid? [True, True] Translation: X:132.57, Y:106.56, Z:13.18 [[ 2.15341595e-01 -9.65856908e-01 -1.44043154e-01 1.32573702e+02] [ 9.58491813e-01 2.37276654e-01 -1.58092484e-01 1.06558809e+02] [ 1.86872796e-01 -1.04020296e-01 9.76861472e-01 1.31787390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.840371743 meters Centerline goodness : 0.980166 Centerline is valid? [True, True] Translation: X:132.54, Y:106.61, Z:13.19 [[ 2.17858613e-01 -9.75978637e-01 -1.82351795e-03 1.32539321e+02] [ 9.58102963e-01 2.14223620e-01 -1.90123519e-01 1.06607145e+02] [ 1.85947134e-01 3.96729283e-02 9.81758485e-01 1.31924930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870371743 meters Centerline goodness : 0.978288 Centerline is valid? [True, True] Translation: X:132.56, Y:106.64, Z:13.19 [[ 2.19427928e-01 -9.74270278e-01 -5.14665937e-02 1.32559717e+02] [ 9.58407682e-01 2.25122378e-01 -1.75426995e-01 1.06635972e+02] [ 1.82499589e-01 -1.08323967e-02 9.83146255e-01 1.31875776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.900371743 meters Centerline goodness : 0.978211 Centerline is valid? [True, True] Translation: X:132.57, Y:106.66, Z:13.19 [[ 2.19368771e-01 -9.73725276e-01 -6.11263446e-02 1.32565503e+02] [ 9.58266330e-01 2.26810253e-01 -1.74019393e-01 1.06662070e+02] [ 1.83311163e-01 -2.04008976e-02 9.82843233e-01 1.31922606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930371743 meters Centerline goodness : 0.979211 Centerline is valid? [True, True] Translation: X:132.56, Y:106.70, Z:13.20 [[ 2.19618133e-01 -9.75230555e-01 -2.63294377e-02 1.32562736e+02] [ 9.58473208e-01 2.20719972e-01 -1.80587385e-01 1.06699453e+02] [ 1.81925768e-01 1.44242037e-02 9.83206467e-01 1.31968897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.960371743 meters Centerline goodness : 0.977834 Centerline is valid? [True, True] Translation: X:132.58, Y:106.73, Z:13.20 [[ 2.19336067e-01 -9.73352994e-01 -6.69002214e-02 1.32575909e+02] [ 9.58098614e-01 2.27831072e-01 -1.73608894e-01 1.06726772e+02] [ 1.84224686e-01 -2.60183175e-02 9.82539726e-01 1.31975966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990371743 meters Centerline goodness : 0.977338 Centerline is valid? [True, True] Translation: X:132.58, Y:106.75, Z:13.21 [[ 2.17392083e-01 -9.73151645e-01 -7.56079212e-02 1.32576671e+02] [ 9.57562222e-01 2.27644589e-01 -1.76783860e-01 1.06751689e+02] [ 1.89249238e-01 -3.39678775e-02 9.81341383e-01 1.32064356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.020371743 meters Centerline goodness : 0.976817 Centerline is valid? [True, True] Translation: X:132.58, Y:106.78, Z:13.22 [[ 2.15439705e-01 -9.73652944e-01 -7.47373896e-02 1.32577549e+02] [ 9.56973978e-01 2.25743977e-01 -1.82319668e-01 1.06776718e+02] [ 1.94387597e-01 -3.22428415e-02 9.80394748e-01 1.32181465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050371743 meters Centerline goodness : 0.974693 Centerline is valid? [True, True] Translation: X:132.58, Y:106.80, Z:13.22 [[ 2.20413124e-01 -9.72513069e-01 -7.50758599e-02 1.32579380e+02] [ 9.58070274e-01 2.30300370e-01 -1.70478999e-01 1.06796632e+02] [ 1.83083053e-01 -3.43521410e-02 9.82497087e-01 1.32236446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.080371743 meters Centerline goodness : 0.974693 Centerline is valid? [True, True] Translation: X:132.58, Y:106.82, Z:13.23 [[ 2.19364841e-01 -9.74316295e-01 -5.08608243e-02 1.32578502e+02] [ 9.58122929e-01 2.24967615e-01 -1.77172304e-01 1.06824698e+02] [ 1.84063901e-01 -9.86554769e-03 9.82864768e-01 1.32338975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11037174300003 meters Centerline goodness : 0.974095 Centerline is valid? [True, True] Translation: X:132.58, Y:106.85, Z:13.24 [[ 2.18201357e-01 -9.73509808e-01 -6.83141436e-02 1.32583705e+02] [ 9.57772284e-01 2.27052939e-01 -1.76406392e-01 1.06848439e+02] [ 1.87244280e-01 -2.69372792e-02 9.81943971e-01 1.32437244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.140371743 meters Centerline goodness : 0.972469 Centerline is valid? [True, True] Translation: X:132.58, Y:106.88, Z:13.25 [[ 2.17030325e-01 -9.74760238e-01 -5.23480353e-02 1.32583997e+02] [ 9.57930670e-01 2.22986461e-01 -1.80681678e-01 1.06876760e+02] [ 1.87794219e-01 -1.09323851e-02 9.82147552e-01 1.32531111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.170371743 meters Centerline goodness : 0.973312 Centerline is valid? [True, True] Translation: X:132.58, Y:106.91, Z:13.26 [[ 2.17172164e-01 -9.75320302e-01 -3.98316350e-02 1.32582689e+02] [ 9.57870301e-01 2.20787895e-01 -1.83676869e-01 1.06905126e+02] [ 1.87938122e-01 1.73596295e-03 9.82179336e-01 1.32576313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.200371743 meters Centerline goodness : 0.974401 Centerline is valid? [True, True] Translation: X:132.59, Y:106.93, Z:13.26 [[ 2.15850460e-01 -9.75222626e-01 -4.84706905e-02 1.32590425e+02] [ 9.57892837e-01 2.21118288e-01 -1.83161174e-01 1.06932525e+02] [ 1.89340677e-01 -6.89430364e-03 9.81887252e-01 1.32599754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.230371743 meters Centerline goodness : 0.974887 Centerline is valid? [True, True] Translation: X:132.60, Y:106.96, Z:13.26 [[ 2.14731127e-01 -9.74955095e-01 -5.79060033e-02 1.32598977e+02] [ 9.58314807e-01 2.21765676e-01 -1.80146374e-01 1.06960683e+02] [ 1.88476189e-01 -1.68091463e-02 9.81933897e-01 1.32636037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.260371743 meters Centerline goodness : 0.977536 Centerline is valid? [True, True] Translation: X:132.60, Y:106.98, Z:13.27 [[ 2.05935990e-01 -9.74637680e-01 -8.75885857e-02 1.32599187e+02] [ 9.59136522e-01 2.18784497e-01 -1.79417043e-01 1.06977320e+02] [ 1.94029635e-01 -4.70609851e-02 9.79866197e-01 1.32716119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.290371743 meters Centerline goodness : 0.975318 Centerline is valid? [True, True] Translation: X:132.59, Y:107.01, Z:13.29 [[ 2.07450718e-01 -9.78114157e-01 -1.60279833e-02 1.32586773e+02] [ 9.58637951e-01 2.06529350e-01 -1.95854297e-01 1.07010870e+02] [ 1.94878110e-01 2.52650816e-02 9.80502013e-01 1.32885654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.320371743 meters Centerline goodness : 0.974172 Centerline is valid? [True, True] Translation: X:132.61, Y:107.04, Z:13.28 [[ 2.13191844e-01 -9.75672362e-01 -5.11143750e-02 1.32610084e+02] [ 9.57473406e-01 2.19052713e-01 -1.87778023e-01 1.07038479e+02] [ 1.94406570e-01 -8.90791165e-03 9.80880591e-01 1.32845285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.350371743 meters Centerline goodness : 0.976790 Centerline is valid? [True, True] Translation: X:132.62, Y:107.07, Z:13.29 [[ 2.12110954e-01 -9.75231588e-01 -6.27079998e-02 1.32619129e+02] [ 9.58020577e-01 2.20175038e-01 -1.83628776e-01 1.07066214e+02] [ 1.92887319e-01 -2.11258793e-02 9.80993466e-01 1.32898766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380371743 meters Centerline goodness : 0.977009 Centerline is valid? [True, True] Translation: X:132.62, Y:107.09, Z:13.30 [[ 2.12744802e-01 -9.75582888e-01 -5.45680962e-02 1.32621886e+02] [ 9.57657072e-01 2.19271962e-01 -1.86581721e-01 1.07093543e+02] [ 1.93991188e-01 -1.25632319e-02 9.80922823e-01 1.32979471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.410371743 meters Centerline goodness : 0.978414 Centerline is valid? [True, True] Translation: X:132.63, Y:107.12, Z:13.30 [[ 2.12831656e-01 -9.75662418e-01 -5.27781450e-02 1.32628212e+02] [ 9.57944295e-01 2.18997195e-01 -1.85426419e-01 1.07121830e+02] [ 1.92471854e-01 -1.10939111e-02 9.81239782e-01 1.33039330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440371743 meters Centerline goodness : 0.977323 Centerline is valid? [True, True] Translation: X:132.63, Y:107.15, Z:13.31 [[ 2.16030211e-01 -9.74775107e-01 -5.60752896e-02 1.32634906e+02] [ 9.57234645e-01 2.22762496e-01 -1.84604184e-01 1.07148964e+02] [ 1.92439035e-01 -1.37971290e-02 9.81211933e-01 1.33099880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.470371743 meters Centerline goodness : 0.976159 Centerline is valid? [True, True] Translation: X:132.64, Y:107.17, Z:13.32 [[ 2.18441735e-01 -9.74752681e-01 -4.62646680e-02 1.32636569e+02] [ 9.56164348e-01 2.23269127e-01 -1.89474635e-01 1.07173919e+02] [ 1.95020381e-01 -2.84745813e-03 9.80795057e-01 1.33193469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500371743 meters Centerline goodness : 0.976609 Centerline is valid? [True, True] Translation: X:132.65, Y:107.20, Z:13.32 [[ 2.20586494e-01 -9.74182004e-01 -4.80730795e-02 1.32645393e+02] [ 9.56166859e-01 2.25712696e-01 -1.86544142e-01 1.07202634e+02] [ 1.92578651e-01 -4.81676704e-03 9.81269719e-01 1.33224037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.530371743 meters Centerline goodness : 0.975973 Centerline is valid? [True, True] Translation: X:132.65, Y:107.23, Z:13.33 [[ 2.26137205e-01 -9.73134378e-01 -4.32602180e-02 1.32651338e+02] [ 9.55298740e-01 2.30237066e-01 -1.85459458e-01 1.07231688e+02] [ 1.90437080e-01 6.12851752e-04 9.81699212e-01 1.33251537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560371743 meters Centerline goodness : 0.975979 Centerline is valid? [True, True] Translation: X:132.66, Y:107.26, Z:13.33 [[ 2.29728884e-01 -9.72324249e-01 -4.25463794e-02 1.32658320e+02] [ 9.54820202e-01 2.33630238e-01 -1.83671702e-01 1.07258036e+02] [ 1.88528570e-01 1.57055252e-03 9.82066450e-01 1.33291561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.590371743 meters Centerline goodness : 0.976463 Centerline is valid? [True, True] Translation: X:132.67, Y:107.29, Z:13.33 [[ 2.34884518e-01 -9.71228234e-01 -3.93062456e-02 1.32665002e+02] [ 9.54226003e-01 2.38097963e-01 -1.81003026e-01 1.07286976e+02] [ 1.85153986e-01 5.00776696e-03 9.82696761e-01 1.33312234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620371743 meters Centerline goodness : 0.983099 Centerline is valid? [True, True] Translation: X:132.66, Y:107.31, Z:13.34 [[ 2.18935697e-01 -9.73551563e-01 -6.53032564e-02 1.32659800e+02] [ 9.53860269e-01 2.27639992e-01 -1.95782075e-01 1.07305532e+02] [ 2.05469578e-01 -1.94264967e-02 9.78470676e-01 1.33403199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.650371743 meters Centerline goodness : 0.975699 Centerline is valid? [True, True] Translation: X:132.68, Y:107.34, Z:13.35 [[ 2.37531323e-01 -9.70830734e-01 -3.26581640e-02 1.32676173e+02] [ 9.53455470e-01 2.39445309e-01 -1.83271961e-01 1.07338979e+02] [ 1.85745897e-01 1.23947263e-02 9.82519635e-01 1.33456824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680371743 meters Centerline goodness : 0.976617 Centerline is valid? [True, True] Translation: X:132.69, Y:107.37, Z:13.35 [[ 2.40769657e-01 -9.69730544e-01 -4.06527248e-02 1.32688737e+02] [ 9.53346001e-01 2.44144891e-01 -1.77551892e-01 1.07368291e+02] [ 1.82102647e-01 3.99299550e-03 9.83271418e-01 1.33456677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.710371743 meters Centerline goodness : 0.975137 Centerline is valid? [True, True] Translation: X:132.70, Y:107.39, Z:13.35 [[ 2.40117542e-01 -9.69050653e-01 -5.73096666e-02 1.32701009e+02] [ 9.53073258e-01 2.46548565e-01 -1.75684862e-01 1.07393308e+02] [ 1.84377146e-01 -1.24352935e-02 9.82776898e-01 1.33515533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740371743 meters Centerline goodness : 0.981644 Centerline is valid? [True, True] Translation: X:132.69, Y:107.40, Z:13.36 [[ 2.23329414e-01 -9.69962822e-01 -9.64162724e-02 1.32694509e+02] [ 9.55300573e-01 2.37458996e-01 -1.76108036e-01 1.07401335e+02] [ 1.93713159e-01 -5.27764158e-02 9.79637618e-01 1.33584849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.770371743 meters Centerline goodness : 0.977217 Centerline is valid? [True, True] Translation: X:132.71, Y:107.44, Z:13.38 [[ 2.39534320e-01 -9.70207496e-01 -3.63417731e-02 1.32707961e+02] [ 9.51793544e-01 2.42045960e-01 -1.88421876e-01 1.07443354e+02] [ 1.91604696e-01 1.05436410e-02 9.81415545e-01 1.33770690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800371743 meters Centerline goodness : 0.976301 Centerline is valid? [True, True] Translation: X:132.72, Y:107.47, Z:13.38 [[ 2.39104430e-01 -9.68775558e-01 -6.55971726e-02 1.32723483e+02] [ 9.51341746e-01 2.47252908e-01 -1.83888230e-01 1.07467440e+02] [ 1.94365515e-01 -1.84368383e-02 9.80755897e-01 1.33807822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.830371743 meters Centerline goodness : 0.975902 Centerline is valid? [True, True] Translation: X:132.73, Y:107.49, Z:13.39 [[ 2.39202676e-01 -9.69554087e-01 -5.24113660e-02 1.32728463e+02] [ 9.51064551e-01 2.44831072e-01 -1.88504549e-01 1.07491873e+02] [ 1.95597287e-01 -4.75579953e-03 9.80672771e-01 1.33912111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86037174300003 meters Centerline goodness : 0.974882 Centerline is valid? [True, True] Translation: X:132.74, Y:107.52, Z:13.40 [[ 2.38512167e-01 -9.69826043e-01 -5.04915076e-02 1.32735298e+02] [ 9.51024792e-01 2.43783145e-01 -1.90056895e-01 1.07515316e+02] [ 1.96631105e-01 -2.68779358e-03 9.80473857e-01 1.33988842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.890371743 meters Centerline goodness : 0.975796 Centerline is valid? [True, True] Translation: X:132.75, Y:107.54, Z:13.40 [[ 2.37812445e-01 -9.69784384e-01 -5.44379381e-02 1.32746720e+02] [ 9.50927050e-01 2.43877515e-01 -1.90424535e-01 1.07542005e+02] [ 1.97946929e-01 -6.48118365e-03 9.80191312e-01 1.34039641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.920371743 meters Centerline goodness : 0.976986 Centerline is valid? [True, True] Translation: X:132.75, Y:107.58, Z:13.40 [[ 2.40867547e-01 -9.70546284e-01 -4.76820963e-03 1.32747156e+02] [ 9.52847299e-01 2.37403609e-01 -1.89001460e-01 1.07578032e+02] [ 1.84566655e-01 4.09809425e-02 9.81965230e-01 1.34042734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.950371743 meters Centerline goodness : 0.976054 Centerline is valid? [True, True] Translation: X:132.77, Y:107.60, Z:13.40 [[ 2.38615418e-01 -9.69070297e-01 -6.29717575e-02 1.32772765e+02] [ 9.52452451e-01 2.46188725e-01 -1.79514459e-01 1.07598852e+02] [ 1.89465067e-01 -1.71426870e-02 9.81737805e-01 1.34034364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.980371743 meters Centerline goodness : 0.976689 Centerline is valid? [True, True] Translation: X:132.77, Y:107.64, Z:13.41 [[ 2.36402513e-01 -9.71636519e-01 -6.02725169e-03 1.32769300e+02] [ 9.52241563e-01 2.32908523e-01 -1.97457907e-01 1.07635419e+02] [ 1.93261111e-01 4.09401457e-02 9.80292838e-01 1.34122552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.010371743 meters Centerline goodness : 0.975872 Centerline is valid? [True, True] Translation: X:132.80, Y:107.65, Z:13.41 [[ 2.39507705e-01 -9.67754240e-01 -7.80242948e-02 1.32797664e+02] [ 9.52839520e-01 2.49719632e-01 -1.72444063e-01 1.07653331e+02] [ 1.86367671e-01 -3.30429499e-02 9.81924261e-01 1.34070834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.040371743 meters Centerline goodness : 0.976813 Centerline is valid? [True, True] Translation: X:132.81, Y:107.67, Z:13.42 [[ 2.37817362e-01 -9.68069019e-01 -7.92797373e-02 1.32805199e+02] [ 9.51783883e-01 2.48542745e-01 -1.79816416e-01 1.07674661e+02] [ 1.93779105e-01 -3.26937106e-02 9.80500270e-01 1.34229487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.070371743 meters Centerline goodness : 0.979067 Centerline is valid? [True, True] Translation: X:132.80, Y:107.71, Z:13.44 [[ 2.33969516e-01 -9.72030599e-01 -2.03661434e-02 1.32800989e+02] [ 9.51255760e-01 2.33197545e-01 -2.01820178e-01 1.07710615e+02] [ 2.00924724e-01 2.78463583e-02 9.79210823e-01 1.34368327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.100371743 meters Centerline goodness : 0.978870 Centerline is valid? [True, True] Translation: X:132.82, Y:107.73, Z:13.44 [[ 2.34374967e-01 -9.70563935e-01 -5.54438732e-02 1.32824080e+02] [ 9.51202056e-01 2.40726995e-01 -1.93041865e-01 1.07734758e+02] [ 2.00706310e-01 -7.49414526e-03 9.79622792e-01 1.34373793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130371743 meters Centerline goodness : 0.981989 Centerline is valid? [True, True] Translation: X:132.82, Y:107.75, Z:13.44 [[ 2.25631548e-01 -9.71970684e-01 -6.60559914e-02 1.32821000e+02] [ 9.52975891e-01 2.34285359e-01 -1.92216859e-01 1.07749371e+02] [ 2.02305104e-01 -1.95795797e-02 9.79126797e-01 1.34416035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.160371743 meters Centerline goodness : 0.980124 Centerline is valid? [True, True] Translation: X:132.84, Y:107.78, Z:13.46 [[ 2.32288168e-01 -9.70168438e-01 -6.93931504e-02 1.32844763e+02] [ 9.50368284e-01 2.41571650e-01 -1.96069535e-01 1.07779602e+02] [ 2.06983892e-01 -2.04044163e-02 9.78131550e-01 1.34592988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190371743 meters Centerline goodness : 0.982581 Centerline is valid? [True, True] Translation: X:132.83, Y:107.80, Z:13.46 [[ 2.26730584e-01 -9.73445162e-01 -3.15873215e-02 1.32833455e+02] [ 9.53096946e-01 2.28434077e-01 -1.98554988e-01 1.07801581e+02] [ 2.00498013e-01 1.49127087e-02 9.79580603e-01 1.34603379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.220371743 meters Centerline goodness : 0.983242 Centerline is valid? [True, True] Translation: X:132.85, Y:107.83, Z:13.46 [[ 2.26325677e-01 -9.72909760e-01 -4.71517429e-02 1.32847374e+02] [ 9.53146038e-01 2.31183873e-01 -1.95106757e-01 1.07827122e+02] [ 2.00721991e-01 -7.84828084e-04 9.79647930e-01 1.34638390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250371743 meters Centerline goodness : 0.983083 Centerline is valid? [True, True] Translation: X:132.87, Y:107.86, Z:13.48 [[ 2.30298774e-01 -9.71025672e-01 -6.38092458e-02 1.32874165e+02] [ 9.51249461e-01 2.38462104e-01 -1.95602371e-01 1.07856372e+02] [ 2.05151010e-01 -1.56515246e-02 9.78605177e-01 1.34761302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.280371743 meters Centerline goodness : 0.984809 Centerline is valid? [True, True] Translation: X:132.87, Y:107.88, Z:13.48 [[ 2.23577334e-01 -9.74020326e-01 -3.60219497e-02 1.32866324e+02] [ 9.53655954e-01 2.26239642e-01 -1.98383329e-01 1.07878490e+02] [ 2.01378987e-01 1.00014688e-02 9.79462339e-01 1.34775628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310371743 meters Centerline goodness : 0.985905 Centerline is valid? [True, True] Translation: X:132.88, Y:107.90, Z:13.48 [[ 2.20435254e-01 -9.74267471e-01 -4.70233285e-02 1.32882188e+02] [ 9.54488676e-01 2.25387572e-01 -1.95324884e-01 1.07903609e+02] [ 2.00897155e-01 -1.82674409e-03 9.79610635e-01 1.34815485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.340371743 meters Centerline goodness : 0.985798 Centerline is valid? [True, True] Translation: X:132.90, Y:107.94, Z:13.49 [[ 2.23680282e-01 -9.73181442e-01 -5.37123090e-02 1.32902473e+02] [ 9.53452947e-01 2.29914263e-01 -1.95107431e-01 1.07935796e+02] [ 2.02224157e-01 -7.57047407e-03 9.79310001e-01 1.34905886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370371743 meters Centerline goodness : 0.988093 Centerline is valid? [True, True] Translation: X:132.90, Y:107.95, Z:13.49 [[ 2.12030787e-01 -9.76205347e-01 -4.54539883e-02 1.32901505e+02] [ 9.56133771e-01 2.16841475e-01 -1.96946660e-01 1.07954854e+02] [ 2.02116693e-01 -1.70133776e-03 9.79359969e-01 1.34943032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.400371743 meters Centerline goodness : 0.987995 Centerline is valid? [True, True] Translation: X:132.91, Y:107.99, Z:13.50 [[ 2.16447838e-01 -9.76208269e-01 -1.29517691e-02 1.32914272e+02] [ 9.56843863e-01 2.14751855e-01 -1.95784226e-01 1.07992849e+02] [ 1.93907597e-01 2.99842515e-02 9.80561466e-01 1.34951889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430371743 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:132.93, Y:108.00, Z:13.50 [[ 2.00858435e-01 -9.75919394e-01 -8.50718850e-02 1.32933432e+02] [ 9.58850346e-01 2.13644713e-01 -1.86981153e-01 1.08004391e+02] [ 2.00653692e-01 -4.40144647e-02 9.78672991e-01 1.35015296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.460371743 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:132.93, Y:108.03, Z:13.51 [[ 1.97408156e-01 -9.79202739e-01 -4.68189762e-02 1.32931611e+02] [ 9.59403223e-01 2.02788730e-01 -1.96015781e-01 1.08032170e+02] [ 2.01433550e-01 -6.22316281e-03 9.79482413e-01 1.35123704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490371743 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:132.94, Y:108.06, Z:13.52 [[ 1.93593705e-01 -9.79967352e-01 -4.67489639e-02 1.32939747e+02] [ 9.60196336e-01 1.99036961e-01 -1.95977765e-01 1.08058228e+02] [ 2.01356583e-01 -6.94812219e-03 9.79493364e-01 1.35182430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.520371743 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:132.95, Y:108.08, Z:13.52 [[ 1.87304809e-01 -9.81189321e-01 -4.67378289e-02 1.32949050e+02] [ 9.61410780e-01 1.92874253e-01 -1.96185714e-01 1.08082568e+02] [ 2.01509851e-01 -8.18772485e-03 9.79452266e-01 1.35243398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550371743 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:132.96, Y:108.11, Z:13.53 [[ 1.84573317e-01 -9.81712509e-01 -4.66180253e-02 1.32956793e+02] [ 9.62021908e-01 1.90170482e-01 -1.95829101e-01 1.08108490e+02] [ 2.01113250e-01 -8.70273494e-03 9.79529338e-01 1.35294270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.580371743 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:132.97, Y:108.13, Z:13.53 [[ 1.83889627e-01 -9.81870931e-01 -4.59791248e-02 1.32966079e+02] [ 9.62676282e-01 1.89350949e-01 -1.93392334e-01 1.08133481e+02] [ 1.98592502e-01 -8.70016884e-03 9.80043532e-01 1.35346255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61037174300003 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:132.97, Y:108.16, Z:13.54 [[ 1.79508892e-01 -9.82662206e-01 -4.63847691e-02 1.32972436e+02] [ 9.63101149e-01 1.85155716e-01 -1.95329305e-01 1.08159646e+02] [ 2.00531131e-01 -9.60987734e-03 9.79640197e-01 1.35413852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.640371743 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:132.98, Y:108.19, Z:13.55 [[ 1.79805434e-01 -9.82600006e-01 -4.65535623e-02 1.32979936e+02] [ 9.62839985e-01 1.85489731e-01 -1.96297536e-01 1.08185853e+02] [ 2.01517168e-01 -9.52826756e-03 9.79438637e-01 1.35476074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.670371743 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:132.99, Y:108.21, Z:13.55 [[ 1.78971940e-01 -9.82762578e-01 -4.63331353e-02 1.32985047e+02] [ 9.63143094e-01 1.84622027e-01 -1.95627422e-01 1.08212745e+02] [ 2.00809427e-01 -9.61362009e-03 9.79583152e-01 1.35524552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.700371743 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:132.99, Y:108.24, Z:13.56 [[ 1.80132138e-01 -9.82548259e-01 -4.63824434e-02 1.32990171e+02] [ 9.62826723e-01 1.85773434e-01 -1.96094192e-01 1.08238332e+02] [ 2.01288632e-01 -9.33538998e-03 9.79487487e-01 1.35575623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.730371743 meters Centerline goodness : 0.992004 Centerline is valid? [True, True] Translation: X:133.00, Y:108.26, Z:13.56 [[ 1.81033393e-01 -9.82384053e-01 -4.63517281e-02 1.32995816e+02] [ 9.62654007e-01 1.86650550e-01 -1.96109241e-01 1.08264435e+02] [ 2.01306167e-01 -9.11835542e-03 9.79485928e-01 1.35629380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.760371743 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:133.01, Y:108.30, Z:13.57 [[ 1.86290403e-01 -9.81363261e-01 -4.71384819e-02 1.33009415e+02] [ 9.61957858e-01 1.91944816e-01 -1.94407479e-01 1.08296225e+02] [ 1.99832345e-01 -9.12898542e-03 9.79787577e-01 1.35681465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.790371743 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:133.02, Y:108.32, Z:13.57 [[ 1.86834344e-01 -9.81232652e-01 -4.77012623e-02 1.33015696e+02] [ 9.62031579e-01 1.92580729e-01 -1.93411229e-01 1.08323647e+02] [ 1.98967757e-01 -9.75426057e-03 9.79957492e-01 1.35724433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.820371743 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:133.02, Y:108.35, Z:13.58 [[ 1.88666302e-01 -9.80776232e-01 -4.98298003e-02 1.33019379e+02] [ 9.61520502e-01 1.94804686e-01 -1.93725212e-01 1.08348750e+02] [ 1.99708162e-01 -1.13629553e-02 9.79789535e-01 1.35763960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.850371743 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:133.02, Y:108.37, Z:13.58 [[ 1.86004557e-01 -9.81273305e-01 -5.00500280e-02 1.33016578e+02] [ 9.61416263e-01 1.92275619e-01 -1.96745664e-01 1.08371610e+02] [ 2.02684668e-01 -1.15233209e-02 9.79176255e-01 1.35811035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880371743 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:133.02, Y:108.40, Z:13.59 [[ 1.86846775e-01 -9.81289590e-01 -4.64653033e-02 1.33020304e+02] [ 9.61066242e-01 1.92387696e-01 -1.98339740e-01 1.08397644e+02] [ 2.03568075e-01 -7.59709381e-03 9.79031319e-01 1.35863067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.910371743 meters Centerline goodness : 0.991498 Centerline is valid? [True, True] Translation: X:133.03, Y:108.42, Z:13.59 [[ 1.87454162e-01 -9.81166936e-01 -4.66087984e-02 1.33025012e+02] [ 9.60781446e-01 1.93017685e-01 -1.99105969e-01 1.08424404e+02] [ 2.04352516e-01 -7.45762622e-03 9.78868956e-01 1.35917287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940371743 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:133.03, Y:108.45, Z:13.60 [[ 1.89050120e-01 -9.80858383e-01 -4.66570982e-02 1.33028000e+02] [ 9.60366671e-01 1.94593741e-01 -1.99572377e-01 1.08450856e+02] [ 2.04831418e-01 -7.07874032e-03 9.78771670e-01 1.35967539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.970371743 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:133.03, Y:108.48, Z:13.60 [[ 1.88787131e-01 -9.80910630e-01 -4.66235432e-02 1.33034266e+02] [ 9.60418560e-01 1.94329427e-01 -1.99580216e-01 1.08478047e+02] [ 2.04830682e-01 -7.09993986e-03 9.78771670e-01 1.36023058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000371743 meters Centerline goodness : 0.990903 Centerline is valid? [True, True] Translation: X:133.04, Y:108.50, Z:13.61 [[ 1.89359504e-01 -9.80801511e-01 -4.65980168e-02 1.33039295e+02] [ 9.60277020e-01 1.94885595e-01 -1.99718927e-01 1.08504776e+02] [ 2.04965907e-01 -6.92832789e-03 9.78744591e-01 1.36078957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.030371743 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:133.04, Y:108.53, Z:13.61 [[ 1.89325687e-01 -9.80822999e-01 -4.62820667e-02 1.33042895e+02] [ 9.60523854e-01 1.94780230e-01 -1.98631789e-01 1.08532339e+02] [ 2.03837458e-01 -6.84892911e-03 9.78980788e-01 1.36128292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060371743 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:133.05, Y:108.56, Z:13.62 [[ 1.88740529e-01 -9.80943205e-01 -4.61242038e-02 1.33047886e+02] [ 9.60731975e-01 1.94172110e-01 -1.98220239e-01 1.08559220e+02] [ 2.03398830e-01 -6.90080460e-03 9.79071649e-01 1.36183230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.090371743 meters Centerline goodness : 0.989650 Centerline is valid? [True, True] Translation: X:133.05, Y:108.59, Z:13.62 [[ 1.87787902e-01 -9.81135854e-01 -4.59144765e-02 1.33052382e+02] [ 9.61060837e-01 1.93191909e-01 -1.97582780e-01 1.08585616e+02] [ 2.02725855e-01 -7.02294946e-03 9.79210348e-01 1.36232975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120371743 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:133.05, Y:108.61, Z:13.63 [[ 1.84865667e-01 -9.81697873e-01 -4.57599428e-02 1.33054705e+02] [ 9.61743950e-01 1.90294151e-01 -1.97070317e-01 1.08612731e+02] [ 2.02171361e-01 -7.57781254e-03 9.79320845e-01 1.36285774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.150371743 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:133.07, Y:108.65, Z:13.63 [[ 1.88659364e-01 -9.80796022e-01 -4.94652184e-02 1.33068831e+02] [ 9.61033024e-01 1.94752052e-01 -1.96181459e-01 1.08647188e+02] [ 2.02047448e-01 -1.05262390e-02 9.79319165e-01 1.36347747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180371743 meters Centerline goodness : 0.988991 Centerline is valid? [True, True] Translation: X:133.06, Y:108.67, Z:13.64 [[ 1.79608106e-01 -9.82574691e-01 -4.78320460e-02 1.33061466e+02] [ 9.62515182e-01 1.85570721e-01 -1.97808068e-01 1.08666722e+02] [ 2.03237429e-01 -1.05111379e-02 9.79073063e-01 1.36374195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.210371743 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:133.07, Y:108.69, Z:13.64 [[ 1.77934874e-01 -9.82970211e-01 -4.59210721e-02 1.33065471e+02] [ 9.62681460e-01 1.83553188e-01 -1.98878438e-01 1.08694098e+02] [ 2.03920539e-01 -8.81995491e-03 9.78947712e-01 1.36429840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240371743 meters Centerline goodness : 0.986784 Centerline is valid? [True, True] Translation: X:133.08, Y:108.73, Z:13.65 [[ 1.82233295e-01 -9.82693719e-01 -3.32277054e-02 1.33077908e+02] [ 9.62614178e-01 1.85193807e-01 -1.97679533e-01 1.08733160e+02] [ 2.00412001e-01 4.03833243e-03 9.79703385e-01 1.36468360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.270371743 meters Centerline goodness : 0.986799 Centerline is valid? [True, True] Translation: X:133.09, Y:108.76, Z:13.65 [[ 1.79071499e-01 -9.81527917e-01 -6.73524118e-02 1.33089392e+02] [ 9.62720494e-01 1.88924339e-01 -1.93589369e-01 1.08756776e+02] [ 2.02737879e-01 -3.01752088e-02 9.78768006e-01 1.36527453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300371743 meters Centerline goodness : 0.985437 Centerline is valid? [True, True] Translation: X:133.08, Y:108.79, Z:13.66 [[ 1.76894924e-01 -9.83722707e-01 -3.15883243e-02 1.33082525e+02] [ 9.63963319e-01 1.79642652e-01 -1.96222416e-01 1.08788988e+02] [ 1.98703057e-01 4.26076351e-03 9.80050479e-01 1.36557155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.330371743 meters Centerline goodness : 0.985593 Centerline is valid? [True, True] Translation: X:133.08, Y:108.80, Z:13.66 [[ 1.65722122e-01 -9.83736099e-01 -6.92781770e-02 1.33081178e+02] [ 9.65110277e-01 1.76223209e-01 -1.93668621e-01 1.08804356e+02] [ 2.02727236e-01 -3.47659058e-02 9.78617903e-01 1.36603376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36037174300003 meters Centerline goodness : 0.983842 Centerline is valid? [True, True] Translation: X:133.07, Y:108.86, Z:13.66 [[ 1.75681548e-01 -9.84011433e-01 2.92830024e-02 1.33073456e+02] [ 9.66002859e-01 1.66582800e-01 -1.97708488e-01 1.08856133e+02] [ 1.89669368e-01 6.30211973e-02 9.79823382e-01 1.36626704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.390371743 meters Centerline goodness : 0.983685 Centerline is valid? [True, True] Translation: X:133.10, Y:108.86, Z:13.66 [[ 1.60779436e-01 -9.78947684e-01 -1.25743408e-01 1.33101208e+02] [ 9.66761773e-01 1.81862133e-01 -1.79715994e-01 1.08860030e+02] [ 1.98800521e-01 -9.26692839e-02 9.75648890e-01 1.36617976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.420371743 meters Centerline goodness : 0.982713 Centerline is valid? [True, True] Translation: X:133.09, Y:108.90, Z:13.68 [[ 1.69599157e-01 -9.85416150e-01 -1.38252085e-02 1.33087648e+02] [ 9.65644820e-01 1.68966303e-01 -1.97434723e-01 1.08904556e+02] [ 1.96891359e-01 2.01345216e-02 9.80218544e-01 1.36777792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.450371743 meters Centerline goodness : 0.980679 Centerline is valid? [True, True] Translation: X:133.09, Y:108.94, Z:13.67 [[ 1.69419613e-01 -9.85327752e-01 -2.06449879e-02 1.33092716e+02] [ 9.66878066e-01 1.70232027e-01 -1.90178499e-01 1.08938063e+02] [ 1.90902591e-01 1.22587817e-02 9.81532436e-01 1.36727279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.480371743 meters Centerline goodness : 0.981007 Centerline is valid? [True, True] Translation: X:133.10, Y:108.95, Z:13.68 [[ 1.53932838e-01 -9.81190943e-01 -1.16486118e-01 1.33098400e+02] [ 9.67426604e-01 1.73642877e-01 -1.84211608e-01 1.08946101e+02] [ 2.00973746e-01 -8.43355538e-02 9.75959563e-01 1.36769310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.510371743 meters Centerline goodness : 0.978858 Centerline is valid? [True, True] Translation: X:133.09, Y:108.99, Z:13.69 [[ 1.63808237e-01 -9.86075354e-01 -2.86750296e-02 1.33089869e+02] [ 9.66214822e-01 1.66236644e-01 -1.96962677e-01 1.08985603e+02] [ 1.98986882e-01 4.55787032e-03 9.79991554e-01 1.36918291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.540371743 meters Centerline goodness : 0.979212 Centerline is valid? [True, True] Translation: X:133.09, Y:109.02, Z:13.69 [[ 1.61103854e-01 -9.86517747e-01 -2.87798962e-02 1.33094755e+02] [ 9.66948243e-01 1.63613022e-01 -1.95555299e-01 1.09020346e+02] [ 1.97627539e-01 3.67604215e-03 9.80270291e-01 1.36937648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.570371743 meters Centerline goodness : 0.979021 Centerline is valid? [True, True] Translation: X:133.10, Y:109.05, Z:13.70 [[ 1.58871323e-01 -9.85755142e-01 -5.51969545e-02 1.33099637e+02] [ 9.67232965e-01 1.66613238e-01 -1.91573536e-01 1.09048890e+02] [ 1.98041141e-01 -2.29527729e-02 9.79924934e-01 1.36954576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.600371743 meters Centerline goodness : 0.980714 Centerline is valid? [True, True] Translation: X:133.09, Y:109.06, Z:13.70 [[ 1.47214815e-01 -9.85448819e-01 -8.49613027e-02 1.33090761e+02] [ 9.67776100e-01 1.61249827e-01 -1.93411256e-01 1.09060182e+02] [ 2.04296890e-01 -5.37505159e-02 9.77432178e-01 1.37015783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630371743 meters Centerline goodness : 0.974739 Centerline is valid? [True, True] Translation: X:133.08, Y:109.09, Z:13.71 [[ 1.62258446e-01 -9.86449903e-01 -2.42649053e-02 1.33083768e+02] [ 9.68653706e-01 1.63922533e-01 -1.86653159e-01 1.09094052e+02] [ 1.88101555e-01 6.78176106e-03 9.82126170e-01 1.37080096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.660371743 meters Centerline goodness : 0.981973 Centerline is valid? [True, True] Translation: X:133.08, Y:109.12, Z:13.72 [[ 1.48894684e-01 -9.86794173e-01 -6.37779918e-02 1.33081327e+02] [ 9.67147572e-01 1.58762511e-01 -1.98544805e-01 1.09117183e+02] [ 2.06048411e-01 -3.21204639e-02 9.78014483e-01 1.37151288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690371743 meters Centerline goodness : 0.981148 Centerline is valid? [True, True] Translation: X:133.07, Y:109.14, Z:13.71 [[ 1.53059390e-01 -9.87335044e-01 -4.17412800e-02 1.33074640e+02] [ 9.70743076e-01 1.58126812e-01 -1.80703602e-01 1.09137773e+02] [ 1.85015415e-01 -1.28616754e-02 9.82651451e-01 1.37091827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.720371743 meters Centerline goodness : 0.983821 Centerline is valid? [True, True] Translation: X:133.07, Y:109.17, Z:13.73 [[ 1.51823272e-01 -9.87775982e-01 -3.53313331e-02 1.33069252e+02] [ 9.66056110e-01 1.55853998e-01 -2.06022142e-01 1.09173044e+02] [ 2.09010253e-01 -2.85309459e-03 9.77909287e-01 1.37313686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750371743 meters Centerline goodness : 0.982628 Centerline is valid? [True, True] Translation: X:133.07, Y:109.19, Z:13.72 [[ 1.58408144e-01 -9.86545329e-01 -4.04372748e-02 1.33067020e+02] [ 9.69124088e-01 1.63187484e-01 -1.84846822e-01 1.09191677e+02] [ 1.88958626e-01 -9.90749502e-03 9.81935069e-01 1.37215830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.780371743 meters Centerline goodness : 0.985119 Centerline is valid? [True, True] Translation: X:133.07, Y:109.23, Z:13.74 [[ 1.52372985e-01 -9.87626720e-01 -3.70936068e-02 1.33066785e+02] [ 9.65846551e-01 1.56761577e-01 -2.06315894e-01 1.09226392e+02] [ 2.09577942e-01 -4.38976367e-03 9.77782090e-01 1.37426254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810371743 meters Centerline goodness : 0.982869 Centerline is valid? [True, True] Translation: X:133.07, Y:109.25, Z:13.73 [[ 1.56004772e-01 -9.86629138e-01 -4.71747386e-02 1.33070689e+02] [ 9.70270243e-01 1.62014926e-01 -1.79796604e-01 1.09245303e+02] [ 1.85035580e-01 -1.77231169e-02 9.82571995e-01 1.37296980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.840371743 meters Centerline goodness : 0.978725 Centerline is valid? [True, True] Translation: X:133.07, Y:109.28, Z:13.76 [[ 1.64493929e-01 -9.86376844e-01 1.57136508e-03 1.33066056e+02] [ 9.68073481e-01 1.61135664e-01 -1.92013105e-01 1.09282672e+02] [ 1.89144078e-01 3.31061869e-02 9.81391104e-01 1.37553784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870371743 meters Centerline goodness : 0.982300 Centerline is valid? [True, True] Translation: X:133.08, Y:109.30, Z:13.74 [[ 1.57548741e-01 -9.85291003e-01 -6.61818300e-02 1.33076276e+02] [ 9.70140419e-01 1.66944439e-01 -1.75946363e-01 1.09296720e+02] [ 1.84407057e-01 -3.64855403e-02 9.82172512e-01 1.37368188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.900371743 meters Centerline goodness : 0.983289 Centerline is valid? [True, True] Translation: X:133.06, Y:109.32, Z:13.75 [[ 1.58542103e-01 -9.86846902e-01 -3.15847142e-02 1.33064979e+02] [ 9.69895528e-01 1.61648080e-01 -1.82133367e-01 1.09324625e+02] [ 1.84843357e-01 -1.75806607e-03 9.82766423e-01 1.37518739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930371743 meters Centerline goodness : 0.983424 Centerline is valid? [True, True] Translation: X:133.07, Y:109.35, Z:13.75 [[ 1.61394038e-01 -9.85751394e-01 -4.73935959e-02 1.33074040e+02] [ 9.69607715e-01 1.67332706e-01 -1.78495504e-01 1.09352326e+02] [ 1.83882690e-01 -1.71450861e-02 9.82798658e-01 1.37522313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.960371743 meters Centerline goodness : 0.980558 Centerline is valid? [True, True] Translation: X:133.06, Y:109.38, Z:13.78 [[ 1.61420281e-01 -9.86770587e-01 1.50765330e-02 1.33057738e+02] [ 9.69409465e-01 1.55680999e-01 -1.89759629e-01 1.09380023e+02] [ 1.84902091e-01 4.52463863e-02 9.81714817e-01 1.37755050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990371743 meters Centerline goodness : 0.981934 Centerline is valid? [True, True] Translation: X:133.08, Y:109.41, Z:13.76 [[ 1.65563804e-01 -9.83369049e-01 -7.46588227e-02 1.33084542e+02] [ 9.69049490e-01 1.76274458e-01 -1.72830557e-01 1.09406522e+02] [ 1.83116664e-01 -4.37336095e-02 9.82117945e-01 1.37557866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.020371743 meters Centerline goodness : 0.982466 Centerline is valid? [True, True] Translation: X:133.07, Y:109.43, Z:13.78 [[ 1.65699226e-01 -9.85942593e-01 -2.14701972e-02 1.33070579e+02] [ 9.68425658e-01 1.66790255e-01 -1.85291003e-01 1.09433233e+02] [ 1.86267311e-01 9.91028594e-03 9.82449121e-01 1.37779605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050371743 meters Centerline goodness : 0.979148 Centerline is valid? [True, True] Translation: X:133.08, Y:109.47, Z:13.79 [[ 1.73467845e-01 -9.84257748e-01 -3.38466118e-02 1.33084661e+02] [ 9.66432894e-01 1.76738660e-01 -1.86469589e-01 1.09466927e+02] [ 1.89516142e-01 -3.64001284e-04 9.81877538e-01 1.37911358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.080371743 meters Centerline goodness : 0.980028 Centerline is valid? [True, True] Translation: X:133.09, Y:109.49, Z:13.79 [[ 1.70977767e-01 -9.84441262e-01 -4.05216680e-02 1.33088613e+02] [ 9.67152617e-01 1.75542699e-01 -1.83849330e-01 1.09494803e+02] [ 1.88102149e-01 -7.75648926e-03 9.82118841e-01 1.37946548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11037174300003 meters Centerline goodness : 0.982289 Centerline is valid? [True, True] Translation: X:133.08, Y:109.51, Z:13.79 [[ 1.60339015e-01 -9.85891367e-01 -4.80584400e-02 1.33080363e+02] [ 9.69628247e-01 1.66430661e-01 -1.79225830e-01 1.09513798e+02] [ 1.84695597e-01 -1.78619278e-02 9.82633445e-01 1.37887987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.140371743 meters Centerline goodness : 0.982634 Centerline is valid? [True, True] Translation: X:133.08, Y:109.54, Z:13.79 [[ 1.60883379e-01 -9.86092454e-01 -4.16918460e-02 1.33083976e+02] [ 9.70002498e-01 1.65775709e-01 -1.77802049e-01 1.09541190e+02] [ 1.82240754e-01 -1.18358003e-02 9.83182700e-01 1.37945997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.170371743 meters Centerline goodness : 0.980990 Centerline is valid? [True, True] Translation: X:133.07, Y:109.57, Z:13.82 [[ 1.59350809e-01 -9.87151847e-01 1.17707501e-02 1.33073267e+02] [ 9.69970161e-01 1.54335735e-01 -1.87985022e-01 1.09569416e+02] [ 1.83753114e-01 4.13728418e-02 9.82101360e-01 1.38167501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.200371743 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:133.09, Y:109.60, Z:13.82 [[ 1.49822154e-01 -9.87031945e-01 -5.76303876e-02 1.33093838e+02] [ 9.66916571e-01 1.58441751e-01 -1.99921374e-01 1.09602280e+02] [ 2.06459842e-01 -2.57711260e-02 9.78115629e-01 1.38157226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.230371743 meters Centerline goodness : 0.982054 Centerline is valid? [True, True] Translation: X:133.11, Y:109.63, Z:13.81 [[ 1.59690013e-01 -9.85226729e-01 -6.18659247e-02 1.33110074e+02] [ 9.69496787e-01 1.68327866e-01 -1.78162029e-01 1.09629418e+02] [ 1.85943752e-01 -3.15281186e-02 9.82054428e-01 1.38116272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.260371743 meters Centerline goodness : 0.981528 Centerline is valid? [True, True] Translation: X:133.09, Y:109.65, Z:13.82 [[ 1.45845244e-01 -9.88599729e-01 -3.74131086e-02 1.33092190e+02] [ 9.71652660e-01 1.50252655e-01 -1.82524650e-01 1.09647764e+02] [ 1.86065238e-01 -9.73219439e-03 9.82489192e-01 1.38214937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.290371743 meters Centerline goodness : 0.982290 Centerline is valid? [True, True] Translation: X:133.09, Y:109.67, Z:13.83 [[ 1.43312321e-01 -9.89343953e-01 -2.56928091e-02 1.33092521e+02] [ 9.71706200e-01 1.45587400e-01 -1.85987553e-01 1.09674945e+02] [ 1.87746210e-01 1.68844597e-03 9.82216122e-01 1.38314778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.320371743 meters Centerline goodness : 0.982097 Centerline is valid? [True, True] Translation: X:133.11, Y:109.71, Z:13.83 [[ 1.46540465e-01 -9.88188100e-01 -4.48349407e-02 1.33109271e+02] [ 9.71468367e-01 1.52309458e-01 -1.81799455e-01 1.09707558e+02] [ 1.86480844e-01 -1.69147500e-02 9.82312978e-01 1.38322743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.350371743 meters Centerline goodness : 0.983265 Centerline is valid? [True, True] Translation: X:133.11, Y:109.74, Z:13.84 [[ 1.44246516e-01 -9.88823843e-01 -3.76875398e-02 1.33109313e+02] [ 9.71983491e-01 1.48727013e-01 -1.82012001e-01 1.09735114e+02] [ 1.85582961e-01 -1.03770697e-02 9.82573804e-01 1.38393037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380371743 meters Centerline goodness : 0.981780 Centerline is valid? [True, True] Translation: X:133.11, Y:109.76, Z:13.85 [[ 1.43560475e-01 -9.89526278e-01 -1.51041522e-02 1.33105860e+02] [ 9.72292365e-01 1.43872582e-01 -1.84250473e-01 1.09763932e+02] [ 1.84493758e-01 1.17654335e-02 9.82763261e-01 1.38503069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.410371743 meters Centerline goodness : 0.981908 Centerline is valid? [True, True] Translation: X:133.11, Y:109.78, Z:13.84 [[ 1.37643822e-01 -9.89616612e-01 -4.13900828e-02 1.33106572e+02] [ 9.73418793e-01 1.42877560e-01 -1.79002392e-01 1.09782287e+02] [ 1.83057455e-01 -1.56513110e-02 9.82977622e-01 1.38426036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440371743 meters Centerline goodness : 0.982150 Centerline is valid? [True, True] Translation: X:133.12, Y:109.82, Z:13.85 [[ 1.43225562e-01 -9.89151816e-01 -3.26362266e-02 1.33116415e+02] [ 9.72324464e-01 1.46786243e-01 -1.81766154e-01 1.09817226e+02] [ 1.84584871e-01 -5.69944201e-03 9.82800052e-01 1.38537508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.470371743 meters Centerline goodness : 0.981276 Centerline is valid? [True, True] Translation: X:133.11, Y:109.85, Z:13.86 [[ 1.44527287e-01 -9.89211858e-01 -2.39115578e-02 1.33112126e+02] [ 9.72169377e-01 1.46457418e-01 -1.82857672e-01 1.09845052e+02] [ 1.84387002e-01 3.18183897e-03 9.82848569e-01 1.38604028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500371743 meters Centerline goodness : 0.981588 Centerline is valid? [True, True] Translation: X:133.12, Y:109.87, Z:13.86 [[ 1.49165017e-01 -9.88041561e-01 -3.90342398e-02 1.33124505e+02] [ 9.71476677e-01 1.53795151e-01 -1.80499633e-01 1.09874978e+02] [ 1.84344415e-01 -1.09966227e-02 9.82800189e-01 1.38637636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.530371743 meters Centerline goodness : 0.981835 Centerline is valid? [True, True] Translation: X:133.12, Y:109.90, Z:13.87 [[ 1.50140292e-01 -9.87770824e-01 -4.20320251e-02 1.33121879e+02] [ 9.71798149e-01 1.55264902e-01 -1.77485684e-01 1.09903153e+02] [ 1.81841279e-01 -1.41988917e-02 9.83225376e-01 1.38675785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560371743 meters Centerline goodness : 0.983257 Centerline is valid? [True, True] Translation: X:133.13, Y:109.93, Z:13.87 [[ 1.50394379e-01 -9.87315404e-01 -5.08903162e-02 1.33125910e+02] [ 9.71849023e-01 1.57089164e-01 -1.75591771e-01 1.09932114e+02] [ 1.81358778e-01 -2.30496886e-02 9.83146838e-01 1.38694639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.590371743 meters Centerline goodness : 0.981917 Centerline is valid? [True, True] Translation: X:133.12, Y:109.96, Z:13.89 [[ 1.54453479e-01 -9.87737678e-01 -2.27684462e-02 1.33119274e+02] [ 9.70689344e-01 1.56001972e-01 -1.82826647e-01 1.09960289e+02] [ 1.84136691e-01 6.13712369e-03 9.82881486e-01 1.38865042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620371743 meters Centerline goodness : 0.983342 Centerline is valid? [True, True] Translation: X:133.13, Y:109.99, Z:13.88 [[ 1.54477565e-01 -9.86240977e-01 -5.88677891e-02 1.33132582e+02] [ 9.70733207e-01 1.62598290e-01 -1.76745117e-01 1.09989527e+02] [ 1.83885078e-01 -2.98417625e-02 9.82494655e-01 1.38794461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.650371743 meters Centerline goodness : 0.982989 Centerline is valid? [True, True] Translation: X:133.12, Y:110.01, Z:13.90 [[ 1.54331056e-01 -9.87878055e-01 -1.66994922e-02 1.33117119e+02] [ 9.70419797e-01 1.54736303e-01 -1.85316199e-01 1.10014095e+02] [ 1.85653824e-01 1.23945267e-02 9.82537039e-01 1.38993226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680371743 meters Centerline goodness : 0.982233 Centerline is valid? [True, True] Translation: X:133.13, Y:110.04, Z:13.89 [[ 1.55788691e-01 -9.86916538e-01 -4.15407225e-02 1.33129253e+02] [ 9.70927381e-01 1.60731136e-01 -1.77385240e-01 1.10044142e+02] [ 1.81741315e-01 -1.26984105e-02 9.83264382e-01 1.38942275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.710371743 meters Centerline goodness : 0.982022 Centerline is valid? [True, True] Translation: X:133.13, Y:110.07, Z:13.90 [[ 1.58229416e-01 -9.86636256e-01 -3.88889602e-02 1.33128151e+02] [ 9.70404799e-01 1.62661327e-01 -1.78481986e-01 1.10070741e+02] [ 1.82422528e-01 -9.49693330e-03 9.83174364e-01 1.39005550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740371743 meters Centerline goodness : 0.983928 Centerline is valid? [True, True] Translation: X:133.13, Y:110.10, Z:13.91 [[ 1.58262660e-01 -9.86862137e-01 -3.24969798e-02 1.33128408e+02] [ 9.70645216e-01 1.61530076e-01 -1.78201849e-01 1.10100192e+02] [ 1.81109897e-01 -3.34033927e-03 9.83457191e-01 1.39063225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.770371743 meters Centerline goodness : 0.984380 Centerline is valid? [True, True] Translation: X:133.13, Y:110.13, Z:13.91 [[ 1.57871287e-01 -9.86627312e-01 -4.05364490e-02 1.33131779e+02] [ 9.70666011e-01 1.62594327e-01 -1.77117417e-01 1.10128076e+02] [ 1.81339877e-01 -1.13855987e-02 9.83354573e-01 1.39095092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800371743 meters Centerline goodness : 0.984789 Centerline is valid? [True, True] Translation: X:133.13, Y:110.16, Z:13.92 [[ 1.61287391e-01 -9.86427563e-01 -3.07740147e-02 1.33129947e+02] [ 9.70157983e-01 1.64193480e-01 -1.78420819e-01 1.10157161e+02] [ 1.81052106e-01 -1.07862771e-03 9.83472913e-01 1.39176436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.830371743 meters Centerline goodness : 0.984129 Centerline is valid? [True, True] Translation: X:133.14, Y:110.18, Z:13.92 [[ 1.62392966e-01 -9.85870324e-01 -4.10880707e-02 1.33135088e+02] [ 9.70005236e-01 1.67136015e-01 -1.76508908e-01 1.10182572e+02] [ 1.80882191e-01 -1.11918386e-02 9.83441089e-01 1.39199483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86037174300003 meters Centerline goodness : 0.983877 Centerline is valid? [True, True] Translation: X:133.14, Y:110.21, Z:13.93 [[ 1.66290572e-01 -9.85184232e-01 -4.19460867e-02 1.33138030e+02] [ 9.69091426e-01 1.71139649e-01 -1.77688009e-01 1.10212135e+02] [ 1.82234064e-01 -1.11017523e-02 9.83192503e-01 1.39270526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.890371743 meters Centerline goodness : 0.983877 Centerline is valid? [True, True] Translation: X:133.14, Y:110.24, Z:13.93 [[ 1.65827811e-01 -9.85346135e-01 -3.99265770e-02 1.33142792e+02] [ 9.69133035e-01 1.70321836e-01 -1.78245989e-01 1.10238369e+02] [ 1.82434364e-01 -9.13602247e-03 9.83175588e-01 1.39332518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.920371743 meters Centerline goodness : 0.985820 Centerline is valid? [True, True] Translation: X:133.14, Y:110.27, Z:13.94 [[ 1.64908543e-01 -9.85798605e-01 -3.17219521e-02 1.33141763e+02] [ 9.69777197e-01 1.67924500e-01 -1.77012853e-01 1.10266518e+02] [ 1.79825917e-01 -1.57229414e-03 9.83697193e-01 1.39388716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.950371743 meters Centerline goodness : 0.984805 Centerline is valid? [True, True] Translation: X:133.14, Y:110.29, Z:13.94 [[ 1.65348725e-01 -9.85333955e-01 -4.21520551e-02 1.33144019e+02] [ 9.69676813e-01 1.70223090e-01 -1.75359565e-01 1.10292059e+02] [ 1.79962987e-01 -1.18783900e-02 9.83601661e-01 1.39408630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.980371743 meters Centerline goodness : 0.985182 Centerline is valid? [True, True] Translation: X:133.15, Y:110.32, Z:13.95 [[ 1.66424481e-01 -9.85528196e-01 -3.22035383e-02 1.33147257e+02] [ 9.69656980e-01 1.69500843e-01 -1.76166982e-01 1.10319805e+02] [ 1.79076054e-01 -1.90788713e-03 9.83833384e-01 1.39494893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.010371743 meters Centerline goodness : 0.985094 Centerline is valid? [True, True] Translation: X:133.15, Y:110.35, Z:13.95 [[ 1.65501345e-01 -9.85548831e-01 -3.60944157e-02 1.33153198e+02] [ 9.69901529e-01 1.69283809e-01 -1.75025757e-01 1.10349780e+02] [ 1.78606631e-01 -6.04103064e-03 9.83902016e-01 1.39534802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.040371743 meters Centerline goodness : 0.984345 Centerline is valid? [True, True] Translation: X:133.16, Y:110.38, Z:13.96 [[ 1.63830174e-01 -9.85613841e-01 -4.15334897e-02 1.33159251e+02] [ 9.69965359e-01 1.68616812e-01 -1.75315637e-01 1.10375300e+02] [ 1.79796763e-01 -1.15640550e-02 9.83635805e-01 1.39572272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.070371743 meters Centerline goodness : 0.981699 Centerline is valid? [True, True] Translation: X:133.15, Y:110.39, Z:13.96 [[ 1.54786344e-01 -9.87090215e-01 -4.11594005e-02 1.33152834e+02] [ 9.71887645e-01 1.59619381e-01 -1.73078185e-01 1.10392778e+02] [ 1.77413621e-01 -1.32121734e-02 9.84047685e-01 1.39561151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.100371743 meters Centerline goodness : 0.982131 Centerline is valid? [True, True] Translation: X:133.15, Y:110.42, Z:13.96 [[ 1.49509589e-01 -9.88225301e-01 -3.25213443e-02 1.33154282e+02] [ 9.72465079e-01 1.52912801e-01 -1.75867408e-01 1.10420262e+02] [ 1.78769552e-01 -5.33200784e-03 9.83876525e-01 1.39640549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130371743 meters Centerline goodness : 0.986004 Centerline is valid? [True, True] Translation: X:133.17, Y:110.45, Z:13.97 [[ 1.50912980e-01 -9.87943106e-01 -3.45498335e-02 1.33167606e+02] [ 9.71796005e-01 1.54671863e-01 -1.78014438e-01 1.10454364e+02] [ 1.81212024e-01 -6.71070078e-03 9.83421155e-01 1.39744953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.160371743 meters Centerline goodness : 0.985269 Centerline is valid? [True, True] Translation: X:133.17, Y:110.48, Z:13.98 [[ 1.46213811e-01 -9.88288133e-01 -4.36816640e-02 1.33173929e+02] [ 9.72423195e-01 1.51696457e-01 -1.77147720e-01 1.10481283e+02] [ 1.81699343e-01 -1.65756200e-02 9.83214421e-01 1.39773663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190371743 meters Centerline goodness : 0.984521 Centerline is valid? [True, True] Translation: X:133.18, Y:110.51, Z:13.98 [[ 1.43111743e-01 -9.88700850e-01 -4.46055747e-02 1.33177733e+02] [ 9.72519450e-01 1.48846394e-01 -1.79027013e-01 1.10506682e+02] [ 1.83643538e-01 -1.77589211e-02 9.82832474e-01 1.39837680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.220371743 meters Centerline goodness : 0.986200 Centerline is valid? [True, True] Translation: X:133.18, Y:110.54, Z:13.99 [[ 1.39211676e-01 -9.89242255e-01 -4.49429699e-02 1.33181618e+02] [ 9.73290092e-01 1.45051408e-01 -1.77950795e-01 1.10536738e+02] [ 1.82555486e-01 -1.89697191e-02 9.83012535e-01 1.39894688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250371743 meters Centerline goodness : 0.985693 Centerline is valid? [True, True] Translation: X:133.18, Y:110.56, Z:14.00 [[ 1.37070498e-01 -9.90064173e-01 -3.13785287e-02 1.33179409e+02] [ 9.73496440e-01 1.40496131e-01 -1.80459189e-01 1.10562720e+02] [ 1.83074740e-01 -5.81125507e-03 9.83081822e-01 1.39985712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.280371743 meters Centerline goodness : 0.986764 Centerline is valid? [True, True] Translation: X:133.19, Y:110.59, Z:14.00 [[ 1.35943804e-01 -9.89680286e-01 -4.53013737e-02 1.33187336e+02] [ 9.73782394e-01 1.41898595e-01 -1.77799434e-01 1.10591437e+02] [ 1.82392796e-01 -1.99429485e-02 9.83023472e-01 1.40003307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310371743 meters Centerline goodness : 0.987005 Centerline is valid? [True, True] Translation: X:133.19, Y:110.62, Z:14.01 [[ 1.35709321e-01 -9.89331939e-01 -5.29650246e-02 1.33194297e+02] [ 9.73774351e-01 1.43046922e-01 -1.76921146e-01 1.10619811e+02] [ 1.82610225e-01 -2.75661337e-02 9.82798868e-01 1.40057454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.340371743 meters Centerline goodness : 0.986703 Centerline is valid? [True, True] Translation: X:133.19, Y:110.64, Z:14.02 [[ 1.33757262e-01 -9.90795435e-01 -2.08182788e-02 1.33186539e+02] [ 9.73778402e-01 1.35302793e-01 -1.82890072e-01 1.10643382e+02] [ 1.84023420e-01 4.19048510e-03 9.82912926e-01 1.40228445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370371743 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:133.20, Y:110.67, Z:14.02 [[ 1.32608165e-01 -9.89984470e-01 -4.84337138e-02 1.33195680e+02] [ 9.74220959e-01 1.39182733e-01 -1.77543485e-01 1.10674137e+02] [ 1.82506430e-01 -2.36414233e-02 9.82920387e-01 1.40171874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.400371743 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:133.20, Y:110.70, Z:14.02 [[ 1.31811579e-01 -9.90027447e-01 -4.97127889e-02 1.33199461e+02] [ 9.74161668e-01 1.38651441e-01 -1.78282988e-01 1.10701901e+02] [ 1.83397801e-01 -2.49285313e-02 9.82722654e-01 1.40243099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430371743 meters Centerline goodness : 0.988131 Centerline is valid? [True, True] Translation: X:133.19, Y:110.73, Z:14.04 [[ 1.28959492e-01 -9.91460294e-01 -1.93890348e-02 1.33188102e+02] [ 9.74217079e-01 1.30318279e-01 -1.84169021e-01 1.10726207e+02] [ 1.85123017e-01 4.86121454e-03 9.82703331e-01 1.40400615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.460371743 meters Centerline goodness : 0.982315 Centerline is valid? [True, True] Translation: X:133.18, Y:110.75, Z:14.03 [[ 1.20880284e-01 -9.92032498e-01 -3.54891640e-02 1.33184089e+02] [ 9.76270647e-01 1.25278754e-01 -1.76637644e-01 1.10750920e+02] [ 1.79676321e-01 -1.32950205e-02 9.83635940e-01 1.40299533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490371743 meters Centerline goodness : 0.982182 Centerline is valid? [True, True] Translation: X:133.18, Y:110.78, Z:14.04 [[ 1.20580572e-01 -9.92524840e-01 -1.88352885e-02 1.33182199e+02] [ 9.76183315e-01 1.21999648e-01 -1.79394037e-01 1.10779135e+02] [ 1.80350937e-01 3.24474121e-03 9.83596976e-01 1.40432646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.520371743 meters Centerline goodness : 0.976199 Centerline is valid? [True, True] Translation: X:133.18, Y:110.81, Z:14.05 [[ 1.18761130e-01 -9.92661142e-01 -2.27958645e-02 1.33180081e+02] [ 9.76664052e-01 1.20923344e-01 -1.77496124e-01 1.10805704e+02] [ 1.78950057e-01 -1.18426114e-03 9.83857446e-01 1.40450321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550371743 meters Centerline goodness : 0.991250 Centerline is valid? [True, True] Translation: X:133.19, Y:110.84, Z:14.05 [[ 1.22038904e-01 -9.91356029e-01 -4.81635810e-02 1.33193065e+02] [ 9.75650922e-01 1.28732815e-01 -1.77575733e-01 1.10837489e+02] [ 1.82241007e-01 -2.53196943e-02 9.82927835e-01 1.40471028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.580371743 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:133.19, Y:110.87, Z:14.06 [[ 1.20204466e-01 -9.91773617e-01 -4.39997649e-02 1.33187431e+02] [ 9.76002948e-01 1.26167012e-01 -1.77482762e-01 1.10866264e+02] [ 1.81574040e-01 -2.16096795e-02 9.83139812e-01 1.40560227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61037174300003 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:133.19, Y:110.89, Z:14.06 [[ 1.19626369e-01 -9.91859664e-01 -4.36341540e-02 1.33187314e+02] [ 9.76002840e-01 1.25541297e-01 -1.77926502e-01 1.10892182e+02] [ 1.81956008e-01 -2.13023568e-02 9.83075898e-01 1.40625037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.640371743 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:133.18, Y:110.92, Z:14.07 [[ 1.18013900e-01 -9.92260079e-01 -3.86348962e-02 1.33182479e+02] [ 9.76650626e-01 1.23015137e-01 -1.76127315e-01 1.10923979e+02] [ 1.79516780e-01 -1.69473243e-02 9.83608923e-01 1.40693878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.670371743 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:133.18, Y:110.95, Z:14.07 [[ 1.17396750e-01 -9.92155896e-01 -4.29497500e-02 1.33184594e+02] [ 9.76828996e-01 1.23160268e-01 -1.75033315e-01 1.10950874e+02] [ 1.78950038e-01 -2.14062189e-02 9.83625263e-01 1.40736959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.700371743 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:133.18, Y:110.98, Z:14.08 [[ 1.17231878e-01 -9.92459024e-01 -3.58018569e-02 1.33179146e+02] [ 9.76865231e-01 1.21732696e-01 -1.75827961e-01 1.10979072e+02] [ 1.78860303e-01 -1.43609471e-02 9.83769666e-01 1.40812711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.730371743 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:133.18, Y:111.00, Z:14.09 [[ 1.18409551e-01 -9.92255854e-01 -3.75166328e-02 1.33179495e+02] [ 9.76655614e-01 1.23201225e-01 -1.75969515e-01 1.11004984e+02] [ 1.79228876e-01 -1.58043588e-02 9.83680452e-01 1.40851133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.760371743 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:133.18, Y:111.03, Z:14.09 [[ 1.18869103e-01 -9.92203128e-01 -3.74578224e-02 1.33179954e+02] [ 9.76488138e-01 1.23652721e-01 -1.76581204e-01 1.11032433e+02] [ 1.79836184e-01 -1.55870699e-02 9.83573073e-01 1.40908456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.790371743 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:133.18, Y:111.06, Z:14.10 [[ 1.21620838e-01 -9.91659738e-01 -4.26536739e-02 1.33176936e+02] [ 9.75864190e-01 1.27315128e-01 -1.77425875e-01 1.11061172e+02] [ 1.81376555e-01 -2.00455092e-02 9.83209399e-01 1.40950551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.820371743 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:133.18, Y:111.09, Z:14.10 [[ 1.22705274e-01 -9.91670328e-01 -3.91583386e-02 1.33176267e+02] [ 9.75556735e-01 1.27771119e-01 -1.78783660e-01 1.11088708e+02] [ 1.82297756e-01 -1.62634829e-02 9.83108858e-01 1.41025096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.850371743 meters Centerline goodness : 0.995707 Centerline is valid? [True, True] Translation: X:133.17, Y:111.12, Z:14.10 [[ 1.28282268e-01 -9.90588826e-01 -4.77225003e-02 1.33174763e+02] [ 9.74466356e-01 1.34843611e-01 -1.79534179e-01 1.11116353e+02] [ 1.84279626e-01 -2.34729192e-02 9.82593528e-01 1.41045536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880371743 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:133.17, Y:111.14, Z:14.12 [[ 1.31414281e-01 -9.90783903e-01 -3.28259625e-02 1.33171762e+02] [ 9.73986251e-01 1.35211160e-01 -1.81848083e-01 1.11144514e+02] [ 1.84610590e-01 -8.07460119e-03 9.82778577e-01 1.41172758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.910371743 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:133.17, Y:111.17, Z:14.12 [[ 1.38733401e-01 -9.89516264e-01 -4.01323716e-02 1.33170715e+02] [ 9.72775376e-01 1.43758558e-01 -1.81773333e-01 1.11170994e+02] [ 1.85637041e-01 -1.38217501e-02 9.82521169e-01 1.41191717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940371743 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:133.17, Y:111.20, Z:14.13 [[ 1.42497833e-01 -9.89158525e-01 -3.54933919e-02 1.33171089e+02] [ 9.72185661e-01 1.46606699e-01 -1.82651354e-01 1.11199367e+02] [ 1.85874713e-01 -8.47874447e-03 9.82536871e-01 1.41274796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.970371743 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:133.17, Y:111.23, Z:14.13 [[ 1.50107196e-01 -9.87974558e-01 -3.70688916e-02 1.33169250e+02] [ 9.71150608e-01 1.54370660e-01 -1.81758619e-01 1.11227134e+02] [ 1.85295241e-01 -8.71620007e-03 9.82644240e-01 1.41322572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000371743 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:133.17, Y:111.25, Z:14.14 [[ 1.52491203e-01 -9.87409740e-01 -4.20527998e-02 1.33172124e+02] [ 9.70661386e-01 1.57637458e-01 -1.81567911e-01 1.11253937e+02] [ 1.85911021e-01 -1.31315197e-02 9.82478832e-01 1.41368578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.030371743 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:133.17, Y:111.28, Z:14.15 [[ 1.58976538e-01 -9.86898229e-01 -2.75380719e-02 1.33169761e+02] [ 9.69983425e-01 1.61328805e-01 -1.81948269e-01 1.11280428e+02] [ 1.84007109e-01 2.21403272e-03 9.82922419e-01 1.41476892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060371743 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:133.18, Y:111.31, Z:14.15 [[ 1.59705737e-01 -9.86661961e-01 -3.15000393e-02 1.33175397e+02] [ 9.70121078e-01 1.62772370e-01 -1.79917344e-01 1.11309219e+02] [ 1.82644935e-01 -1.82502004e-03 9.83177246e-01 1.41503241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.090371743 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:133.18, Y:111.33, Z:14.15 [[ 1.61052821e-01 -9.86141661e-01 -3.98323212e-02 1.33181226e+02] [ 9.69886453e-01 1.65611559e-01 -1.78586337e-01 1.11334453e+02] [ 1.82708120e-01 -9.87099535e-03 9.83117646e-01 1.41516004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120371743 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:133.18, Y:111.36, Z:14.16 [[ 1.61268318e-01 -9.86401597e-01 -3.16925830e-02 1.33184094e+02] [ 9.70088353e-01 1.64341589e-01 -1.78662893e-01 1.11363164e+02] [ 1.81441773e-01 -1.93194131e-03 9.83399792e-01 1.41605113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.150371743 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:133.19, Y:111.39, Z:14.16 [[ 1.61687217e-01 -9.86124265e-01 -3.76321389e-02 1.33191291e+02] [ 9.69969753e-01 1.65828639e-01 -1.77931284e-01 1.11389920e+02] [ 1.81702843e-01 -7.73282236e-03 9.83323080e-01 1.41619423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180371743 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:133.20, Y:111.42, Z:14.17 [[ 1.59909510e-01 -9.86421989e-01 -3.74246973e-02 1.33196846e+02] [ 9.70005670e-01 1.64053709e-01 -1.79374970e-01 1.11417782e+02] [ 1.83079075e-01 -7.61840498e-03 9.83068671e-01 1.41676977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.210371743 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:133.20, Y:111.44, Z:14.17 [[ 1.58363992e-01 -9.86757594e-01 -3.50755862e-02 1.33201995e+02] [ 9.70274608e-01 1.62105998e-01 -1.79690929e-01 1.11444806e+02] [ 1.82997351e-01 -5.57637798e-03 9.83097591e-01 1.41735678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240371743 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:133.21, Y:111.47, Z:14.18 [[ 1.55477080e-01 -9.87301348e-01 -3.26025459e-02 1.33208381e+02] [ 9.70788880e-01 1.58815778e-01 -1.79851323e-01 1.11471332e+02] [ 1.82745252e-01 -3.68743046e-03 9.83153384e-01 1.41784629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.270371743 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:133.21, Y:111.50, Z:14.18 [[ 1.53792909e-01 -9.87600193e-01 -3.15214366e-02 1.33214981e+02] [ 9.71304281e-01 1.56958696e-01 -1.78695161e-01 1.11499926e+02] [ 1.81426939e-01 -3.13485768e-03 9.83399430e-01 1.41822742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300371743 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:133.22, Y:111.53, Z:14.18 [[ 1.50235467e-01 -9.87915660e-01 -3.81045031e-02 1.33223396e+02] [ 9.71664909e-01 1.54658288e-01 -1.78740366e-01 1.11527630e+02] [ 1.82473584e-01 -1.01716661e-02 9.83158140e-01 1.41849769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.330371743 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:133.23, Y:111.55, Z:14.19 [[ 1.46307997e-01 -9.88241982e-01 -4.44044417e-02 1.33230564e+02] [ 9.71900836e-01 1.51966004e-01 -1.79764009e-01 1.11552012e+02] [ 1.84398306e-01 -1.68558020e-02 9.82707050e-01 1.41891976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36037174300003 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:133.23, Y:111.58, Z:14.20 [[ 1.44251981e-01 -9.89143587e-01 -2.80415680e-02 1.33233067e+02] [ 9.72389843e-01 1.46948007e-01 -1.81285071e-01 1.11580297e+02] [ 1.83437618e-01 -1.11660525e-03 9.83030718e-01 1.42018313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.390371743 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:133.24, Y:111.61, Z:14.20 [[ 1.41707434e-01 -9.89283090e-01 -3.51848138e-02 1.33242603e+02] [ 9.73028731e-01 1.45738893e-01 -1.78816283e-01 1.11606937e+02] [ 1.82027721e-01 -8.89623814e-03 9.83253155e-01 1.42016491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.420371743 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:133.25, Y:111.63, Z:14.20 [[ 1.39574234e-01 -9.89273086e-01 -4.31021432e-02 1.33250103e+02] [ 9.73141238e-01 1.45085636e-01 -1.78735248e-01 1.11631983e+02] [ 1.83071472e-01 -1.69976377e-02 9.82952652e-01 1.42047650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.450371743 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:133.26, Y:111.66, Z:14.21 [[ 1.36307801e-01 -9.89945492e-01 -3.77903020e-02 1.33255454e+02] [ 9.73528921e-01 1.40916995e-01 -1.79955106e-01 1.11657975e+02] [ 1.83471042e-01 -1.22606673e-02 9.82948652e-01 1.42129813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.480371743 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:133.26, Y:111.68, Z:14.22 [[ 1.35063481e-01 -9.89704047e-01 -4.73682954e-02 1.33262369e+02] [ 9.73206820e-01 1.41486739e-01 -1.81245657e-01 1.11679478e+02] [ 1.86081546e-01 -2.16194788e-02 9.82296420e-01 1.42157776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.510371743 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:133.26, Y:111.71, Z:14.23 [[ 1.31921455e-01 -9.90934631e-01 -2.54024879e-02 1.33264024e+02] [ 9.74044836e-01 1.34343040e-01 -1.82177399e-01 1.11709239e+02] [ 1.83938542e-01 -7.10054682e-04 9.82937490e-01 1.42302140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.540371743 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:133.27, Y:111.74, Z:14.23 [[ 1.29940212e-01 -9.90916829e-01 -3.46320541e-02 1.33272088e+02] [ 9.74097414e-01 1.34098150e-01 -1.82076671e-01 1.11737655e+02] [ 1.85066932e-01 -1.00759130e-02 9.82674263e-01 1.42317752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.570371743 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:133.28, Y:111.76, Z:14.24 [[ 1.29061458e-01 -9.91093016e-01 -3.28294544e-02 1.33277670e+02] [ 9.74547706e-01 1.32887476e-01 -1.80548297e-01 1.11764159e+02] [ 1.83302780e-01 -8.69204297e-03 9.83018077e-01 1.42363952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.600371743 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:133.29, Y:111.79, Z:14.24 [[ 1.25413156e-01 -9.91319622e-01 -3.94581758e-02 1.33285290e+02] [ 9.74456204e-01 1.30553150e-01 -1.82731995e-01 1.11790478e+02] [ 1.86297202e-01 -1.55332679e-02 9.82370638e-01 1.42407444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630371743 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:133.29, Y:111.82, Z:14.25 [[ 1.22909813e-01 -9.91746474e-01 -3.64980691e-02 1.33290178e+02] [ 9.74581853e-01 1.27560343e-01 -1.84169949e-01 1.11816475e+02] [ 1.87305604e-01 -1.29340618e-02 9.82216535e-01 1.42474232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.660371743 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:133.29, Y:111.84, Z:14.25 [[ 1.21336407e-01 -9.92030001e-01 -3.39698809e-02 1.33294726e+02] [ 9.74829503e-01 1.25541703e-01 -1.84246357e-01 1.11844576e+02] [ 1.87042551e-01 -1.07590511e-02 9.82292893e-01 1.42536216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690371743 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:133.30, Y:111.87, Z:14.26 [[ 1.19762684e-01 -9.92243454e-01 -3.33140736e-02 1.33299456e+02] [ 9.74842298e-01 1.23883669e-01 -1.85297953e-01 1.11871857e+02] [ 1.87987751e-01 -1.02841878e-02 9.82117529e-01 1.42598218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.720371743 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:133.30, Y:111.90, Z:14.27 [[ 1.17013495e-01 -9.92540004e-01 -3.42371616e-02 1.33304133e+02] [ 9.74781538e-01 1.21379488e-01 -1.87264446e-01 1.11900384e+02] [ 1.90023143e-01 -1.14612857e-02 9.81712709e-01 1.42657343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750371743 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:133.31, Y:111.93, Z:14.27 [[ 1.15973967e-01 -9.92515182e-01 -3.82577214e-02 1.33310288e+02] [ 9.75265859e-01 1.21086295e-01 -1.84917855e-01 1.11929401e+02] [ 1.88166264e-01 -1.58657923e-02 9.82009029e-01 1.42691932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.780371743 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:133.31, Y:111.96, Z:14.28 [[ 1.15442258e-01 -9.92654842e-01 -3.61863285e-02 1.33313900e+02] [ 9.75284707e-01 1.20181065e-01 -1.85408338e-01 1.11955666e+02] [ 1.88395396e-01 -1.38880155e-02 9.81995060e-01 1.42757393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810371743 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:133.31, Y:111.98, Z:14.28 [[ 1.14589414e-01 -9.92983338e-01 -2.92122540e-02 1.33314576e+02] [ 9.75403786e-01 1.18037259e-01 -1.86157622e-01 1.11983617e+02] [ 1.88299552e-01 -7.16205029e-03 9.82085528e-01 1.42847902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.840371743 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:133.32, Y:112.01, Z:14.29 [[ 1.14752562e-01 -9.92769925e-01 -3.52097464e-02 1.33320677e+02] [ 9.75407068e-01 1.19318277e-01 -1.85321886e-01 1.12011031e+02] [ 1.88183161e-01 -1.30776743e-02 9.82046879e-01 1.42875325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870371743 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:133.32, Y:112.04, Z:14.29 [[ 1.16149565e-01 -9.92523300e-01 -3.75070251e-02 1.33324022e+02] [ 9.75392332e-01 1.21107018e-01 -1.84235959e-01 1.12038168e+02] [ 1.87400846e-01 -1.51851383e-02 9.82166144e-01 1.42916389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.900371743 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:133.33, Y:112.06, Z:14.30 [[ 1.17565532e-01 -9.92394600e-01 -3.64870453e-02 1.33326825e+02] [ 9.75362719e-01 1.22298357e-01 -1.83604679e-01 1.12063011e+02] [ 1.86670597e-01 -1.40025221e-02 9.82322767e-01 1.42969587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930371743 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:133.33, Y:112.09, Z:14.30 [[ 1.17868297e-01 -9.92507583e-01 -3.21832715e-02 1.33329804e+02] [ 9.75317870e-01 1.21798948e-01 -1.84174016e-01 1.12091713e+02] [ 1.86713996e-01 -9.68064208e-03 9.82366616e-01 1.43046569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.960371743 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:133.33, Y:112.12, Z:14.31 [[ 1.18514323e-01 -9.92500849e-01 -2.99402866e-02 1.33332629e+02] [ 9.75287461e-01 1.22015301e-01 -1.84191842e-01 1.12121366e+02] [ 1.86463732e-01 -7.37101464e-03 9.82434194e-01 1.43109411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990371743 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:133.34, Y:112.15, Z:14.31 [[ 1.18371572e-01 -9.92053065e-01 -4.26484093e-02 1.33339736e+02] [ 9.75077832e-01 1.24248036e-01 -1.83808726e-01 1.12148292e+02] [ 1.87646991e-01 -1.98277907e-02 9.82036387e-01 1.43119152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.020371743 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:133.34, Y:112.18, Z:14.32 [[ 1.18900290e-01 -9.92379575e-01 -3.23341987e-02 1.33340948e+02] [ 9.75043846e-01 1.22848597e-01 -1.84926255e-01 1.12176383e+02] [ 1.87489249e-01 -9.53947612e-03 9.82220332e-01 1.43218704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050371743 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:133.35, Y:112.20, Z:14.32 [[ 1.19934910e-01 -9.92058474e-01 -3.78893273e-02 1.33347163e+02] [ 9.75000772e-01 1.24891808e-01 -1.83781205e-01 1.12202115e+02] [ 1.87053768e-01 -1.49003411e-02 9.82236666e-01 1.43243252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.080371743 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:133.35, Y:112.23, Z:14.33 [[ 1.19871228e-01 -9.92164375e-01 -3.52241765e-02 1.33350404e+02] [ 9.74774863e-01 1.24350276e-01 -1.85340161e-01 1.12229239e+02] [ 1.88268041e-01 -1.21186893e-02 9.82042913e-01 1.43315651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11037174300003 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:133.36, Y:112.26, Z:14.34 [[ 1.18488445e-01 -9.92280216e-01 -3.66123126e-02 1.33355457e+02] [ 9.74839253e-01 1.23258731e-01 -1.85730223e-01 1.12257239e+02] [ 1.88809213e-01 -1.36842342e-02 9.81918440e-01 1.43367269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.140371743 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:133.36, Y:112.28, Z:14.34 [[ 1.16765811e-01 -9.92457403e-01 -3.73369486e-02 1.33359588e+02] [ 9.74698149e-01 1.21729184e-01 -1.87471395e-01 1.12283042e+02] [ 1.90602370e-01 -1.45020052e-02 9.81560201e-01 1.43422679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.170371743 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:133.36, Y:112.31, Z:14.35 [[ 1.16600857e-01 -9.92641959e-01 -3.26524306e-02 1.33363783e+02] [ 9.74611910e-01 1.20686539e-01 -1.88590520e-01 1.12309852e+02] [ 1.91143572e-01 -9.83363153e-03 9.81512830e-01 1.43489352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.200371743 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:133.37, Y:112.34, Z:14.35 [[ 1.15637172e-01 -9.92612949e-01 -3.67093706e-02 1.33368377e+02] [ 9.74544331e-01 1.20523530e-01 -1.89043450e-01 1.12337497e+02] [ 1.92071319e-01 -1.39144591e-02 9.81282322e-01 1.43528708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.230371743 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:133.37, Y:112.36, Z:14.36 [[ 1.13067235e-01 -9.93047278e-01 -3.27552197e-02 1.33371988e+02] [ 9.74469405e-01 1.17267274e-01 -1.91462176e-01 1.12364889e+02] [ 1.93972108e-01 -1.02708606e-02 9.80953277e-01 1.43611499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.260371743 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:133.38, Y:112.39, Z:14.36 [[ 1.11673963e-01 -9.92860840e-01 -4.19079877e-02 1.33378432e+02] [ 9.74295661e-01 1.17693537e-01 -1.92083824e-01 1.12391254e+02] [ 1.95644806e-01 -1.93800087e-02 9.80483312e-01 1.43640117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.290371743 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:133.38, Y:112.42, Z:14.37 [[ 1.11088222e-01 -9.93257361e-01 -3.31545082e-02 1.33381086e+02] [ 9.74330516e-01 1.15423039e-01 -1.93281059e-01 1.12417073e+02] [ 1.95804629e-01 -1.08321998e-02 9.80583097e-01 1.43721682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.320371743 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:133.39, Y:112.45, Z:14.38 [[ 1.09167603e-01 -9.93564841e-01 -3.01884204e-02 1.33386248e+02] [ 9.74519819e-01 1.12962826e-01 -1.93779572e-01 1.12445560e+02] [ 1.95942739e-01 -8.26476254e-03 9.80580510e-01 1.43773093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.350371743 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:133.39, Y:112.47, Z:14.38 [[ 1.08442081e-01 -9.93557375e-01 -3.29250383e-02 1.33392319e+02] [ 9.74567236e-01 1.12786469e-01 -1.93643784e-01 1.12473135e+02] [ 1.96109709e-01 -1.10885287e-02 9.80519264e-01 1.43805329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380371743 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:133.40, Y:112.50, Z:14.38 [[ 1.07963622e-01 -9.93283947e-01 -4.16035797e-02 1.33399493e+02] [ 9.74313231e-01 1.14035245e-01 -1.94189833e-01 1.12499046e+02] [ 1.97629918e-01 -1.95694804e-02 9.80081349e-01 1.43828144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.410371743 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:133.40, Y:112.52, Z:14.39 [[ 1.06565503e-01 -9.93674362e-01 -3.54267757e-02 1.33402550e+02] [ 9.74617664e-01 1.11444266e-01 -1.94166384e-01 1.12523352e+02] [ 1.96886269e-01 -1.38361230e-02 9.80328699e-01 1.43922045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440371743 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:133.41, Y:112.55, Z:14.40 [[ 1.05706864e-01 -9.93873309e-01 -3.22785433e-02 1.33406055e+02] [ 9.74648590e-01 1.09990047e-01 -1.94839207e-01 1.12549812e+02] [ 1.97195806e-01 -1.08643951e-02 9.80303922e-01 1.43995958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.470371743 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:133.41, Y:112.58, Z:14.40 [[ 1.02054523e-01 -9.93913699e-01 -4.14781124e-02 1.33414417e+02] [ 9.75082652e-01 1.08202988e-01 -1.93664493e-01 1.12575662e+02] [ 1.96973848e-01 -2.06802504e-02 9.80190609e-01 1.44032959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500371743 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:133.42, Y:112.60, Z:14.41 [[ 1.00726752e-01 -9.94496053e-01 -2.88395864e-02 1.33416210e+02] [ 9.75658132e-01 1.04411142e-01 -1.92845855e-01 1.12604029e+02] [ 1.94795615e-01 -8.71284052e-03 9.80805156e-01 1.44130554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.530371743 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:133.42, Y:112.63, Z:14.42 [[ 9.79763197e-02 -9.94747012e-01 -2.96483051e-02 1.33422940e+02] [ 9.75979705e-01 1.01867644e-01 -1.92578809e-01 1.12633294e+02] [ 1.94587398e-01 -1.00679811e-02 9.80833513e-01 1.44180107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560371743 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:133.43, Y:112.66, Z:14.42 [[ 9.46925900e-02 -9.94531423e-01 -4.40518027e-02 1.33432854e+02] [ 9.75825849e-01 1.01485035e-01 -1.93558004e-01 1.12657308e+02] [ 1.96970116e-01 -2.46583791e-02 9.80099351e-01 1.44185005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.590371743 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:133.43, Y:112.69, Z:14.44 [[ 8.79166135e-02 -9.95755386e-01 -2.72374739e-02 1.33430764e+02] [ 9.73836264e-01 9.16692887e-02 -2.07941513e-01 1.12685935e+02] [ 2.09555721e-01 -8.24332619e-03 9.77761958e-01 1.44391865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620371743 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:133.45, Y:112.71, Z:14.43 [[ 9.10900100e-02 -9.94723007e-01 -4.72096367e-02 1.33446350e+02] [ 9.76049866e-01 9.85838658e-02 -1.93927512e-01 1.12711414e+02] [ 1.97558266e-01 -2.84141006e-02 9.79879263e-01 1.44279801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.650371743 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:133.45, Y:112.74, Z:14.44 [[ 9.04122928e-02 -9.95364410e-01 -3.27919130e-02 1.33448510e+02] [ 9.75621563e-01 9.51343639e-02 -1.97767587e-01 1.12739177e+02] [ 1.99970455e-01 -1.41118765e-02 9.79700297e-01 1.44412636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680371743 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:133.46, Y:112.77, Z:14.45 [[ 9.07666241e-02 -9.95362955e-01 -3.18434805e-02 1.33455563e+02] [ 9.76106863e-01 9.52586016e-02 -1.95297697e-01 1.12766146e+02] [ 1.97425458e-01 -1.33561272e-02 9.80226914e-01 1.44465661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.710371743 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:133.46, Y:112.79, Z:14.45 [[ 9.07807046e-02 -9.95332314e-01 -3.27482574e-02 1.33462162e+02] [ 9.76180726e-01 9.54444586e-02 -1.94837227e-01 1.12794280e+02] [ 1.97053428e-01 -1.42807569e-02 9.80288736e-01 1.44514024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740371743 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:133.47, Y:112.82, Z:14.46 [[ 9.07391924e-02 -9.95137411e-01 -3.83135972e-02 1.33469369e+02] [ 9.75950813e-01 9.65151004e-02 -1.95460598e-01 1.12819554e+02] [ 1.98207994e-01 -1.96562496e-02 9.79962868e-01 1.44555030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.770371743 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:133.48, Y:112.85, Z:14.46 [[ 9.18603307e-02 -9.95382137e-01 -2.78582485e-02 1.33475943e+02] [ 9.75959016e-01 9.55503963e-02 -1.95893135e-01 1.12848271e+02] [ 1.97650394e-01 -9.19370066e-03 9.80229462e-01 1.44639951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800371743 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:133.49, Y:112.88, Z:14.47 [[ 9.12872514e-02 -9.95139075e-01 -3.69439998e-02 1.33485199e+02] [ 9.76051709e-01 9.67692693e-02 -1.94830106e-01 1.12875812e+02] [ 1.97458096e-01 -1.82737492e-02 9.80140995e-01 1.44658070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.830371743 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:133.49, Y:112.90, Z:14.47 [[ 9.29691187e-02 -9.95265093e-01 -2.83573141e-02 1.33490918e+02] [ 9.76206640e-01 9.67185440e-02 -1.94077610e-01 1.12901795e+02] [ 1.95901349e-01 -9.63937404e-03 9.80576231e-01 1.44737149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86037174300003 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:133.50, Y:112.93, Z:14.48 [[ 9.14068017e-02 -9.95134306e-01 -3.67764748e-02 1.33499389e+02] [ 9.76194415e-01 9.68395338e-02 -1.94078769e-01 1.12930079e+02] [ 1.96695858e-01 -1.81608698e-02 9.80296344e-01 1.44778043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.890371743 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:133.51, Y:112.96, Z:14.48 [[ 9.35435667e-02 -9.95211354e-01 -2.83542078e-02 1.33505576e+02] [ 9.76308386e-01 9.72736705e-02 -1.93286753e-01 1.12955810e+02] [ 1.95119289e-01 -9.60171859e-03 9.80732517e-01 1.44840503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.920371743 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:133.51, Y:112.98, Z:14.49 [[ 9.21710485e-02 -9.95003117e-01 -3.83835365e-02 1.33514752e+02] [ 9.76226410e-01 9.78919067e-02 -1.93388651e-01 1.12983949e+02] [ 1.96179748e-01 -1.96461873e-02 9.80371121e-01 1.44864456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.950371743 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:133.52, Y:113.01, Z:14.49 [[ 9.02239824e-02 -9.95285478e-01 -3.55872145e-02 1.33522588e+02] [ 9.76030136e-01 9.54714697e-02 -1.95577022e-01 1.13011932e+02] [ 1.98052534e-01 -1.70884560e-02 9.80042437e-01 1.44936263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.980371743 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:133.53, Y:113.04, Z:14.50 [[ 9.11264006e-02 -9.95143637e-01 -3.72172060e-02 1.33529078e+02] [ 9.76037492e-01 9.66677937e-02 -1.94951667e-01 1.13035738e+02] [ 1.97602617e-01 -1.85601447e-02 9.80106488e-01 1.44985385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.010371743 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:133.53, Y:113.06, Z:14.51 [[ 8.73755035e-02 -9.95468667e-01 -3.75187319e-02 1.33534632e+02] [ 9.75882382e-01 9.30981289e-02 -1.97449525e-01 1.13063555e+02] [ 2.00047739e-01 -1.93616178e-02 9.79594830e-01 1.45074853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.040371743 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:133.54, Y:113.09, Z:14.51 [[ 8.69091064e-02 -9.95406655e-01 -4.01546890e-02 1.33542611e+02] [ 9.75689640e-01 9.31893267e-02 -1.98356939e-01 1.13087753e+02] [ 2.01187805e-01 -2.19394898e-02 9.79306962e-01 1.45126214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.070371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:133.55, Y:113.11, Z:14.52 [[ 8.49867089e-02 -9.95703134e-01 -3.67767257e-02 1.33547191e+02] [ 9.75708820e-01 9.06464540e-02 -1.99438006e-01 1.13113542e+02] [ 2.01914727e-01 -1.89337959e-02 9.79220074e-01 1.45212835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.100371743 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:133.55, Y:113.14, Z:14.53 [[ 8.39617342e-02 -9.95962150e-01 -3.17777025e-02 1.33553908e+02] [ 9.75852613e-01 8.86362118e-02 -1.99637920e-01 1.13137737e+02] [ 2.01648467e-01 -1.42484080e-02 9.79354317e-01 1.45284870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130371743 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:133.56, Y:113.17, Z:14.53 [[ 8.27664079e-02 -9.96168001e-01 -2.82672198e-02 1.33559889e+02] [ 9.76217725e-01 8.67465955e-02 -1.98680603e-01 1.13167098e+02] [ 2.00371344e-01 -1.11508812e-02 9.79656563e-01 1.45348432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.160371743 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:133.57, Y:113.19, Z:14.54 [[ 8.06178471e-02 -9.95800368e-01 -4.33865243e-02 1.33568700e+02] [ 9.76110389e-01 8.76852269e-02 -1.98795900e-01 1.13192673e+02] [ 2.01765388e-01 -2.63235396e-02 9.79080078e-01 1.45373553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190371743 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:133.57, Y:113.22, Z:14.55 [[ 7.84812759e-02 -9.96345895e-01 -3.36978871e-02 1.33572853e+02] [ 9.75962331e-01 8.36816930e-02 -2.01233456e-01 1.13218852e+02] [ 2.03318024e-01 -1.70948101e-02 9.78963507e-01 1.45477978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.220371743 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:133.58, Y:113.25, Z:14.55 [[ 7.75147422e-02 -9.96577405e-01 -2.87217781e-02 1.33578809e+02] [ 9.76185304e-01 8.17203134e-02 -2.00957811e-01 1.13248191e+02] [ 2.02617166e-01 -1.24605848e-02 9.79178747e-01 1.45543388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250371743 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:133.58, Y:113.28, Z:14.56 [[ 7.91247846e-02 -9.96527256e-01 -2.59363917e-02 1.33584258e+02] [ 9.76383568e-01 8.27198142e-02 -1.99580964e-01 1.13275629e+02] [ 2.01033324e-01 -9.53206581e-03 9.79538025e-01 1.45589006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.280371743 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:133.59, Y:113.30, Z:14.56 [[ 7.73059639e-02 -9.96195394e-01 -4.02308947e-02 1.33592940e+02] [ 9.76279508e-01 8.38224318e-02 -1.99629963e-01 1.13303110e+02] [ 2.02242701e-01 -2.38440114e-02 9.79045123e-01 1.45614081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310371743 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:133.59, Y:113.33, Z:14.57 [[ 7.90143525e-02 -9.96488851e-01 -2.76893789e-02 1.33594438e+02] [ 9.76329764e-01 8.29660991e-02 -1.99741878e-01 1.13329895e+02] [ 2.01337834e-01 -1.12514897e-02 9.79457238e-01 1.45700969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.340371743 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:133.60, Y:113.36, Z:14.57 [[ 7.89070120e-02 -9.96336251e-01 -3.29811813e-02 1.33601543e+02] [ 9.76441660e-01 8.39121029e-02 -1.98797492e-01 1.13356709e+02] [ 2.00836668e-01 -1.65176833e-02 9.79485477e-01 1.45748247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370371743 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:133.61, Y:113.39, Z:14.58 [[ 7.84011300e-02 -9.96584366e-01 -2.59396342e-02 1.33606468e+02] [ 9.76707565e-01 8.19986004e-02 -1.98289087e-01 1.13385928e+02] [ 1.99738818e-01 -9.78934853e-03 9.79800272e-01 1.45818878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.400371743 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:133.61, Y:113.41, Z:14.58 [[ 7.66613232e-02 -9.96454148e-01 -3.46723549e-02 1.33613545e+02] [ 9.76634022e-01 8.20479772e-02 -1.98630606e-01 1.13413409e+02] [ 2.00771088e-01 -1.86349164e-02 9.79460928e-01 1.45848621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430371743 meters Centerline goodness : 0.989202 Centerline is valid? [True, True] Translation: X:133.62, Y:113.44, Z:14.59 [[ 7.59827566e-02 -9.96459216e-01 -3.59951528e-02 1.33618426e+02] [ 9.76652465e-01 8.16502263e-02 -1.98703810e-01 1.13439259e+02] [ 2.00939255e-01 -2.00566915e-02 9.79398359e-01 1.45903388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.460371743 meters Centerline goodness : 0.989116 Centerline is valid? [True, True] Translation: X:133.62, Y:113.46, Z:14.59 [[ 6.88609545e-02 -9.96268273e-01 -5.20355366e-02 1.33623699e+02] [ 9.76875171e-01 7.79199443e-02 -1.99106463e-01 1.13461434e+02] [ 2.02418058e-01 -3.71215626e-02 9.78595381e-01 1.45909912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490371743 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:133.62, Y:113.49, Z:14.61 [[ 7.02532397e-02 -9.97435810e-01 -1.36487087e-02 1.33621707e+02] [ 9.76423420e-01 7.15600669e-02 -2.03657706e-01 1.13491874e+02] [ 2.04112191e-01 9.80694749e-04 9.78947012e-01 1.46125356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.520371743 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:133.63, Y:113.52, Z:14.61 [[ 6.67276528e-02 -9.96925588e-01 -4.10705854e-02 1.33634392e+02] [ 9.76622749e-01 7.36879154e-02 -2.01935875e-01 1.13518181e+02] [ 2.04341447e-01 -2.66357610e-02 9.78537229e-01 1.46093914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550371743 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:133.64, Y:113.55, Z:14.62 [[ 6.50752019e-02 -9.97360479e-01 -3.22070342e-02 1.33636873e+02] [ 9.76525294e-01 7.02908300e-02 -2.03611272e-01 1.13545329e+02] [ 2.05337694e-01 -1.82009389e-02 9.78521925e-01 1.46190436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.580371743 meters Centerline goodness : 0.987742 Centerline is valid? [True, True] Translation: X:133.64, Y:113.57, Z:14.62 [[ 6.29566889e-02 -9.97214674e-01 -3.99918710e-02 1.33643583e+02] [ 9.76470219e-01 6.98295191e-02 -2.04033696e-01 1.13571414e+02] [ 2.06258009e-01 -2.62055851e-02 9.78146666e-01 1.46237301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61037174300003 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:133.65, Y:113.60, Z:14.63 [[ 6.24164739e-02 -9.97624609e-01 -2.91431686e-02 1.33645244e+02] [ 9.76258173e-01 6.70961975e-02 -2.05956502e-01 1.13597209e+02] [ 2.07422671e-01 -1.55961779e-02 9.78127085e-01 1.46332639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.640371743 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:133.65, Y:113.63, Z:14.64 [[ 6.13622466e-02 -9.97525018e-01 -3.43294941e-02 1.33650503e+02] [ 9.76373814e-01 6.71297974e-02 -2.05396604e-01 1.13626392e+02] [ 2.07192783e-01 -2.09148220e-02 9.78076541e-01 1.46376496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.670371743 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:133.65, Y:113.65, Z:14.64 [[ 6.06242915e-02 -9.97614984e-01 -3.30005810e-02 1.33653437e+02] [ 9.76367042e-01 6.61391685e-02 -2.05749873e-01 1.13653677e+02] [ 2.07441787e-01 -1.97472394e-02 9.78048031e-01 1.46443357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.700371743 meters Centerline goodness : 0.989139 Centerline is valid? [True, True] Translation: X:133.66, Y:113.68, Z:14.65 [[ 6.08406757e-02 -9.97592975e-01 -3.32666309e-02 1.33657332e+02] [ 9.76214647e-01 6.64190602e-02 -2.06381857e-01 1.13678814e+02] [ 2.08094629e-01 -1.99189608e-02 9.77905855e-01 1.46514224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.730371743 meters Centerline goodness : 0.988303 Centerline is valid? [True, True] Translation: X:133.66, Y:113.71, Z:14.66 [[ 6.15143361e-02 -9.97658525e-01 -2.98907004e-02 1.33660874e+02] [ 9.76301535e-01 6.63690249e-02 -2.05986568e-01 1.13706977e+02] [ 2.07488072e-01 -1.65112097e-02 9.78098195e-01 1.46583770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.760371743 meters Centerline goodness : 0.988782 Centerline is valid? [True, True] Translation: X:133.67, Y:113.74, Z:14.66 [[ 6.12452695e-02 -9.97533342e-01 -3.42964819e-02 1.33665349e+02] [ 9.76280996e-01 6.70186432e-02 -2.05873548e-01 1.13735250e+02] [ 2.07664232e-01 -2.08742225e-02 9.77977420e-01 1.46631302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.790371743 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:133.67, Y:113.76, Z:14.67 [[ 6.38700183e-02 -9.97314531e-01 -3.58377815e-02 1.33669181e+02] [ 9.76063957e-01 6.99094420e-02 -2.05941308e-01 1.13762650e+02] [ 2.07893658e-01 -2.18264917e-02 9.77907885e-01 1.46686892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.820371743 meters Centerline goodness : 0.988324 Centerline is valid? [True, True] Translation: X:133.67, Y:113.79, Z:14.68 [[ 6.43998121e-02 -9.97269035e-01 -3.61543444e-02 1.33672371e+02] [ 9.75930734e-01 7.05034606e-02 -2.06369729e-01 1.13788958e+02] [ 2.08355146e-01 -2.19939641e-02 9.77805910e-01 1.46767055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.850371743 meters Centerline goodness : 0.988712 Centerline is valid? [True, True] Translation: X:133.67, Y:113.82, Z:14.69 [[ 6.86828940e-02 -9.97273362e-01 -2.69907842e-02 1.33672726e+02] [ 9.75833502e-01 7.27826485e-02 -2.06038012e-01 1.13817663e+02] [ 2.07440681e-01 -1.21872246e-02 9.78171680e-01 1.46852943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880371743 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:133.68, Y:113.84, Z:14.69 [[ 7.26331886e-02 -9.97138550e-01 -2.09554751e-02 1.33675617e+02] [ 9.75949260e-01 7.53884143e-02 -2.04547378e-01 1.13843649e+02] [ 2.05541876e-01 -5.59455208e-03 9.78632330e-01 1.46901484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.910371743 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:133.68, Y:113.87, Z:14.69 [[ 7.23192424e-02 -9.97036406e-01 -2.62360746e-02 1.33679163e+02] [ 9.76318482e-01 7.61449459e-02 -2.02494860e-01 1.13874836e+02] [ 2.03892492e-01 -1.09704897e-02 9.78931816e-01 1.46927272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940371743 meters Centerline goodness : 0.989111 Centerline is valid? [True, True] Translation: X:133.69, Y:113.89, Z:14.69 [[ 7.65738125e-02 -9.95871142e-01 -4.87557245e-02 1.33687284e+02] [ 9.75314423e-01 8.49716522e-02 -2.03817554e-01 1.13893873e+02] [ 2.07118875e-01 -3.19450741e-02 9.77794091e-01 1.46919620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.970371743 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:133.69, Y:113.92, Z:14.70 [[ 7.57331240e-02 -9.96387475e-01 -3.84251638e-02 1.33686898e+02] [ 9.75201399e-01 8.20496801e-02 -2.05548247e-01 1.13918972e+02] [ 2.07958472e-01 -2.19054625e-02 9.77892338e-01 1.47034374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000371743 meters Centerline goodness : 0.988350 Centerline is valid? [True, True] Translation: X:133.69, Y:113.95, Z:14.72 [[ 7.85110948e-02 -9.96604139e-01 -2.48233469e-02 1.33686132e+02] [ 9.75167076e-01 8.19471663e-02 -2.05751881e-01 1.13947850e+02] [ 2.07087379e-01 -8.05310517e-03 9.78289305e-01 1.47151639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.030371743 meters Centerline goodness : 0.988403 Centerline is valid? [True, True] Translation: X:133.69, Y:113.97, Z:14.72 [[ 7.90291625e-02 -9.96408763e-01 -3.03968421e-02 1.33690054e+02] [ 9.74875031e-01 8.36196386e-02 -2.06461690e-01 1.13972956e+02] [ 2.08262010e-01 -1.33166280e-02 9.77982414e-01 1.47195342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060371743 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:133.69, Y:114.00, Z:14.73 [[ 8.03389109e-02 -9.96406310e-01 -2.68351250e-02 1.33693545e+02] [ 9.74548073e-01 8.41723284e-02 -2.07776499e-01 1.13999473e+02] [ 2.09288589e-01 -9.45958176e-03 9.77808163e-01 1.47278359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.090371743 meters Centerline goodness : 0.984358 Centerline is valid? [True, True] Translation: X:133.69, Y:114.02, Z:14.73 [[ 7.23952635e-02 -9.97116515e-01 -2.27504280e-02 1.33685500e+02] [ 9.75262284e-01 7.55483872e-02 -2.07740027e-01 1.14018564e+02] [ 2.08859770e-01 -7.14824037e-03 9.77919475e-01 1.47279401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120371743 meters Centerline goodness : 0.983679 Centerline is valid? [True, True] Translation: X:133.69, Y:114.05, Z:14.73 [[ 7.30232243e-02 -9.97103323e-01 -2.12737601e-02 1.33690602e+02] [ 9.75279780e-01 7.58530961e-02 -2.07546764e-01 1.14046281e+02] [ 2.08559248e-01 -5.59213418e-03 9.77993746e-01 1.47326927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.150371743 meters Centerline goodness : 0.988319 Centerline is valid? [True, True] Translation: X:133.71, Y:114.08, Z:14.74 [[ 7.88568049e-02 -9.96637873e-01 -2.22385949e-02 1.33707230e+02] [ 9.74400255e-01 8.17702741e-02 -2.09422456e-01 1.14079342e+02] [ 2.10536807e-01 -5.15490683e-03 9.77572340e-01 1.47411683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180371743 meters Centerline goodness : 0.983495 Centerline is valid? [True, True] Translation: X:133.70, Y:114.10, Z:14.74 [[ 6.91025471e-02 -9.97402899e-01 -2.03050735e-02 1.33699942e+02] [ 9.75392396e-01 7.18212178e-02 -2.08449963e-01 1.14099607e+02] [ 2.09366932e-01 -5.40099089e-03 9.77822232e-01 1.47439513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.210371743 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:133.72, Y:114.13, Z:14.75 [[ 7.43788562e-02 -9.96699510e-01 -3.25249624e-02 1.33717376e+02] [ 9.74679246e-01 7.95550651e-02 -2.08976933e-01 1.14132169e+02] [ 2.10874732e-01 -1.61579406e-02 9.77379542e-01 1.47501933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240371743 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:133.70, Y:114.15, Z:14.77 [[ 5.60840168e-02 -9.98164841e-01 -2.28371036e-02 1.33704158e+02] [ 9.72288692e-01 5.98009138e-02 -2.26005644e-01 1.14153182e+02] [ 2.26956567e-01 -9.52895325e-03 9.73858263e-01 1.47679547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.270371743 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:133.71, Y:114.18, Z:14.76 [[ 6.00831768e-02 -9.97972404e-01 -2.10022269e-02 1.33714417e+02] [ 9.76600565e-01 6.31230781e-02 -2.05588944e-01 1.14179903e+02] [ 2.06497818e-01 -8.15834980e-03 9.78413048e-01 1.47620658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300371743 meters Centerline goodness : 0.988606 Centerline is valid? [True, True] Translation: X:133.73, Y:114.21, Z:14.77 [[ 5.81334284e-02 -9.97892762e-01 -2.88190761e-02 1.33727300e+02] [ 9.76743415e-01 6.28217853e-02 -2.05001768e-01 1.14211298e+02] [ 2.06380246e-01 -1.62313872e-02 9.78337230e-01 1.47682162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.330371743 meters Centerline goodness : 0.988266 Centerline is valid? [True, True] Translation: X:133.72, Y:114.23, Z:14.77 [[ 4.91359887e-02 -9.98325799e-01 -3.05164510e-02 1.33724554e+02] [ 9.77720634e-01 5.43197362e-02 -2.02760275e-01 1.14234537e+02] [ 2.04078459e-01 -1.98737372e-02 9.78752787e-01 1.47707154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36037174300003 meters Centerline goodness : 0.987884 Centerline is valid? [True, True] Translation: X:133.73, Y:114.26, Z:14.78 [[ 4.79100108e-02 -9.98520836e-01 -2.57054520e-02 1.33734352e+02] [ 9.77560420e-01 5.21584575e-02 -2.04095863e-01 1.14264482e+02] [ 2.05134728e-01 -1.53503975e-02 9.78613360e-01 1.47819635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.390371743 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:133.74, Y:114.29, Z:14.79 [[ 4.45337581e-02 -9.98580529e-01 -2.92176546e-02 1.33738851e+02] [ 9.77800517e-01 4.95639571e-02 -2.03591659e-01 1.14293228e+02] [ 2.04750809e-01 -1.95023360e-02 9.78619827e-01 1.47851968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.420371743 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:133.74, Y:114.32, Z:14.79 [[ 4.18007210e-02 -9.98711114e-01 -2.87890593e-02 1.33742485e+02] [ 9.77779171e-01 4.68150691e-02 -2.04343442e-01 1.14319140e+02] [ 2.05427828e-01 -1.96076393e-02 9.78475829e-01 1.47920516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.450371743 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:133.75, Y:114.34, Z:14.80 [[ 3.69477887e-02 -9.98895435e-01 -2.90305012e-02 1.33747326e+02] [ 9.77699065e-01 4.21430720e-02 -2.05738914e-01 1.14344885e+02] [ 2.06735096e-01 -2.07814959e-02 9.78176226e-01 1.47977566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.480371743 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:133.75, Y:114.37, Z:14.80 [[ 3.56742908e-02 -9.98938543e-01 -2.91398869e-02 1.33750498e+02] [ 9.77536120e-01 4.09411350e-02 -2.06753373e-01 1.14368942e+02] [ 2.07726933e-01 -2.11095120e-02 9.77959053e-01 1.48035371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.510371743 meters Centerline goodness : 0.988908 Centerline is valid? [True, True] Translation: X:133.76, Y:114.40, Z:14.81 [[ 3.24698789e-02 -9.99161678e-01 -2.49328596e-02 1.33755147e+02] [ 9.78013845e-01 3.69043633e-02 -2.05248598e-01 1.14399557e+02] [ 2.05996665e-01 -1.77202848e-02 9.78392235e-01 1.48101092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.540371743 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:133.76, Y:114.43, Z:14.81 [[ 3.20211130e-02 -9.99090121e-01 -2.81705347e-02 1.33759663e+02] [ 9.78183341e-01 3.71143817e-02 -2.04401260e-01 1.14426527e+02] [ 2.05260811e-01 -2.10107918e-02 9.78481756e-01 1.48131015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.570371743 meters Centerline goodness : 0.989389 Centerline is valid? [True, True] Translation: X:133.76, Y:114.46, Z:14.82 [[ 3.12969341e-02 -9.99012617e-01 -3.15324090e-02 1.33764816e+02] [ 9.78177574e-01 3.70968226e-02 -2.04432041e-01 1.14455600e+02] [ 2.05399941e-01 -2.44461992e-02 9.78372755e-01 1.48177930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.600371743 meters Centerline goodness : 0.988141 Centerline is valid? [True, True] Translation: X:133.77, Y:114.48, Z:14.83 [[ 3.20991438e-02 -9.99248199e-01 -2.17412425e-02 1.33765741e+02] [ 9.78318366e-01 3.58648729e-02 -2.03977659e-01 1.14481172e+02] [ 2.04604055e-01 -1.47223486e-02 9.78734097e-01 1.48256202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630371743 meters Centerline goodness : 0.987811 Centerline is valid? [True, True] Translation: X:133.77, Y:114.51, Z:14.83 [[ 3.21599391e-02 -9.98998182e-01 -3.11186643e-02 1.33771263e+02] [ 9.78299166e-01 3.78392221e-02 -2.03712874e-01 1.14508075e+02] [ 2.04686297e-01 -2.38919697e-02 9.78535995e-01 1.48285189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.660371743 meters Centerline goodness : 0.989148 Centerline is valid? [True, True] Translation: X:133.77, Y:114.54, Z:14.83 [[ 3.19412777e-02 -9.99057557e-01 -2.93896570e-02 1.33774142e+02] [ 9.78221973e-01 3.72817464e-02 -2.04185804e-01 1.14537132e+02] [ 2.05089068e-01 -2.22276528e-02 9.78490882e-01 1.48349736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690371743 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:133.78, Y:114.56, Z:14.84 [[ 3.13765081e-02 -9.99089459e-01 -2.89096451e-02 1.33777501e+02] [ 9.78269031e-01 3.66278592e-02 -2.04078669e-01 1.14563527e+02] [ 2.04951745e-01 -2.18781344e-02 9.78527531e-01 1.48413736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.720371743 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:133.78, Y:114.59, Z:14.85 [[ 3.15516998e-02 -9.99117497e-01 -2.77257645e-02 1.33780813e+02] [ 9.78482363e-01 3.65352962e-02 -2.03070033e-01 1.14590251e+02] [ 2.03903792e-01 -2.07219669e-02 9.78771599e-01 1.48483908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750371743 meters Centerline goodness : 0.988543 Centerline is valid? [True, True] Translation: X:133.78, Y:114.62, Z:14.85 [[ 3.12289317e-02 -9.99031079e-01 -3.10106100e-02 1.33784437e+02] [ 9.78267783e-01 3.69132187e-02 -2.04033228e-01 1.14615978e+02] [ 2.04980238e-01 -2.39649410e-02 9.78472679e-01 1.48532579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.780371743 meters Centerline goodness : 0.987917 Centerline is valid? [True, True] Translation: X:133.79, Y:114.64, Z:14.86 [[ 3.06466234e-02 -9.99190147e-01 -2.60736459e-02 1.33786402e+02] [ 9.78115908e-01 3.53506048e-02 -2.05035617e-01 1.14644135e+02] [ 2.05791288e-01 -1.92193985e-02 9.78407155e-01 1.48608204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810371743 meters Centerline goodness : 0.987877 Centerline is valid? [True, True] Translation: X:133.79, Y:114.67, Z:14.87 [[ 2.85308194e-02 -9.99121262e-01 -3.07033553e-02 1.33790098e+02] [ 9.77780151e-01 3.42768022e-02 -2.06811696e-01 1.14669526e+02] [ 2.07682375e-01 -2.41206242e-02 9.77898884e-01 1.48664778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.840371743 meters Centerline goodness : 0.987055 Centerline is valid? [True, True] Translation: X:133.79, Y:114.70, Z:14.87 [[ 2.73932956e-02 -9.99307649e-01 -2.51759932e-02 1.33791411e+02] [ 9.77510712e-01 3.20470249e-02 -2.08436553e-01 1.14695747e+02] [ 2.09099057e-01 -1.89000389e-02 9.77711805e-01 1.48732736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870371743 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:133.80, Y:114.72, Z:14.88 [[ 2.36961674e-02 -9.99210505e-01 -3.18882198e-02 1.33797182e+02] [ 9.77405610e-01 2.98570455e-02 -2.09253028e-01 1.14722172e+02] [ 2.10039912e-01 -2.62092301e-02 9.77341451e-01 1.48776450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.900371743 meters Centerline goodness : 0.987498 Centerline is valid? [True, True] Translation: X:133.80, Y:114.75, Z:14.89 [[ 2.16978385e-02 -9.99447201e-01 -2.51891985e-02 1.33798523e+02] [ 9.76858510e-01 2.65563400e-02 -2.12231507e-01 1.14749067e+02] [ 2.12783119e-01 -2.00013179e-02 9.76894719e-01 1.48855269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930371743 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:133.80, Y:114.78, Z:14.89 [[ 1.91762510e-02 -9.99585600e-01 -2.14685688e-02 1.33801384e+02] [ 9.77851545e-01 2.32267624e-02 -2.08006906e-01 1.14777906e+02] [ 2.08419353e-01 -1.70042805e-02 9.77891726e-01 1.48913633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.960371743 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:133.81, Y:114.80, Z:14.89 [[ 1.73414243e-02 -9.99279469e-01 -3.37611814e-02 1.33807211e+02] [ 9.77847123e-01 2.39948678e-02 -2.07940499e-01 1.14804662e+02] [ 2.08600766e-01 -2.94072897e-02 9.77558659e-01 1.48946119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990371743 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:133.81, Y:114.83, Z:14.90 [[ 1.73867980e-02 -9.99544520e-01 -2.46668191e-02 1.33807360e+02] [ 9.77847305e-01 2.21459875e-02 -2.08144668e-01 1.14830856e+02] [ 2.08596133e-01 -2.05014133e-02 9.77786963e-01 1.49030342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.020371743 meters Centerline goodness : 0.987629 Centerline is valid? [True, True] Translation: X:133.81, Y:114.86, Z:14.91 [[ 1.78095188e-02 -9.99481525e-01 -2.68235360e-02 1.33810775e+02] [ 9.78051831e-01 2.29854370e-02 -2.07090043e-01 1.14856037e+02] [ 2.07599223e-01 -2.25466345e-02 9.77954095e-01 1.49082366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050371743 meters Centerline goodness : 0.988810 Centerline is valid? [True, True] Translation: X:133.81, Y:114.89, Z:14.91 [[ 1.72598459e-02 -9.99577486e-01 -2.33869133e-02 1.33813612e+02] [ 9.78354846e-01 2.17082769e-02 -2.05792481e-01 1.14885483e+02] [ 2.06213221e-01 -1.93287534e-02 9.78316159e-01 1.49149643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.080371743 meters Centerline goodness : 0.988460 Centerline is valid? [True, True] Translation: X:133.82, Y:114.91, Z:14.92 [[ 1.78115654e-02 -9.99399376e-01 -2.97260212e-02 1.33818328e+02] [ 9.78419656e-01 2.35435422e-02 -2.05281951e-01 1.14911724e+02] [ 2.05858509e-01 -2.54281305e-02 9.78251340e-01 1.49196495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11037174300003 meters Centerline goodness : 0.988673 Centerline is valid? [True, True] Translation: X:133.82, Y:114.94, Z:14.93 [[ 1.68291349e-02 -9.99305726e-01 -3.32392212e-02 1.33821972e+02] [ 9.78300737e-01 2.33232063e-02 -2.05873010e-01 1.14937535e+02] [ 2.06505323e-01 -2.90532899e-02 9.78014038e-01 1.49264953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.140371743 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:133.82, Y:114.96, Z:14.94 [[ 1.64808478e-02 -9.99611426e-01 -2.24806406e-02 1.33822519e+02] [ 9.78284458e-01 2.07670695e-02 -2.06223779e-01 1.14963406e+02] [ 2.06610503e-01 -1.85937186e-02 9.78246581e-01 1.49367175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.170371743 meters Centerline goodness : 0.987682 Centerline is valid? [True, True] Translation: X:133.83, Y:114.99, Z:14.94 [[ 1.45176290e-02 -9.99637271e-01 -2.26840154e-02 1.33827130e+02] [ 9.78404257e-01 1.88801558e-02 -2.05836462e-01 1.14991040e+02] [ 2.06190077e-01 -1.92058799e-02 9.78323457e-01 1.49420791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.200371743 meters Centerline goodness : 0.988276 Centerline is valid? [True, True] Translation: X:133.83, Y:115.02, Z:14.94 [[ 1.32293580e-02 -9.99491907e-01 -2.89984723e-02 1.33833747e+02] [ 9.78021977e-01 1.89694004e-02 -2.07637121e-01 1.15017970e+02] [ 2.08081705e-01 -2.56142374e-02 9.77776004e-01 1.49447556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.230371743 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:133.84, Y:115.05, Z:14.95 [[ 1.10421587e-02 -9.99692593e-01 -2.21988862e-02 1.33835951e+02] [ 9.78215027e-01 1.54019998e-02 -2.07022073e-01 1.15045156e+02] [ 2.07300340e-01 -1.94293135e-02 9.78084388e-01 1.49527334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.260371743 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:133.84, Y:115.07, Z:14.96 [[ 8.58180353e-03 -9.99289701e-01 -3.66939423e-02 1.33841697e+02] [ 9.77415803e-01 1.61311791e-02 -2.10708644e-01 1.15070275e+02] [ 2.11150894e-01 -3.40569789e-02 9.76859981e-01 1.49556463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.290371743 meters Centerline goodness : 0.988505 Centerline is valid? [True, True] Translation: X:133.83, Y:115.09, Z:14.97 [[-8.86272722e-04 -9.99945087e-01 -1.04421356e-02 1.33830405e+02] [ 9.77680560e-01 1.32739821e-03 -2.10092745e-01 1.15090337e+02] [ 2.10095069e-01 -1.03952724e-02 9.77625695e-01 1.49668026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.320371743 meters Centerline goodness : 0.988139 Centerline is valid? [True, True] Translation: X:133.84, Y:115.12, Z:14.97 [[ 3.19948871e-04 -9.99631959e-01 -2.71264390e-02 1.33842486e+02] [ 9.77531443e-01 6.03061167e-03 -2.10703369e-01 1.15119696e+02] [ 2.10789410e-01 -2.64495328e-02 9.77173601e-01 1.49676793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.350371743 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:133.84, Y:115.15, Z:14.99 [[-8.04369610e-03 -9.99903105e-01 -1.13613227e-02 1.33836496e+02] [ 9.72605153e-01 -5.18340785e-03 -2.32405570e-01 1.15146000e+02] [ 2.32324160e-01 -1.29194807e-02 9.72552606e-01 1.49895539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380371743 meters Centerline goodness : 0.986944 Centerline is valid? [True, True] Translation: X:133.85, Y:115.17, Z:14.98 [[-2.71690155e-03 -9.99587147e-01 -2.86033782e-02 1.33849544e+02] [ 9.77472679e-01 3.38201000e-03 -2.11034890e-01 1.15172158e+02] [ 2.11044500e-01 -2.85323817e-02 9.77059938e-01 1.49785022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.410371743 meters Centerline goodness : 0.986839 Centerline is valid? [True, True] Translation: X:133.85, Y:115.20, Z:14.99 [[-4.23586353e-03 -9.99923093e-01 -1.16561527e-02 1.33845508e+02] [ 9.76972950e-01 -1.65153156e-03 -2.13356809e-01 1.15195908e+02] [ 2.13321150e-01 -1.22914962e-02 9.76904809e-01 1.49893772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440371743 meters Centerline goodness : 0.985431 Centerline is valid? [True, True] Translation: X:133.86, Y:115.23, Z:15.00 [[ 1.61225101e-03 -9.99829143e-01 -1.84142479e-02 1.33858939e+02] [ 9.77011486e-01 5.50049288e-03 -2.13115700e-01 1.15228013e+02] [ 2.13180576e-01 -1.76473356e-02 9.76853425e-01 1.49963271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.470371743 meters Centerline goodness : 0.987052 Centerline is valid? [True, True] Translation: X:133.86, Y:115.25, Z:15.00 [[ 1.35472893e-03 -9.99776273e-01 -2.11084755e-02 1.33860100e+02] [ 9.77142342e-01 5.81075459e-03 -2.12506657e-01 1.15251161e+02] [ 2.12581770e-01 -2.03380962e-02 9.76931601e-01 1.49998405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500371743 meters Centerline goodness : 0.986330 Centerline is valid? [True, True] Translation: X:133.87, Y:115.28, Z:15.00 [[ 3.91077042e-03 -9.99233815e-01 -3.89421208e-02 1.33872015e+02] [ 9.77655854e-01 1.20053211e-02 -2.09868776e-01 1.15279974e+02] [ 2.10175490e-01 -3.72512437e-02 9.76953739e-01 1.50014873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.530371743 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:133.87, Y:115.31, Z:15.01 [[ 5.49124135e-03 -9.99576870e-01 -2.85644430e-02 1.33873963e+02] [ 9.77625908e-01 1.13729654e-02 -2.10043422e-01 1.15309897e+02] [ 2.10279408e-01 -2.67719404e-02 9.77274697e-01 1.50102334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560371743 meters Centerline goodness : 0.986897 Centerline is valid? [True, True] Translation: X:133.87, Y:115.33, Z:15.02 [[ 5.43738172e-03 -9.99911681e-01 -1.21270499e-02 1.33871353e+02] [ 9.77847428e-01 7.85425666e-03 -2.09171503e-01 1.15331883e+02] [ 2.09248278e-01 -1.07210592e-02 9.77803772e-01 1.50210180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.590371743 meters Centerline goodness : 0.986897 Centerline is valid? [True, True] Translation: X:133.88, Y:115.36, Z:15.02 [[ 5.35674709e-03 -9.99797765e-01 -1.93838498e-02 1.33876152e+02] [ 9.78045976e-01 9.27640222e-03 -2.08182653e-01 1.15358924e+02] [ 2.08320363e-01 -1.78431145e-02 9.77897873e-01 1.50238288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620371743 meters Centerline goodness : 0.986330 Centerline is valid? [True, True] Translation: X:133.88, Y:115.39, Z:15.03 [[ 6.60440151e-03 -9.99813838e-01 -1.81293181e-02 1.33881426e+02] [ 9.78696234e-01 1.01832134e-02 -2.05060927e-01 1.15388018e+02] [ 2.05207367e-01 -1.63887906e-02 9.78581291e-01 1.50300251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.650371743 meters Centerline goodness : 0.985792 Centerline is valid? [True, True] Translation: X:133.89, Y:115.42, Z:15.04 [[ 1.11943747e-02 -9.99686344e-01 -2.24030987e-02 1.33891985e+02] [ 9.78399183e-01 1.55755588e-02 -2.06136948e-01 1.15417967e+02] [ 2.06421233e-01 -1.96115992e-02 9.78266661e-01 1.50352133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680371743 meters Centerline goodness : 0.985499 Centerline is valid? [True, True] Translation: X:133.89, Y:115.44, Z:15.04 [[ 5.47117404e-03 -9.99769466e-01 -2.07624869e-02 1.33888309e+02] [ 9.78727040e-01 9.61209560e-03 -2.04941428e-01 1.15437676e+02] [ 2.05093754e-01 -1.91995371e-02 9.78554000e-01 1.50393778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.710371743 meters Centerline goodness : 0.985844 Centerline is valid? [True, True] Translation: X:133.90, Y:115.47, Z:15.04 [[ 7.65998690e-03 -9.99356711e-01 -3.50355287e-02 1.33900490e+02] [ 9.78614659e-01 1.46940983e-02 -2.05176588e-01 1.15467773e+02] [ 2.05559416e-01 -3.27146320e-02 9.78097684e-01 1.50411534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740371743 meters Centerline goodness : 0.985837 Centerline is valid? [True, True] Translation: X:133.90, Y:115.49, Z:15.05 [[ 6.64681096e-03 -9.99688298e-01 -2.40650354e-02 1.33900944e+02] [ 9.78044189e-01 1.15119015e-02 -2.08079409e-01 1.15492707e+02] [ 2.08291585e-01 -2.21536036e-02 9.77815849e-01 1.50500777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.770371743 meters Centerline goodness : 0.985841 Centerline is valid? [True, True] Translation: X:133.90, Y:115.52, Z:15.06 [[ 6.23288818e-03 -9.99776028e-01 -2.02248408e-02 1.33904277e+02] [ 9.78030620e-01 1.03092020e-02 -2.08206214e-01 1.15520855e+02] [ 2.08368084e-01 -1.84827876e-02 9.77875825e-01 1.50564004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800371743 meters Centerline goodness : 0.986296 Centerline is valid? [True, True] Translation: X:133.90, Y:115.55, Z:15.07 [[ 7.51429574e-03 -9.99965739e-01 -3.47216317e-03 1.33904391e+02] [ 9.78141217e-01 8.07178235e-03 -2.07784998e-01 1.15547607e+02] [ 2.07805906e-01 -1.83490798e-03 9.78168359e-01 1.50674907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.830371743 meters Centerline goodness : 0.984595 Centerline is valid? [True, True] Translation: X:133.92, Y:115.57, Z:15.06 [[ 6.68732784e-03 -9.99507148e-01 -3.06715045e-02 1.33915790e+02] [ 9.77948788e-01 1.29395204e-02 -2.08443606e-01 1.15573492e+02] [ 2.08737748e-01 -2.86012299e-02 9.77553335e-01 1.50642721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86037174300003 meters Centerline goodness : 0.984077 Centerline is valid? [True, True] Translation: X:133.92, Y:115.61, Z:15.08 [[ 1.29706464e-02 -9.99868421e-01 -9.74180031e-03 1.33920658e+02] [ 9.77738052e-01 1.47229081e-02 -2.09312059e-01 1.15605852e+02] [ 2.09427946e-01 -6.81001614e-03 9.77800368e-01 1.50792953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.890371743 meters Centerline goodness : 0.985478 Centerline is valid? [True, True] Translation: X:133.92, Y:115.63, Z:15.08 [[ 4.17459432e-03 -9.99830574e-01 -1.79275431e-02 1.33915658e+02] [ 9.78421961e-01 7.78733238e-03 -2.06469912e-01 1.15625558e+02] [ 2.06574539e-01 -1.66787737e-02 9.78288699e-01 1.50774045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.920371743 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:133.91, Y:115.65, Z:15.10 [[-3.13873086e-03 -9.99934153e-01 -1.10380530e-02 1.33913883e+02] [ 9.73592149e-01 -5.35960417e-04 -2.28293758e-01 1.15653498e+02] [ 2.28272809e-01 -1.14631144e-02 9.73529723e-01 1.50951408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.950371743 meters Centerline goodness : 0.984658 Centerline is valid? [True, True] Translation: X:133.93, Y:115.68, Z:15.08 [[ 2.73842469e-03 -9.99474329e-01 -3.23042689e-02 1.33928981e+02] [ 9.78819091e-01 9.29205075e-03 -2.04516123e-01 1.15680542e+02] [ 2.04708788e-01 -3.10599831e-02 9.78330000e-01 1.50843537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.980371743 meters Centerline goodness : 0.989153 Centerline is valid? [True, True] Translation: X:133.92, Y:115.71, Z:15.11 [[-8.17902847e-03 -9.99927807e-01 -8.80253540e-03 1.33920966e+02] [ 9.73728111e-01 -5.96080853e-03 -2.27635749e-01 1.15706064e+02] [ 2.27566845e-01 -1.04331154e-02 9.73706568e-01 1.51071040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.010371743 meters Centerline goodness : 0.979570 Centerline is valid? [True, True] Translation: X:133.92, Y:115.72, Z:15.10 [[-6.91973933e-03 -9.99974409e-01 -1.81639804e-03 1.33922410e+02] [ 9.79555902e-01 -6.41321265e-03 -2.01069903e-01 1.15724597e+02] [ 2.01053108e-01 -3.17061473e-03 9.79575211e-01 1.50970525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.040371743 meters Centerline goodness : 0.979835 Centerline is valid? [True, True] Translation: X:133.93, Y:115.75, Z:15.11 [[-9.79350230e-03 -9.99947478e-01 -3.02141820e-03 1.33927624e+02] [ 9.78919558e-01 -8.97100457e-03 -2.04049063e-01 1.15750486e+02] [ 2.04011241e-01 -4.95608033e-03 9.78956001e-01 1.51057091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.070371743 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:133.94, Y:115.78, Z:15.12 [[-1.49682211e-02 -9.99219430e-01 -3.65579302e-02 1.33940494e+02] [ 9.74229287e-01 -6.34468937e-03 -2.25470709e-01 1.15784967e+02] [ 2.25062765e-01 -3.89907018e-02 9.73563802e-01 1.51150784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.100371743 meters Centerline goodness : 0.980521 Centerline is valid? [True, True] Translation: X:133.93, Y:115.80, Z:15.12 [[-1.33307686e-02 -9.99906841e-01 -2.93244542e-03 1.33934392e+02] [ 9.79066143e-01 -1.24571068e-02 -2.03160793e-01 1.15802102e+02] [ 2.03105337e-01 -5.57934756e-03 9.79140998e-01 1.51151516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130371743 meters Centerline goodness : 0.981928 Centerline is valid? [True, True] Translation: X:133.95, Y:115.84, Z:15.12 [[-8.96486097e-03 -9.99576068e-01 -2.77004627e-02 1.33952582e+02] [ 9.79088497e-01 -3.14416027e-03 -2.03410497e-01 1.15839237e+02] [ 2.03237170e-01 -2.89447512e-02 9.78701617e-01 1.51184846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.160371743 meters Centerline goodness : 0.982404 Centerline is valid? [True, True] Translation: X:133.96, Y:115.87, Z:15.13 [[-1.03480265e-02 -9.99561513e-01 -2.77434710e-02 1.33955794e+02] [ 9.78993754e-01 -4.47735766e-03 -2.03841073e-01 1.15865860e+02] [ 2.03627474e-01 -2.92700377e-02 9.78610810e-01 1.51258039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190371743 meters Centerline goodness : 0.982010 Centerline is valid? [True, True] Translation: X:133.95, Y:115.89, Z:15.13 [[-1.70888509e-02 -9.99684733e-01 -1.83957924e-02 1.33948061e+02] [ 9.78783909e-01 -1.29687283e-02 -2.04484405e-01 1.15887446e+02] [ 2.04181368e-01 -2.14999091e-02 9.78696952e-01 1.51343965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.220371743 meters Centerline goodness : 0.989718 Centerline is valid? [True, True] Translation: X:133.94, Y:115.91, Z:15.15 [[-2.31579573e-02 -9.99526934e-01 -2.02390033e-02 1.33944254e+02] [ 9.73659239e-01 -1.79561292e-02 -2.27299944e-01 1.15912146e+02] [ 2.26829002e-01 -2.49696949e-02 9.73614461e-01 1.51488350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250371743 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:133.95, Y:115.94, Z:15.15 [[-2.25375052e-02 -9.99542818e-01 -2.01547910e-02 1.33947292e+02] [ 9.73665951e-01 -1.73704222e-02 -2.27316705e-01 1.15939651e+02] [ 2.26862682e-01 -2.47471851e-02 9.73612295e-01 1.51544532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.280371743 meters Centerline goodness : 0.980381 Centerline is valid? [True, True] Translation: X:133.96, Y:115.97, Z:15.16 [[-1.28222676e-02 -9.99750786e-01 -1.82744736e-02 1.33959100e+02] [ 9.78356439e-01 -8.76885294e-03 -2.06740864e-01 1.15967171e+02] [ 2.06529095e-01 -2.05298356e-02 9.78225055e-01 1.51553004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310371743 meters Centerline goodness : 0.982064 Centerline is valid? [True, True] Translation: X:133.96, Y:115.99, Z:15.16 [[-1.32418530e-02 -9.99742554e-01 -1.84249427e-02 1.33961697e+02] [ 9.77880399e-01 -9.10109149e-03 -2.08966733e-01 1.15993140e+02] [ 2.08745248e-01 -2.07844971e-02 9.77749163e-01 1.51623299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.340371743 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:133.96, Y:116.02, Z:15.17 [[-1.94962575e-02 -9.99611031e-01 -1.99419811e-02 1.33957095e+02] [ 9.73813765e-01 -1.44667856e-02 -2.26886457e-01 1.16018757e+02] [ 2.26509708e-01 -2.38432125e-02 9.73717029e-01 1.51716627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370371743 meters Centerline goodness : 0.980894 Centerline is valid? [True, True] Translation: X:133.96, Y:116.04, Z:15.16 [[-1.40830055e-02 -9.99827736e-01 -1.20899571e-02 1.33957137e+02] [ 9.79847515e-01 -1.13901574e-02 -1.99421943e-01 1.16038480e+02] [ 1.99249883e-01 -1.46547747e-02 9.79839131e-01 1.51622919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.400371743 meters Centerline goodness : 0.982182 Centerline is valid? [True, True] Translation: X:133.97, Y:116.07, Z:15.18 [[-7.41502069e-03 -9.99846053e-01 -1.59024341e-02 1.33969324e+02] [ 9.77871949e-01 -3.92527261e-03 -2.09167501e-01 1.16070970e+02] [ 2.09072879e-01 -1.71015256e-02 9.77750515e-01 1.51805262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430371743 meters Centerline goodness : 0.988431 Centerline is valid? [True, True] Translation: X:133.96, Y:116.10, Z:15.19 [[-1.43101643e-02 -9.99700698e-01 -1.98427169e-02 1.33964359e+02] [ 9.73598330e-01 -9.40956041e-03 -2.28074007e-01 1.16097120e+02] [ 2.27819032e-01 -2.25826125e-02 9.73441582e-01 1.51889755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.460371743 meters Centerline goodness : 0.983657 Centerline is valid? [True, True] Translation: X:133.99, Y:116.13, Z:15.18 [[-5.21893734e-03 -9.98295310e-01 -5.81312023e-02 1.33985725e+02] [ 9.79130023e-01 6.70926490e-03 -2.03124062e-01 1.16126085e+02] [ 2.03167816e-01 -5.79780972e-02 9.77425894e-01 1.51767739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490371743 meters Centerline goodness : 0.983980 Centerline is valid? [True, True] Translation: X:133.98, Y:116.15, Z:15.20 [[ 1.15051209e-03 -9.99982779e-01 -5.75477054e-03 1.33975870e+02] [ 9.78323140e-01 2.31725950e-03 -2.07071157e-01 1.16153627e+02] [ 2.07080927e-01 -5.39178732e-03 9.78308959e-01 1.51995876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.520371743 meters Centerline goodness : 0.980302 Centerline is valid? [True, True] Translation: X:133.96, Y:116.17, Z:15.20 [[ 3.47564574e-04 -9.99888693e-01 1.49158184e-02 1.33964154e+02] [ 9.78722651e-01 -2.72040621e-03 -2.05169616e-01 1.16172499e+02] [ 2.05187356e-01 1.46697590e-02 9.78612767e-01 1.52049785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550371743 meters Centerline goodness : 0.980161 Centerline is valid? [True, True] Translation: X:133.97, Y:116.20, Z:15.20 [[ 3.70046144e-03 -9.99960280e-01 -8.10830370e-03 1.33973174e+02] [ 9.78667126e-01 5.28704809e-03 -2.05384282e-01 1.16199873e+02] [ 2.05418993e-01 -7.17531367e-03 9.78647818e-01 1.52039390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.580371743 meters Centerline goodness : 0.980990 Centerline is valid? [True, True] Translation: X:133.98, Y:116.23, Z:15.20 [[ 7.61403951e-03 -9.99315998e-01 -3.61878898e-02 1.33984340e+02] [ 9.78548630e-01 1.48966649e-02 -2.05476683e-01 1.16226430e+02] [ 2.05875215e-01 -3.38471024e-02 9.77992725e-01 1.52014589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61037174300003 meters Centerline goodness : 0.979939 Centerline is valid? [True, True] Translation: X:133.97, Y:116.25, Z:15.22 [[ 1.36921782e-02 -9.99741796e-01 1.81346271e-02 1.33971204e+02] [ 9.77696887e-01 9.58459138e-03 -2.09802130e-01 1.16252718e+02] [ 2.09574145e-01 2.06028166e-02 9.77575676e-01 1.52243225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.640371743 meters Centerline goodness : 0.980028 Centerline is valid? [True, True] Translation: X:133.98, Y:116.28, Z:15.22 [[ 1.57777234e-02 -9.99850177e-01 -7.11952657e-03 1.33981389e+02] [ 9.77838823e-01 1.69162691e-02 -2.08674571e-01 1.16279976e+02] [ 2.08763742e-01 -3.66933983e-03 9.77959220e-01 1.52219088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.670371743 meters Centerline goodness : 0.980343 Centerline is valid? [True, True] Translation: X:133.99, Y:116.31, Z:15.23 [[ 2.15081017e-02 -9.99688492e-01 -1.26617462e-02 1.33987414e+02] [ 9.77968949e-01 2.36677298e-02 -2.07404371e-01 1.16307125e+02] [ 2.07639437e-01 -7.92192038e-03 9.78173352e-01 1.52265039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.700371743 meters Centerline goodness : 0.981077 Centerline is valid? [True, True] Translation: X:133.99, Y:116.34, Z:15.24 [[ 2.63405917e-02 -9.99589482e-01 -1.12712221e-02 1.33994664e+02] [ 9.76893239e-01 2.81315102e-02 -2.11868397e-01 1.16343451e+02] [ 2.12098498e-01 -5.43004172e-03 9.77233208e-01 1.52406778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.730371743 meters Centerline goodness : 0.981397 Centerline is valid? [True, True] Translation: X:134.00, Y:116.37, Z:15.24 [[ 2.91699276e-02 -9.99246775e-01 -2.55929265e-02 1.34001667e+02] [ 9.77469788e-01 3.38702690e-02 -2.08340149e-01 1.16368697e+02] [ 2.09050062e-01 -1.89390454e-02 9.77721527e-01 1.52419808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.760371743 meters Centerline goodness : 0.981366 Centerline is valid? [True, True] Translation: X:134.00, Y:116.38, Z:15.24 [[ 2.34566051e-02 -9.99127082e-01 -3.45667672e-02 1.33997382e+02] [ 9.77606573e-01 3.01568399e-02 -2.08268943e-01 1.16382045e+02] [ 2.09129566e-01 -2.89074164e-02 9.77460580e-01 1.52407521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.790371743 meters Centerline goodness : 0.981689 Centerline is valid? [True, True] Translation: X:133.99, Y:116.41, Z:15.26 [[ 2.43594127e-02 -9.99671789e-01 7.93311652e-03 1.33989261e+02] [ 9.77328548e-01 2.21439630e-02 -2.10567221e-01 1.16406711e+02] [ 2.10322440e-01 1.28825551e-02 9.77547191e-01 1.52613211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.820371743 meters Centerline goodness : 0.982132 Centerline is valid? [True, True] Translation: X:134.01, Y:116.44, Z:15.25 [[ 2.96136027e-02 -9.98830058e-01 -3.82302335e-02 1.34014036e+02] [ 9.77543779e-01 3.69235115e-02 -2.07472445e-01 1.16442930e+02] [ 2.08641309e-01 -3.12277203e-02 9.77493547e-01 1.52541905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.850371743 meters Centerline goodness : 0.982915 Centerline is valid? [True, True] Translation: X:134.00, Y:116.47, Z:15.27 [[ 2.79400628e-02 -9.99600654e-01 4.22923149e-03 1.34003354e+02] [ 9.78027177e-01 2.64621405e-02 -2.06791191e-01 1.16471263e+02] [ 2.06596695e-01 9.91406219e-03 9.78375959e-01 1.52675068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880371743 meters Centerline goodness : 0.980370 Centerline is valid? [True, True] Translation: X:134.02, Y:116.49, Z:15.27 [[ 2.79854489e-02 -9.99195635e-01 -2.87210427e-02 1.34017342e+02] [ 9.77637309e-01 3.33499919e-02 -2.07636869e-01 1.16493134e+02] [ 2.08427700e-01 -2.22679520e-02 9.77784246e-01 1.52684824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.910371743 meters Centerline goodness : 0.981141 Centerline is valid? [True, True] Translation: X:134.02, Y:116.53, Z:15.27 [[ 2.38398954e-02 -9.99544017e-01 -1.85315112e-02 1.34018249e+02] [ 9.78518160e-01 2.71273897e-02 -2.04368086e-01 1.16527293e+02] [ 2.04777609e-01 -1.32613064e-02 9.78718687e-01 1.52723765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940371743 meters Centerline goodness : 0.980870 Centerline is valid? [True, True] Translation: X:134.01, Y:116.54, Z:15.28 [[ 1.20682528e-02 -9.99927176e-01 1.25937581e-05 1.34008568e+02] [ 9.78313130e-01 1.18047856e-02 -2.06794745e-01 1.16542714e+02] [ 2.06779537e-01 2.50797191e-03 9.78384348e-01 1.52815003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.970371743 meters Centerline goodness : 0.979856 Centerline is valid? [True, True] Translation: X:134.01, Y:116.57, Z:15.29 [[ 7.43483544e-03 -9.99957824e-01 -5.39190074e-03 1.34013335e+02] [ 9.78135500e-01 8.39306303e-03 -2.07799181e-01 1.16568445e+02] [ 2.07835672e-01 -3.72905681e-03 9.78156648e-01 1.52851728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000371743 meters Centerline goodness : 0.982074 Centerline is valid? [True, True] Translation: X:134.03, Y:116.61, Z:15.28 [[ 9.64516492e-03 -9.99442684e-01 -3.19576485e-02 1.34033741e+02] [ 9.78410435e-01 1.60306939e-02 -2.06048631e-01 1.16605551e+02] [ 2.06446100e-01 -2.92803238e-02 9.78019770e-01 1.52840617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.030371743 meters Centerline goodness : 0.980385 Centerline is valid? [True, True] Translation: X:134.02, Y:116.62, Z:15.30 [[-2.83007706e-03 -9.99995745e-01 7.08103250e-04 1.34021379e+02] [ 9.78015085e-01 -2.91551974e-03 -2.08513774e-01 1.16620452e+02] [ 2.08514951e-01 1.02425613e-04 9.78019174e-01 1.52973681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060371743 meters Centerline goodness : 0.980848 Centerline is valid? [True, True] Translation: X:134.03, Y:116.65, Z:15.30 [[-5.28009732e-03 -9.99877942e-01 -1.47045039e-02 1.34030422e+02] [ 9.78201085e-01 -2.11187672e-03 -2.07649167e-01 1.16647829e+02] [ 2.07592767e-01 -1.54803695e-02 9.78092839e-01 1.52991942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.090371743 meters Centerline goodness : 0.982209 Centerline is valid? [True, True] Translation: X:134.05, Y:116.68, Z:15.31 [[-4.11385448e-03 -9.99549133e-01 -2.97423533e-02 1.34048712e+02] [ 9.77986285e-01 2.18366392e-03 -2.08657754e-01 1.16680865e+02] [ 2.08628624e-01 -2.99460013e-02 9.77536360e-01 1.53061128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120371743 meters Centerline goodness : 0.981454 Centerline is valid? [True, True] Translation: X:134.05, Y:116.71, Z:15.32 [[-6.82951046e-03 -9.99790184e-01 -1.93118058e-02 1.34049237e+02] [ 9.77911736e-01 -2.64301551e-03 -2.09001557e-01 1.16708429e+02] [ 2.08906663e-01 -2.03126198e-02 9.77724605e-01 1.53150709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.150371743 meters Centerline goodness : 0.983507 Centerline is valid? [True, True] Translation: X:134.05, Y:116.73, Z:15.32 [[-1.08032446e-02 -9.99544853e-01 -2.81669562e-02 1.34052302e+02] [ 9.77969542e-01 -4.68907656e-03 -2.08694963e-01 1.16733656e+02] [ 2.08467899e-01 -2.98010080e-02 9.77575079e-01 1.53169523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180371743 meters Centerline goodness : 0.984155 Centerline is valid? [True, True] Translation: X:134.06, Y:116.76, Z:15.33 [[-1.08824955e-02 -9.99863293e-01 -1.24485942e-02 1.34055946e+02] [ 9.77999390e-01 -8.04923508e-03 -2.08452398e-01 1.16760999e+02] [ 2.08323699e-01 -1.44431998e-02 9.77953286e-01 1.53263680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.210371743 meters Centerline goodness : 0.983324 Centerline is valid? [True, True] Translation: X:134.06, Y:116.79, Z:15.33 [[-1.38865912e-02 -9.99803043e-01 -1.41787674e-02 1.34057363e+02] [ 9.78012434e-01 -1.06302629e-02 -2.08275484e-01 1.16785426e+02] [ 2.08083739e-01 -1.67592473e-02 9.77967425e-01 1.53336978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240371743 meters Centerline goodness : 0.982442 Centerline is valid? [True, True] Translation: X:134.07, Y:116.81, Z:15.34 [[-1.08001825e-02 -9.99627426e-01 -2.50672000e-02 1.34070261e+02] [ 9.78008540e-01 -5.33823563e-03 -2.08496519e-01 1.16812766e+02] [ 2.08285024e-01 -2.67677361e-02 9.77701814e-01 1.53388107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.270371743 meters Centerline goodness : 0.983928 Centerline is valid? [True, True] Translation: X:134.07, Y:116.84, Z:15.34 [[-1.23335353e-02 -9.99710286e-01 -2.06694747e-02 1.34070147e+02] [ 9.78042572e-01 -7.76033225e-03 -2.08260667e-01 1.16837636e+02] [ 2.08039929e-01 -2.27842164e-02 9.77854932e-01 1.53427725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300371743 meters Centerline goodness : 0.982823 Centerline is valid? [True, True] Translation: X:134.07, Y:116.86, Z:15.35 [[-9.15233951e-03 -9.99884425e-01 -1.21396646e-02 1.34072434e+02] [ 9.77985720e-01 -6.41959235e-03 -2.08573057e-01 1.16860879e+02] [ 2.08471019e-01 -1.37813500e-02 9.77931444e-01 1.53508893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.330371743 meters Centerline goodness : 0.983268 Centerline is valid? [True, True] Translation: X:134.08, Y:116.89, Z:15.35 [[-7.60165373e-03 -9.99887003e-01 -1.29690399e-02 1.34076051e+02] [ 9.78339743e-01 -4.75358026e-03 -2.06951082e-01 1.16891396e+02] [ 2.06866048e-01 -1.42612976e-02 9.78265329e-01 1.53549306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36037174300003 meters Centerline goodness : 0.984133 Centerline is valid? [True, True] Translation: X:134.08, Y:116.92, Z:15.36 [[-6.39999847e-03 -9.99838281e-01 -1.68063017e-02 1.34078656e+02] [ 9.78439297e-01 -2.79169571e-03 -2.06515736e-01 1.16916605e+02] [ 2.06435421e-01 -1.77656464e-02 9.78298931e-01 1.53586291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.390371743 meters Centerline goodness : 0.984127 Centerline is valid? [True, True] Translation: X:134.08, Y:116.94, Z:15.37 [[-4.53475880e-03 -9.99790243e-01 -1.99726570e-02 1.34082630e+02] [ 9.77861589e-01 -2.55089669e-04 -2.09252594e-01 1.16941829e+02] [ 2.09203607e-01 -2.04794041e-02 9.77657632e-01 1.53675049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.420371743 meters Centerline goodness : 0.983415 Centerline is valid? [True, True] Translation: X:134.09, Y:116.97, Z:15.37 [[-2.88822681e-03 -9.99869542e-01 -1.58920395e-02 1.34085058e+02] [ 9.78085293e-01 4.83917887e-04 -2.08204046e-01 1.16969414e+02] [ 2.08184575e-01 -1.61451106e-02 9.77956297e-01 1.53732168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.450371743 meters Centerline goodness : 0.983892 Centerline is valid? [True, True] Translation: X:134.09, Y:117.00, Z:15.38 [[-3.17622685e-03 -9.99865946e-01 -1.60624176e-02 1.34087410e+02] [ 9.77403346e-01 2.90900280e-04 -2.11382628e-01 1.16996125e+02] [ 2.11358964e-01 -1.63708598e-02 9.77271397e-01 1.53809318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.480371743 meters Centerline goodness : 0.983892 Centerline is valid? [True, True] Translation: X:134.09, Y:117.02, Z:15.39 [[-3.48716165e-03 -9.99865978e-01 -1.59957995e-02 1.34089321e+02] [ 9.77402298e-01 -2.70486466e-05 -2.11387670e-01 1.17023812e+02] [ 2.11358906e-01 -1.63714742e-02 9.77271399e-01 1.53869347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.510371743 meters Centerline goodness : 0.981724 Centerline is valid? [True, True] Translation: X:134.07, Y:117.04, Z:15.39 [[-6.64390269e-03 -9.99721525e-01 2.26435560e-02 1.34074616e+02] [ 9.78085773e-01 -1.12090326e-02 -2.07900406e-01 1.17040995e+02] [ 2.08096324e-01 2.07660698e-02 9.77887872e-01 1.53931434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.540371743 meters Centerline goodness : 0.983591 Centerline is valid? [True, True] Translation: X:134.11, Y:117.08, Z:15.39 [[-1.69599100e-04 -9.98974742e-01 -4.52706978e-02 1.34105490e+02] [ 9.77853110e-01 9.30913566e-03 -2.09085233e-01 1.17075320e+02] [ 2.09292298e-01 -4.43035533e-02 9.76848980e-01 1.53901821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.570371743 meters Centerline goodness : 0.982284 Centerline is valid? [True, True] Translation: X:134.11, Y:117.10, Z:15.40 [[ 1.54195476e-03 -9.99218603e-01 -3.94943775e-02 1.34108507e+02] [ 9.77025960e-01 9.92221048e-03 -2.12889226e-01 1.17102384e+02] [ 2.13114747e-01 -3.82587666e-02 9.76277815e-01 1.54017599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.600371743 meters Centerline goodness : 0.982740 Centerline is valid? [True, True] Translation: X:134.11, Y:117.13, Z:15.41 [[ 2.26212069e-03 -9.99801103e-01 -1.98150675e-02 1.34106271e+02] [ 9.76927553e-01 6.44120704e-03 -2.13473807e-01 1.17128280e+02] [ 2.13558980e-01 -1.88749819e-02 9.76747816e-01 1.54116821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630371743 meters Centerline goodness : 0.982242 Centerline is valid? [True, True] Translation: X:134.10, Y:117.15, Z:15.42 [[-2.37282512e-04 -9.99965041e-01 8.35829236e-03 1.34099963e+02] [ 9.77306779e-01 -2.00241612e-03 -2.11819381e-01 1.17153654e+02] [ 2.11828713e-01 8.11835475e-03 9.77273088e-01 1.54188590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.660371743 meters Centerline goodness : 0.981153 Centerline is valid? [True, True] Translation: X:134.12, Y:117.19, Z:15.42 [[ 6.95800096e-04 -9.99664369e-01 -2.58972089e-02 1.34115041e+02] [ 9.77819766e-01 6.10423289e-03 -2.09359127e-01 1.17185914e+02] [ 2.09446942e-01 -2.51771306e-02 9.77495826e-01 1.54166468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690371743 meters Centerline goodness : 0.981285 Centerline is valid? [True, True] Translation: X:134.11, Y:117.21, Z:15.43 [[-1.58529197e-03 -9.99968233e-01 -7.81151040e-03 1.34111300e+02] [ 9.77493584e-01 9.83466697e-05 -2.10965125e-01 1.17209011e+02] [ 2.10959192e-01 -7.97014261e-03 9.77462376e-01 1.54263992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.720371743 meters Centerline goodness : 0.984390 Centerline is valid? [True, True] Translation: X:134.12, Y:117.24, Z:15.43 [[-5.49001460e-03 -9.99352242e-01 -3.55662276e-02 1.34119990e+02] [ 9.77342320e-01 2.16350312e-03 -2.11653746e-01 1.17237633e+02] [ 2.11593593e-01 -3.59223615e-02 9.76697361e-01 1.54280541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750371743 meters Centerline goodness : 0.982773 Centerline is valid? [True, True] Translation: X:134.10, Y:117.25, Z:15.44 [[-1.33863291e-02 -9.99910246e-01 5.52796397e-04 1.34104406e+02] [ 9.77422733e-01 -1.32018612e-02 -2.10880327e-01 1.17252054e+02] [ 2.10868698e-01 -2.28259769e-03 9.77511730e-01 1.54367575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.780371743 meters Centerline goodness : 0.983304 Centerline is valid? [True, True] Translation: X:134.11, Y:117.28, Z:15.44 [[-1.47338244e-02 -9.99891105e-01 8.31742816e-04 1.34106840e+02] [ 9.76980813e-01 -1.45732696e-02 -2.12828832e-01 1.17278410e+02] [ 2.12817777e-01 -2.32318587e-03 9.77089145e-01 1.54441234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810371743 meters Centerline goodness : 0.983568 Centerline is valid? [True, True] Translation: X:134.13, Y:117.31, Z:15.44 [[-9.33964775e-03 -9.99629487e-01 -2.55667621e-02 1.34127273e+02] [ 9.77548121e-01 -3.74496249e-03 -2.10679012e-01 1.17313256e+02] [ 2.10505206e-01 -2.69604080e-02 9.77220904e-01 1.54449215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.840371743 meters Centerline goodness : 0.981999 Centerline is valid? [True, True] Translation: X:134.10, Y:117.33, Z:15.46 [[-1.33202326e-02 -9.99256377e-01 3.61837731e-02 1.34104754e+02] [ 9.76919072e-01 -2.07209539e-02 -2.12602374e-01 1.17327065e+02] [ 2.13194040e-01 3.25167050e-02 9.76468620e-01 1.54632696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870371743 meters Centerline goodness : 0.983357 Centerline is valid? [True, True] Translation: X:134.13, Y:117.36, Z:15.45 [[-1.29361518e-02 -9.98833713e-01 -4.65174180e-02 1.34132706e+02] [ 9.77934451e-01 -2.93704906e-03 -2.08891320e-01 1.17357435e+02] [ 2.08511069e-01 -4.81932355e-02 9.76831892e-01 1.54483292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.900371743 meters Centerline goodness : 0.982653 Centerline is valid? [True, True] Translation: X:134.12, Y:117.38, Z:15.47 [[-1.39725696e-02 -9.99902340e-01 2.77630529e-04 1.34120961e+02] [ 9.77054548e-01 -1.37123115e-02 -2.12547366e-01 1.17382661e+02] [ 2.12530415e-01 -2.69857269e-03 9.77150726e-01 1.54683863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930371743 meters Centerline goodness : 0.983200 Centerline is valid? [True, True] Translation: X:134.13, Y:117.41, Z:15.47 [[-1.28737257e-02 -9.99663305e-01 -2.25287238e-02 1.34131368e+02] [ 9.77140964e-01 -7.79585496e-03 -2.12449432e-01 1.17409602e+02] [ 2.12202271e-01 -2.47487546e-02 9.76912327e-01 1.54681782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.960371743 meters Centerline goodness : 0.983740 Centerline is valid? [True, True] Translation: X:134.14, Y:117.45, Z:15.48 [[-6.92441534e-03 -9.99959203e-01 5.80048831e-03 1.34136105e+02] [ 9.76897833e-01 -8.00350742e-03 -2.13556943e-01 1.17446531e+02] [ 2.13594655e-01 4.18772749e-03 9.76913398e-01 1.54840271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990371743 meters Centerline goodness : 0.983244 Centerline is valid? [True, True] Translation: X:134.14, Y:117.47, Z:15.48 [[-7.85113108e-03 -9.99891603e-01 -1.24556068e-02 1.34143248e+02] [ 9.76326222e-01 -4.97232749e-03 -2.16246120e-01 1.17472874e+02] [ 2.16160746e-01 -1.38585122e-02 9.76259429e-01 1.54845547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.020371743 meters Centerline goodness : 0.982614 Centerline is valid? [True, True] Translation: X:134.15, Y:117.50, Z:15.49 [[-7.70207275e-03 -9.99579639e-01 -2.79503839e-02 1.34152362e+02] [ 9.77226629e-01 -1.59648581e-03 -2.12192287e-01 1.17500909e+02] [ 2.12058467e-01 -2.89481799e-02 9.76828137e-01 1.54879014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050371743 meters Centerline goodness : 0.981606 Centerline is valid? [True, True] Translation: X:134.15, Y:117.53, Z:15.50 [[-8.34936937e-03 -9.99819656e-01 -1.70570482e-02 1.34151379e+02] [ 9.77278429e-01 -4.54590491e-03 -2.11910846e-01 1.17527707e+02] [ 2.11795089e-01 -1.84388072e-02 9.77140139e-01 1.54971658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.080371743 meters Centerline goodness : 0.981016 Centerline is valid? [True, True] Translation: X:134.15, Y:117.55, Z:15.50 [[-8.71636387e-03 -9.99800127e-01 -1.79925028e-02 1.34153141e+02] [ 9.77073590e-01 -4.68775733e-03 -2.12850242e-01 1.17551291e+02] [ 2.12723354e-01 -1.94352794e-02 9.76919160e-01 1.55042751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11037174300003 meters Centerline goodness : 0.982358 Centerline is valid? [True, True] Translation: X:134.15, Y:117.57, Z:15.51 [[-8.16780126e-03 -9.99705007e-01 -2.28732484e-02 1.34154245e+02] [ 9.76584747e-01 -3.05715699e-03 -2.15111334e-01 1.17574933e+02] [ 2.14977950e-01 -2.40946522e-02 9.76321632e-01 1.55127099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.140371743 meters Centerline goodness : 0.982896 Centerline is valid? [True, True] Translation: X:134.15, Y:117.60, Z:15.52 [[-8.80145396e-03 -9.99931063e-01 -7.77199668e-03 1.34151473e+02] [ 9.76867699e-01 -6.93720981e-03 -2.13732014e-01 1.17602756e+02] [ 2.13663364e-01 -9.47336500e-03 9.76861414e-01 1.55219922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.170371743 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:134.15, Y:117.63, Z:15.53 [[-2.03329164e-02 -9.99650678e-01 -1.68847554e-02 1.34147829e+02] [ 9.73154348e-01 -1.59158441e-02 -2.29602483e-01 1.17629929e+02] [ 2.29253542e-01 -2.10999612e-02 9.73138020e-01 1.55298740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.200371743 meters Centerline goodness : 0.983171 Centerline is valid? [True, True] Translation: X:134.16, Y:117.66, Z:15.53 [[-1.05543178e-02 -9.99508526e-01 -2.95179971e-02 1.34162030e+02] [ 9.76904760e-01 -4.00637715e-03 -2.13637636e-01 1.17656643e+02] [ 2.13414378e-01 -3.10910714e-02 9.76466921e-01 1.55283809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.230371743 meters Centerline goodness : 0.984569 Centerline is valid? [True, True] Translation: X:134.16, Y:117.68, Z:15.54 [[-1.42815340e-02 -9.99411856e-01 -3.11765870e-02 1.34163806e+02] [ 9.77372159e-01 -7.37202648e-03 -2.11398478e-01 1.17684149e+02] [ 2.11044310e-01 -3.34902227e-02 9.76902607e-01 1.55353160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.260371743 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:134.16, Y:117.71, Z:15.55 [[-1.18091122e-02 -9.99929010e-01 1.58770125e-03 1.34159285e+02] [ 9.76463327e-01 -1.18739295e-02 -2.15356406e-01 1.17709618e+02] [ 2.15359970e-01 -9.92835904e-04 9.76534228e-01 1.55496277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.290371743 meters Centerline goodness : 0.983268 Centerline is valid? [True, True] Translation: X:134.17, Y:117.74, Z:15.55 [[-1.48835508e-02 -9.99620867e-01 -2.31646829e-02 1.34168481e+02] [ 9.76901461e-01 -9.59832996e-03 -2.13474607e-01 1.17738199e+02] [ 2.13171329e-01 -2.58068727e-02 9.76673942e-01 1.55499098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.320371743 meters Centerline goodness : 0.982894 Centerline is valid? [True, True] Translation: X:134.16, Y:117.77, Z:15.56 [[-1.61083172e-02 -9.99859412e-01 4.65603770e-03 1.34164729e+02] [ 9.76729779e-01 -1.67313794e-02 -2.13820017e-01 1.17765145e+02] [ 2.13867858e-01 1.10341002e-03 9.76861977e-01 1.55632223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.350371743 meters Centerline goodness : 0.982794 Centerline is valid? [True, True] Translation: X:134.18, Y:117.79, Z:15.56 [[-1.94940191e-02 -9.99064726e-01 -3.85960672e-02 1.34179266e+02] [ 9.77251958e-01 -1.08860239e-02 -2.11802042e-01 1.17794442e+02] [ 2.11183792e-01 -4.18469553e-02 9.76550172e-01 1.55584475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380371743 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:134.16, Y:117.82, Z:15.58 [[-3.25296070e-02 -9.99452460e-01 6.05025252e-03 1.34160661e+02] [ 9.72065064e-01 -3.30449076e-02 -2.32373719e-01 1.17818457e+02] [ 2.32446415e-01 -1.67778663e-03 9.72607757e-01 1.55795678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.410371743 meters Centerline goodness : 0.982487 Centerline is valid? [True, True] Translation: X:134.18, Y:117.85, Z:15.57 [[-2.23767334e-02 -9.99465513e-01 -2.38321108e-02 1.34182533e+02] [ 9.76962220e-01 -1.67999197e-02 -2.12750049e-01 1.17848954e+02] [ 2.12235959e-01 -2.80437230e-02 9.76815974e-01 1.55714249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440371743 meters Centerline goodness : 0.981669 Centerline is valid? [True, True] Translation: X:134.16, Y:117.86, Z:15.58 [[-3.06274627e-02 -9.99431365e-01 1.41033543e-02 1.34163709e+02] [ 9.76126334e-01 -3.29428660e-02 -2.14690818e-01 1.17863579e+02] [ 2.15033342e-01 7.19122052e-03 9.76580231e-01 1.55837010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.470371743 meters Centerline goodness : 0.986790 Centerline is valid? [True, True] Translation: X:134.18, Y:117.90, Z:15.59 [[-3.79278146e-02 -9.98784008e-01 -3.14958169e-02 1.34178717e+02] [ 9.72471128e-01 -2.96400987e-02 -2.31130632e-01 1.17898704e+02] [ 2.29916040e-01 -3.93950523e-02 9.72412795e-01 1.55905183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500371743 meters Centerline goodness : 0.981033 Centerline is valid? [True, True] Translation: X:134.18, Y:117.93, Z:15.60 [[-3.05375032e-02 -9.99418419e-01 -1.51751269e-02 1.34184038e+02] [ 9.76208125e-01 -2.65606768e-02 -2.15202757e-01 1.17925811e+02] [ 2.14674538e-01 -2.13858371e-02 9.76451478e-01 1.55960381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.530371743 meters Centerline goodness : 0.979967 Centerline is valid? [True, True] Translation: X:134.19, Y:117.95, Z:15.60 [[-2.94493236e-02 -9.99482024e-01 -1.29776960e-02 1.34188017e+02] [ 9.76129727e-01 -2.59614129e-02 -2.15631079e-01 1.17952239e+02] [ 2.15182468e-01 -1.90181042e-02 9.76388661e-01 1.56012593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560371743 meters Centerline goodness : 0.986055 Centerline is valid? [True, True] Translation: X:134.18, Y:117.98, Z:15.61 [[-4.17911707e-02 -9.98953974e-01 -1.85595380e-02 1.34181900e+02] [ 9.71533598e-01 -3.62946101e-02 -2.34105041e-01 1.17978545e+02] [ 2.33186549e-01 -2.78147384e-02 9.72034142e-01 1.56118146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.590371743 meters Centerline goodness : 0.986509 Centerline is valid? [True, True] Translation: X:134.18, Y:118.00, Z:15.62 [[-4.11992092e-02 -9.99017430e-01 -1.63340048e-02 1.34184341e+02] [ 9.71294215e-01 -3.62118626e-02 -2.35109013e-01 1.18004400e+02] [ 2.34286518e-01 -2.55514298e-02 9.71831751e-01 1.56177541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620371743 meters Centerline goodness : 0.977799 Centerline is valid? [True, True] Translation: X:134.20, Y:118.03, Z:15.62 [[-2.79787214e-02 -9.99492333e-01 -1.52403202e-02 1.34197701e+02] [ 9.75170309e-01 -2.39408885e-02 -2.20158360e-01 1.18029817e+02] [ 2.19681726e-01 -2.10216572e-02 9.75345082e-01 1.56223650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.650371743 meters Centerline goodness : 0.979011 Centerline is valid? [True, True] Translation: X:134.21, Y:118.06, Z:15.62 [[-2.79000889e-02 -9.98181367e-01 -5.34372784e-02 1.34211881e+02] [ 9.75863118e-01 -1.56151384e-02 -2.17824109e-01 1.18059337e+02] [ 2.16593537e-01 -5.82247811e-02 9.74524045e-01 1.56238478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680371743 meters Centerline goodness : 0.986212 Centerline is valid? [True, True] Translation: X:134.18, Y:118.08, Z:15.64 [[-4.05735679e-02 -9.98859402e-01 2.51730262e-02 1.34177594e+02] [ 9.71365087e-01 -4.53344754e-02 -2.33226613e-01 1.18081490e+02] [ 2.34101801e-01 1.49893630e-02 9.72096531e-01 1.56409862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.710371743 meters Centerline goodness : 0.982642 Centerline is valid? [True, True] Translation: X:134.20, Y:118.11, Z:15.63 [[-3.35623790e-02 -9.98858791e-01 -3.39806053e-02 1.34203898e+02] [ 9.76628513e-01 -2.55553517e-02 -2.13409635e-01 1.18110469e+02] [ 2.12297704e-01 -4.03489631e-02 9.76371674e-01 1.56268396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740371743 meters Centerline goodness : 0.980539 Centerline is valid? [True, True] Translation: X:134.20, Y:118.14, Z:15.64 [[-3.27680916e-02 -9.99448609e-01 5.36003853e-03 1.34196560e+02] [ 9.76319924e-01 -3.31562690e-02 -2.13775743e-01 1.18137521e+02] [ 2.13835588e-01 -1.77191071e-03 9.76868058e-01 1.56431679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.770371743 meters Centerline goodness : 0.986527 Centerline is valid? [True, True] Translation: X:134.20, Y:118.16, Z:15.65 [[-4.27004788e-02 -9.98970446e-01 -1.53204597e-02 1.34197166e+02] [ 9.72290159e-01 -3.80225146e-02 -2.30664551e-01 1.18163670e+02] [ 2.29844547e-01 -2.47454189e-02 9.72912714e-01 1.56480337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800371743 meters Centerline goodness : 0.981085 Centerline is valid? [True, True] Translation: X:134.21, Y:118.19, Z:15.65 [[-3.71056555e-02 -9.98889952e-01 -2.90178347e-02 1.34209911e+02] [ 9.76488433e-01 -3.00724226e-02 -2.13461915e-01 1.18188743e+02] [ 2.12352325e-01 -3.62562243e-02 9.76520341e-01 1.56483615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.830371743 meters Centerline goodness : 0.980747 Centerline is valid? [True, True] Translation: X:134.21, Y:118.22, Z:15.66 [[-3.83642287e-02 -9.99120974e-01 -1.68957154e-02 1.34208839e+02] [ 9.76381869e-01 -3.38827378e-02 -2.13378551e-01 1.18215833e+02] [ 2.12618512e-01 -2.46827737e-02 9.76823489e-01 1.56570352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86037174300003 meters Centerline goodness : 0.986961 Centerline is valid? [True, True] Translation: X:134.20, Y:118.24, Z:15.67 [[-4.63736225e-02 -9.98913992e-01 4.50823439e-03 1.34199799e+02] [ 9.71397309e-01 -4.61474442e-02 -2.32932783e-01 1.18243212e+02] [ 2.32887860e-01 -6.42265022e-03 9.72482388e-01 1.56715993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.890371743 meters Centerline goodness : 0.981130 Centerline is valid? [True, True] Translation: X:134.22, Y:118.27, Z:15.67 [[-3.91042910e-02 -9.98905112e-01 -2.56793847e-02 1.34215780e+02] [ 9.76331984e-01 -3.27246771e-02 -2.13787165e-01 1.18270999e+02] [ 2.12712743e-01 -3.34316001e-02 9.76542686e-01 1.56651541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.920371743 meters Centerline goodness : 0.980299 Centerline is valid? [True, True] Translation: X:134.19, Y:118.29, Z:15.68 [[-4.46661115e-02 -9.98611643e-01 2.79235612e-02 1.34194300e+02] [ 9.75705947e-01 -4.96085786e-02 -2.13393753e-01 1.18288385e+02] [ 2.14482735e-01 1.77137156e-02 9.76567141e-01 1.56763214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.950371743 meters Centerline goodness : 0.980876 Centerline is valid? [True, True] Translation: X:134.23, Y:118.32, Z:15.67 [[-3.93113621e-02 -9.98169447e-01 -4.59605389e-02 1.34225981e+02] [ 9.76422825e-01 -2.86029973e-02 -2.13963400e-01 1.18322778e+02] [ 2.12257119e-01 -5.32881119e-02 9.75759854e-01 1.56728307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.980371743 meters Centerline goodness : 0.979036 Centerline is valid? [True, True] Translation: X:134.22, Y:118.35, Z:15.69 [[-3.71885353e-02 -9.99307710e-01 1.05563338e-03 1.34215933e+02] [ 9.75748193e-01 -3.65397740e-02 -2.15824719e-01 1.18349647e+02] [ 2.15713878e-01 -6.99617279e-03 9.76431552e-01 1.56884447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.010371743 meters Centerline goodness : 0.978757 Centerline is valid? [True, True] Translation: X:134.22, Y:118.38, Z:15.69 [[-3.76519571e-02 -9.99215824e-01 -1.22501545e-02 1.34220744e+02] [ 9.76092995e-01 -3.41490466e-02 -2.14653926e-01 1.18378426e+02] [ 2.14067269e-01 -2.00394305e-02 9.76613345e-01 1.56918068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.040371743 meters Centerline goodness : 0.979480 Centerline is valid? [True, True] Translation: X:134.21, Y:118.40, Z:15.69 [[-4.43819471e-02 -9.98937272e-01 1.24325744e-02 1.34205371e+02] [ 9.76455574e-01 -4.60061270e-02 -2.10755658e-01 1.18395860e+02] [ 2.11103657e-01 2.78611015e-03 9.77459710e-01 1.56935770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.070371743 meters Centerline goodness : 0.979915 Centerline is valid? [True, True] Translation: X:134.23, Y:118.43, Z:15.70 [[-3.73276582e-02 -9.98860027e-01 -2.97538627e-02 1.34226740e+02] [ 9.76574882e-01 -3.01484028e-02 -2.13055329e-01 1.18430887e+02] [ 2.11915420e-01 -3.70097314e-02 9.76586983e-01 1.56995510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.100371743 meters Centerline goodness : 0.979564 Centerline is valid? [True, True] Translation: X:134.20, Y:118.45, Z:15.71 [[-4.36574180e-02 -9.98887839e-01 1.78077227e-02 1.34203674e+02] [ 9.75903619e-01 -4.64537001e-02 -2.13199858e-01 1.18446606e+02] [ 2.13789980e-01 8.07086571e-03 9.76846306e-01 1.57084336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130371743 meters Centerline goodness : 0.979647 Centerline is valid? [True, True] Translation: X:134.23, Y:118.48, Z:15.71 [[-3.72458241e-02 -9.98719144e-01 -3.42464660e-02 1.34226603e+02] [ 9.76065445e-01 -2.90102622e-02 -2.15533413e-01 1.18484485e+02] [ 2.14263847e-01 -4.14545117e-02 9.75895756e-01 1.57098697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.160371743 meters Centerline goodness : 0.979936 Centerline is valid? [True, True] Translation: X:134.22, Y:118.51, Z:15.72 [[-3.79348748e-02 -9.99164883e-01 -1.51816089e-02 1.34220323e+02] [ 9.75635980e-01 -3.37476742e-02 -2.16784522e-01 1.18509638e+02] [ 2.16091138e-01 -2.30354176e-02 9.76101424e-01 1.57209424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190371743 meters Centerline goodness : 0.982021 Centerline is valid? [True, True] Translation: X:134.23, Y:118.54, Z:15.72 [[-3.94777210e-02 -9.98701292e-01 -3.22061993e-02 1.34225283e+02] [ 9.75463792e-01 -3.15326280e-02 -2.17890074e-01 1.18537346e+02] [ 2.16591552e-01 -4.00177848e-02 9.75441785e-01 1.57228188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.220371743 meters Centerline goodness : 0.980468 Centerline is valid? [True, True] Translation: X:134.20, Y:118.55, Z:15.74 [[-4.81744361e-02 -9.98455379e-01 2.76781388e-02 1.34200163e+02] [ 9.74273829e-01 -5.30793560e-02 -2.19027596e-01 1.18551524e+02] [ 2.20158419e-01 1.64145554e-02 9.75326014e-01 1.57431401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250371743 meters Centerline goodness : 0.980783 Centerline is valid? [True, True] Translation: X:134.22, Y:118.58, Z:15.74 [[-5.37628108e-02 -9.98278946e-01 -2.34244984e-02 1.34215185e+02] [ 9.75031853e-01 -4.74202884e-02 -2.16942854e-01 1.18578184e+02] [ 2.15458687e-01 -3.45030897e-02 9.75903218e-01 1.57364244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.280371743 meters Centerline goodness : 0.981386 Centerline is valid? [True, True] Translation: X:134.22, Y:118.61, Z:15.75 [[-4.92244914e-02 -9.98612875e-01 -1.86888946e-02 1.34224012e+02] [ 9.75393883e-01 -4.40370536e-02 -2.16026642e-01 1.18613424e+02] [ 2.14903982e-01 -2.88628350e-02 9.76208592e-01 1.57452801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310371743 meters Centerline goodness : 0.979789 Centerline is valid? [True, True] Translation: X:134.22, Y:118.64, Z:15.76 [[-5.09872980e-02 -9.98694727e-01 -3.02302098e-03 1.34221532e+02] [ 9.75404302e-01 -4.91478118e-02 -2.14874243e-01 1.18641217e+02] [ 2.14445198e-01 -1.39045247e-02 9.76637047e-01 1.57564118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.340371743 meters Centerline goodness : 0.979345 Centerline is valid? [True, True] Translation: X:134.22, Y:118.67, Z:15.76 [[-4.95924492e-02 -9.98749315e-01 -6.35562774e-03 1.34224530e+02] [ 9.74565411e-01 -4.69972199e-02 -2.19119880e-01 1.18667729e+02] [ 2.18547133e-01 -1.70606664e-02 9.75677244e-01 1.57622896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370371743 meters Centerline goodness : 0.978453 Centerline is valid? [True, True] Translation: X:134.23, Y:118.70, Z:15.77 [[-5.20465064e-02 -9.98433322e-01 -2.05441749e-02 1.34227730e+02] [ 9.75342541e-01 -4.64031980e-02 -2.15762997e-01 1.18696103e+02] [ 2.14471651e-01 -3.12673180e-02 9.76229617e-01 1.57661163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.400371743 meters Centerline goodness : 0.978453 Centerline is valid? [True, True] Translation: X:134.23, Y:118.72, Z:15.77 [[-5.22202940e-02 -9.98545923e-01 -1.33820731e-02 1.34227276e+02] [ 9.75160956e-01 -4.80997711e-02 -2.16211751e-01 1.18723591e+02] [ 2.15253688e-01 -2.43403164e-02 9.76254782e-01 1.57739220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430371743 meters Centerline goodness : 0.980704 Centerline is valid? [True, True] Translation: X:134.23, Y:118.75, Z:15.78 [[-5.51909186e-02 -9.97856183e-01 -3.51710171e-02 1.34229485e+02] [ 9.75273883e-01 -4.63254767e-02 -2.16089803e-01 1.18749976e+02] [ 2.13997232e-01 -4.62275692e-02 9.75739820e-01 1.57758177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.460371743 meters Centerline goodness : 0.980017 Centerline is valid? [True, True] Translation: X:134.23, Y:118.78, Z:15.79 [[-5.42435401e-02 -9.98464592e-01 -1.12293218e-02 1.34225590e+02] [ 9.74811718e-01 -5.05154177e-02 -2.17233302e-01 1.18778327e+02] [ 2.16332506e-01 -2.27299778e-02 9.76055119e-01 1.57884833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490371743 meters Centerline goodness : 0.986211 Centerline is valid? [True, True] Translation: X:134.21, Y:118.80, Z:15.80 [[-6.41955882e-02 -9.97915957e-01 6.53210079e-03 1.34213671e+02] [ 9.69930905e-01 -6.39324778e-02 -2.34833297e-01 1.18803887e+02] [ 2.34761508e-01 -8.73957520e-03 9.72013711e-01 1.58043846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.520371743 meters Centerline goodness : 0.979612 Centerline is valid? [True, True] Translation: X:134.24, Y:118.84, Z:15.80 [[-5.58726735e-02 -9.96827934e-01 -5.66772817e-02 1.34244197e+02] [ 9.74730986e-01 -4.21614350e-02 -2.19367084e-01 1.18835458e+02] [ 2.16281642e-01 -6.75017282e-02 9.73994748e-01 1.58022838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550371743 meters Centerline goodness : 0.978250 Centerline is valid? [True, True] Translation: X:134.22, Y:118.86, Z:15.82 [[-5.81579124e-02 -9.98053629e-01 2.25080379e-02 1.34221166e+02] [ 9.73918552e-01 -6.16758482e-02 -2.18354629e-01 1.18859551e+02] [ 2.19317832e-01 9.22194624e-03 9.75609883e-01 1.58205957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.580371743 meters Centerline goodness : 0.981710 Centerline is valid? [True, True] Translation: X:134.24, Y:118.89, Z:15.81 [[-6.00985075e-02 -9.97506082e-01 -3.70106214e-02 1.34237197e+02] [ 9.75199894e-01 -5.07615976e-02 -2.15426152e-01 1.18890100e+02] [ 2.13010179e-01 -4.90395443e-02 9.75818522e-01 1.58092708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61037174300003 meters Centerline goodness : 0.980459 Centerline is valid? [True, True] Translation: X:134.24, Y:118.92, Z:15.82 [[-5.80755232e-02 -9.97539678e-01 -3.92660696e-02 1.34241970e+02] [ 9.74634969e-01 -4.81388035e-02 -2.18561964e-01 1.18919213e+02] [ 2.16134009e-01 -5.09631850e-02 9.75032740e-01 1.58205682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.640371743 meters Centerline goodness : 0.980790 Centerline is valid? [True, True] Translation: X:134.23, Y:118.94, Z:15.83 [[-6.09173014e-02 -9.98090179e-01 1.02507352e-02 1.34226238e+02] [ 9.74078437e-01 -6.16869813e-02 -2.17637120e-01 1.18943709e+02] [ 2.17853809e-01 -3.27284586e-03 9.75975925e-01 1.58331443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.670371743 meters Centerline goodness : 0.981656 Centerline is valid? [True, True] Translation: X:134.24, Y:118.97, Z:15.83 [[-6.18420574e-02 -9.98026301e-01 -1.09115571e-02 1.34235397e+02] [ 9.74738383e-01 -5.80410168e-02 -2.15676434e-01 1.18972712e+02] [ 2.14617436e-01 -2.39737879e-02 9.76403919e-01 1.58335496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.700371743 meters Centerline goodness : 0.986128 Centerline is valid? [True, True] Translation: X:134.22, Y:119.00, Z:15.85 [[-7.03646972e-02 -9.97514377e-01 3.72512218e-03 1.34224320e+02] [ 9.69832433e-01 -6.92848140e-02 -2.33719203e-01 1.18995548e+02] [ 2.33396360e-01 -1.28328366e-02 9.72297001e-01 1.58496647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.730371743 meters Centerline goodness : 0.985728 Centerline is valid? [True, True] Translation: X:134.23, Y:119.02, Z:15.85 [[-6.98051710e-02 -9.97467016e-01 -1.36671337e-02 1.34230604e+02] [ 9.70551380e-01 -6.47422955e-02 -2.32031149e-01 1.19023462e+02] [ 2.30558577e-01 -2.94616296e-02 9.72612336e-01 1.58524451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.760371743 meters Centerline goodness : 0.986144 Centerline is valid? [True, True] Translation: X:134.23, Y:119.05, Z:15.86 [[-6.99266900e-02 -9.97460210e-01 -1.35420631e-02 1.34231534e+02] [ 9.70765597e-01 -6.49179488e-02 -2.31084000e-01 1.19050913e+02] [ 2.29617972e-01 -2.93051082e-02 9.72839554e-01 1.58590620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.790371743 meters Centerline goodness : 0.980038 Centerline is valid? [True, True] Translation: X:134.26, Y:119.08, Z:15.86 [[-5.58781629e-02 -9.97201960e-01 -4.96576395e-02 1.34256924e+02] [ 9.75570716e-01 -4.39475094e-02 -2.15244964e-01 1.19083747e+02] [ 2.12460370e-01 -6.04720321e-02 9.75296737e-01 1.58603051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.820371743 meters Centerline goodness : 0.981488 Centerline is valid? [True, True] Translation: X:134.24, Y:119.11, Z:15.87 [[-5.55004021e-02 -9.98457532e-01 1.50432719e-03 1.34241575e+02] [ 9.75078089e-01 -5.45248458e-02 -2.15057576e-01 1.19108785e+02] [ 2.14807880e-01 -1.04689455e-02 9.76600213e-01 1.58746202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.850371743 meters Centerline goodness : 0.981741 Centerline is valid? [True, True] Translation: X:134.25, Y:119.13, Z:15.88 [[-5.53423290e-02 -9.98424817e-01 -9.22556344e-03 1.34245023e+02] [ 9.75439233e-01 -5.20906696e-02 -2.14020709e-01 1.19133948e+02] [ 2.13203022e-01 -2.08433810e-02 9.76785557e-01 1.58774530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880371743 meters Centerline goodness : 0.986917 Centerline is valid? [True, True] Translation: X:134.24, Y:119.16, Z:15.89 [[-6.50933809e-02 -9.97870627e-01 -4.13076310e-03 1.34235510e+02] [ 9.70428528e-01 -6.23379186e-02 -2.33200464e-01 1.19159266e+02] [ 2.32446390e-01 -1.91884170e-02 9.72419909e-01 1.58916899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.910371743 meters Centerline goodness : 0.982281 Centerline is valid? [True, True] Translation: X:134.25, Y:119.19, Z:15.89 [[-5.54926858e-02 -9.97881511e-01 -3.39566138e-02 1.34254740e+02] [ 9.75702941e-01 -4.69771086e-02 -2.14002157e-01 1.19188629e+02] [ 2.11953612e-01 -4.50071224e-02 9.76242811e-01 1.58854721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940371743 meters Centerline goodness : 0.986379 Centerline is valid? [True, True] Translation: X:134.24, Y:119.21, Z:15.91 [[-6.31682474e-02 -9.97981258e-01 6.57120971e-03 1.34235581e+02] [ 9.70261341e-01 -6.29526850e-02 -2.33730377e-01 1.19212763e+02] [ 2.33672211e-01 -8.38854752e-03 9.72279245e-01 1.59063974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.970371743 meters Centerline goodness : 0.986113 Centerline is valid? [True, True] Translation: X:134.24, Y:119.24, Z:15.91 [[-6.24802776e-02 -9.97952576e-01 -1.36700742e-02 1.34242003e+02] [ 9.70860389e-01 -5.75976042e-02 -2.32621198e-01 1.19239628e+02] [ 2.31357560e-01 -2.78059706e-02 9.72471340e-01 1.59077289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000371743 meters Centerline goodness : 0.987491 Centerline is valid? [True, True] Translation: X:134.24, Y:119.27, Z:15.91 [[-6.21024539e-02 -9.97977295e-01 -1.35869203e-02 1.34242906e+02] [ 9.70958409e-01 -5.72585357e-02 -2.32295561e-01 1.19266421e+02] [ 2.31047728e-01 -2.76184589e-02 9.72550342e-01 1.59142644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.030371743 meters Centerline goodness : 0.983351 Centerline is valid? [True, True] Translation: X:134.25, Y:119.29, Z:15.91 [[-5.32832009e-02 -9.97990816e-01 -3.42816389e-02 1.34254838e+02] [ 9.76394547e-01 -4.48724854e-02 -2.11282152e-01 1.19293148e+02] [ 2.09319345e-01 -4.47301947e-02 9.76823741e-01 1.59102128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060371743 meters Centerline goodness : 0.979744 Centerline is valid? [True, True] Translation: X:134.25, Y:119.32, Z:15.93 [[-4.42195345e-02 -9.99012657e-01 4.28288451e-03 1.34253595e+02] [ 9.75996254e-01 -4.41150783e-02 -2.13272529e-01 1.19322782e+02] [ 2.13250896e-01 -5.25073272e-03 9.76983360e-01 1.59298678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.090371743 meters Centerline goodness : 0.982274 Centerline is valid? [True, True] Translation: X:134.26, Y:119.35, Z:15.93 [[-4.84571099e-02 -9.98555604e-01 -2.32080760e-02 1.34256167e+02] [ 9.76632024e-01 -4.24967884e-02 -2.10674899e-01 1.19345391e+02] [ 2.09384333e-01 -3.28744470e-02 9.77280652e-01 1.59252296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120371743 meters Centerline goodness : 0.980016 Centerline is valid? [True, True] Translation: X:134.25, Y:119.37, Z:15.94 [[-4.45738909e-02 -9.98999428e-01 3.64846586e-03 1.34252541e+02] [ 9.76112138e-01 -4.43294883e-02 -2.12696947e-01 1.19370719e+02] [ 2.12645863e-01 -5.91941868e-03 9.77111405e-01 1.59407288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.150371743 meters Centerline goodness : 0.980358 Centerline is valid? [True, True] Translation: X:134.27, Y:119.40, Z:15.94 [[-4.06957615e-02 -9.98541707e-01 -3.54727417e-02 1.34265123e+02] [ 9.76844779e-01 -3.22981533e-02 -2.11497300e-01 1.19397560e+02] [ 2.10043170e-01 -4.32584061e-02 9.76734650e-01 1.59367821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180371743 meters Centerline goodness : 0.982135 Centerline is valid? [True, True] Translation: X:134.26, Y:119.42, Z:15.95 [[-3.91859834e-02 -9.99200756e-01 -7.89355984e-03 1.34258267e+02] [ 9.76647261e-01 -3.66290634e-02 -2.11703659e-01 1.19423840e+02] [ 2.11245322e-01 -1.60050397e-02 9.77302027e-01 1.59478331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.210371743 meters Centerline goodness : 0.981574 Centerline is valid? [True, True] Translation: X:134.26, Y:119.45, Z:15.96 [[-3.44164814e-02 -9.99404832e-01 2.34243669e-03 1.34256868e+02] [ 9.76711207e-01 -3.41314660e-02 -2.11826016e-01 1.19450010e+02] [ 2.11779895e-01 -5.00242196e-03 9.77304585e-01 1.59564756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240371743 meters Centerline goodness : 0.983266 Centerline is valid? [True, True] Translation: X:134.27, Y:119.48, Z:15.95 [[-3.35539776e-02 -9.98939423e-01 -3.15303001e-02 1.34266506e+02] [ 9.76966301e-01 -2.61310909e-02 -2.11787659e-01 1.19477961e+02] [ 2.10739120e-01 -3.79103591e-02 9.76806955e-01 1.59530075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.270371743 meters Centerline goodness : 0.979324 Centerline is valid? [True, True] Translation: X:134.26, Y:119.51, Z:15.97 [[-2.90543208e-02 -9.99441570e-01 1.65043726e-02 1.34258827e+02] [ 9.76541599e-01 -3.19052092e-02 -2.12952022e-01 1.19505846e+02] [ 2.13359678e-01 9.93003008e-03 9.76923253e-01 1.59738721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300371743 meters Centerline goodness : 0.976419 Centerline is valid? [True, True] Translation: X:134.27, Y:119.53, Z:15.97 [[-2.74907651e-02 -9.99551449e-01 -1.18810645e-02 1.34272276e+02] [ 9.77006142e-01 -2.43529728e-02 -2.11815794e-01 1.19533522e+02] [ 2.11431444e-01 -1.74308512e-02 9.77237387e-01 1.59737244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.330371743 meters Centerline goodness : 0.977194 Centerline is valid? [True, True] Translation: X:134.28, Y:119.56, Z:15.97 [[-3.00624036e-02 -9.99483495e-01 -1.13575834e-02 1.34275704e+02] [ 9.78667917e-01 -2.71221419e-02 -2.03650429e-01 1.19561885e+02] [ 2.03237200e-01 -1.72375239e-02 9.78977787e-01 1.59730545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36037174300003 meters Centerline goodness : 0.979709 Centerline is valid? [True, True] Translation: X:134.26, Y:119.58, Z:15.98 [[-3.81293206e-02 -9.99109865e-01 1.80452966e-02 1.34259984e+02] [ 9.78131798e-01 -4.10114884e-02 -2.03902536e-01 1.19576051e+02] [ 2.04461099e-01 9.87601329e-03 9.78824869e-01 1.59796166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.390371743 meters Centerline goodness : 0.979819 Centerline is valid? [True, True] Translation: X:134.27, Y:119.60, Z:15.98 [[-3.45968669e-02 -9.99385562e-01 5.61746827e-03 1.34268238e+02] [ 9.78372846e-01 -3.50153491e-02 -2.03863922e-01 1.19603574e+02] [ 2.03935358e-01 -1.55707458e-03 9.78983118e-01 1.59827197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.420371743 meters Centerline goodness : 0.984575 Centerline is valid? [True, True] Translation: X:134.28, Y:119.64, Z:15.99 [[-4.04184554e-02 -9.98419395e-01 -3.90520213e-02 1.34282057e+02] [ 9.73523580e-01 -3.05499195e-02 -2.26535963e-01 1.19639300e+02] [ 2.24984863e-01 -4.71742973e-02 9.73219604e-01 1.59905412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.450371743 meters Centerline goodness : 0.974670 Centerline is valid? [True, True] Translation: X:134.30, Y:119.67, Z:16.00 [[-2.13956864e-02 -9.99101161e-01 -3.65936365e-02 1.34301047e+02] [ 9.77909599e-01 -1.33014012e-02 -2.08604622e-01 1.19673216e+02] [ 2.07930374e-01 -4.02485074e-02 9.77315209e-01 1.60001584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.480371743 meters Centerline goodness : 0.984936 Centerline is valid? [True, True] Translation: X:134.28, Y:119.69, Z:16.01 [[-3.64506016e-02 -9.99299804e-01 8.44132201e-03 1.34275954e+02] [ 9.72769721e-01 -3.74150556e-02 -2.28733869e-01 1.19692319e+02] [ 2.28889543e-01 -1.26024658e-04 9.73452393e-01 1.60144376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.510371743 meters Centerline goodness : 0.972920 Centerline is valid? [True, True] Translation: X:134.30, Y:119.72, Z:16.01 [[-2.06417211e-02 -9.99726701e-01 -1.09746617e-02 1.34296392e+02] [ 9.77842944e-01 -1.79002337e-02 -2.08573150e-01 1.19719091e+02] [ 2.08319698e-01 -1.50368043e-02 9.77945192e-01 1.60133532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.540371743 meters Centerline goodness : 0.974602 Centerline is valid? [True, True] Translation: X:134.30, Y:119.75, Z:16.02 [[-1.68244170e-02 -9.99800350e-01 -1.07795909e-02 1.34300061e+02] [ 9.78416337e-01 -1.42418938e-02 -2.06151982e-01 1.19746861e+02] [ 2.05957302e-01 -1.40153147e-02 9.78460608e-01 1.60170849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.570371743 meters Centerline goodness : 0.974552 Centerline is valid? [True, True] Translation: X:134.31, Y:119.78, Z:16.02 [[-1.32048250e-02 -9.99826702e-01 -1.31224815e-02 1.34306232e+02] [ 9.78340324e-01 -1.02074943e-02 -2.06751100e-01 1.19778597e+02] [ 2.06581323e-01 -1.55683649e-02 9.78305567e-01 1.60220264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.600371743 meters Centerline goodness : 0.976656 Centerline is valid? [True, True] Translation: X:134.31, Y:119.81, Z:16.02 [[-1.30688695e-02 -9.99790633e-01 -1.57447002e-02 1.34308930e+02] [ 9.79072121e-01 -9.59667904e-03 -2.03287198e-01 1.19807005e+02] [ 2.03093540e-01 -1.80719309e-02 9.78992553e-01 1.60248999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630371743 meters Centerline goodness : 0.983980 Centerline is valid? [True, True] Translation: X:134.30, Y:119.83, Z:16.04 [[-2.21255867e-02 -9.99702762e-01 -1.02394643e-02 1.34297307e+02] [ 9.73881795e-01 -1.92368554e-02 -2.26239239e-01 1.19826946e+02] [ 2.25975017e-01 -1.49777038e-02 9.74017947e-01 1.60389140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.660371743 meters Centerline goodness : 0.980072 Centerline is valid? [True, True] Translation: X:134.30, Y:119.84, Z:16.03 [[-9.55885909e-03 -9.99905530e-01 9.87718938e-03 1.34297277e+02] [ 9.78958852e-01 -1.13711892e-02 -2.03740675e-01 1.19843096e+02] [ 2.03833743e-01 7.72183357e-03 9.78975065e-01 1.60349150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690371743 meters Centerline goodness : 0.984052 Centerline is valid? [True, True] Translation: X:134.31, Y:119.88, Z:16.05 [[-9.50112546e-03 -9.99700661e-01 -2.25458732e-02 1.34309399e+02] [ 9.74080135e-01 -4.15701434e-03 -2.26165008e-01 1.19878511e+02] [ 2.26003584e-01 -2.41103093e-02 9.73828051e-01 1.60471446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.720371743 meters Centerline goodness : 0.983858 Centerline is valid? [True, True] Translation: X:134.31, Y:119.90, Z:16.06 [[-6.65484171e-03 -9.99906942e-01 -1.19088795e-02 1.34309512e+02] [ 9.73915352e-01 -3.77971589e-03 -2.26880149e-01 1.19904204e+02] [ 2.26814024e-01 -1.31080920e-02 9.73849874e-01 1.60552306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750371743 meters Centerline goodness : 0.983282 Centerline is valid? [True, True] Translation: X:134.31, Y:119.93, Z:16.06 [[-2.32758007e-03 -9.99927157e-01 -1.18432617e-02 1.34314597e+02] [ 9.74039214e-01 4.13941308e-04 -2.26378973e-01 1.19929933e+02] [ 2.26367385e-01 -1.20627165e-02 9.73967298e-01 1.60608460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.780371743 meters Centerline goodness : 0.981456 Centerline is valid? [True, True] Translation: X:134.33, Y:119.97, Z:16.07 [[ 3.52290199e-03 -9.99932181e-01 -1.11005649e-02 1.34325385e+02] [ 9.74496151e-01 5.92360169e-03 -2.24326019e-01 1.19965941e+02] [ 2.24376561e-01 -1.00271792e-02 9.74450930e-01 1.60666530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810371743 meters Centerline goodness : 0.979904 Centerline is valid? [True, True] Translation: X:134.33, Y:119.98, Z:16.05 [[ 9.06637198e-03 -9.99285622e-01 -3.66884960e-02 1.34333869e+02] [ 9.79846138e-01 1.61997457e-02 -1.99095744e-01 1.19979332e+02] [ 1.99547858e-01 -3.41440050e-02 9.79293030e-01 1.60517721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.840371743 meters Centerline goodness : 0.983164 Centerline is valid? [True, True] Translation: X:134.33, Y:120.01, Z:16.08 [[ 8.52361776e-03 -9.99838434e-01 1.58257226e-02 1.34325968e+02] [ 9.73906268e-01 4.71108240e-03 -2.26901711e-01 1.20010514e+02] [ 2.26790495e-01 1.73467938e-02 9.73789074e-01 1.60842646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870371743 meters Centerline goodness : 0.976151 Centerline is valid? [True, True] Translation: X:134.35, Y:120.04, Z:16.08 [[ 2.15568642e-02 -9.99748976e-01 -6.10635335e-03 1.34346700e+02] [ 9.79320673e-01 2.23445356e-02 -2.01076455e-01 1.20043582e+02] [ 2.01162424e-01 -1.64550025e-03 9.79556518e-01 1.60765706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.900371743 meters Centerline goodness : 0.982167 Centerline is valid? [True, True] Translation: X:134.35, Y:120.06, Z:16.09 [[ 1.23846580e-02 -9.99725585e-01 -1.98840599e-02 1.34346302e+02] [ 9.74176575e-01 1.65468845e-02 -2.25180375e-01 1.20064422e+02] [ 2.25447601e-01 -1.65818035e-02 9.74114174e-01 1.60872862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930371743 meters Centerline goodness : 0.980467 Centerline is valid? [True, True] Translation: X:134.35, Y:120.08, Z:16.09 [[ 1.64642528e-02 -9.98903664e-01 -4.38223412e-02 1.34354761e+02] [ 9.76356936e-01 2.55096009e-02 -2.14654126e-01 1.20084859e+02] [ 2.15536684e-01 -3.92521269e-02 9.75706518e-01 1.60880471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.960371743 meters Centerline goodness : 0.981196 Centerline is valid? [True, True] Translation: X:134.34, Y:120.12, Z:16.11 [[ 1.72932739e-02 -9.99527098e-01 2.54268313e-02 1.34343174e+02] [ 9.73522692e-01 1.10350602e-02 -2.28323884e-01 1.20115806e+02] [ 2.27935323e-01 2.87020647e-02 9.73253143e-01 1.61087092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990371743 meters Centerline goodness : 0.980641 Centerline is valid? [True, True] Translation: X:134.36, Y:120.14, Z:16.11 [[ 2.18590651e-02 -9.99687133e-01 -1.21579960e-02 1.34359509e+02] [ 9.73776326e-01 2.40439076e-02 -2.26233414e-01 1.20143982e+02] [ 2.26454959e-01 -6.89391777e-03 9.73997241e-01 1.61075222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.020371743 meters Centerline goodness : 0.980246 Centerline is valid? [True, True] Translation: X:134.36, Y:120.17, Z:16.11 [[ 2.48017819e-02 -9.99619504e-01 -1.20714228e-02 1.34363838e+02] [ 9.73798914e-01 2.68880953e-02 -2.25815646e-01 1.20171331e+02] [ 2.26054302e-01 -6.15450804e-03 9.74095260e-01 1.61140913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050371743 meters Centerline goodness : 0.978900 Centerline is valid? [True, True] Translation: X:134.38, Y:120.19, Z:16.12 [[ 3.04830362e-02 -9.98462582e-01 -4.62953125e-02 1.34376260e+02] [ 9.77235052e-01 3.95000767e-02 -2.08449985e-01 1.20192160e+02] [ 2.09958179e-01 -3.88872137e-02 9.76936716e-01 1.61153631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.080371743 meters Centerline goodness : 0.977581 Centerline is valid? [True, True] Translation: X:134.39, Y:120.23, Z:16.13 [[ 4.83112680e-02 -9.98830573e-01 1.87276596e-03 1.34386723e+02] [ 9.76874942e-01 4.68581798e-02 -2.08613658e-01 1.20233836e+02] [ 2.08281945e-01 1.19078485e-02 9.77996337e-01 1.61299346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11037174300003 meters Centerline goodness : 0.978106 Centerline is valid? [True, True] Translation: X:134.38, Y:120.27, Z:16.13 [[ 4.87758497e-02 -9.97248457e-01 5.58250076e-02 1.34380952e+02] [ 9.76323978e-01 3.58104942e-02 -2.13328615e-01 1.20273131e+02] [ 2.10742511e-01 6.49085779e-02 9.75384268e-01 1.61297109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.140371743 meters Centerline goodness : 0.975734 Centerline is valid? [True, True] Translation: X:134.42, Y:120.29, Z:16.12 [[ 5.55636478e-02 -9.95682414e-01 -7.43586687e-02 1.34420487e+02] [ 9.77268521e-01 6.94940831e-02 -2.00291812e-01 1.20292307e+02] [ 2.04594523e-01 -6.15394425e-02 9.76910425e-01 1.61237541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.170371743 meters Centerline goodness : 0.981213 Centerline is valid? [True, True] Translation: X:134.40, Y:120.31, Z:16.14 [[ 4.24958020e-02 -9.98942188e-01 -1.75673800e-02 1.34395202e+02] [ 9.73495161e-01 4.53554312e-02 -2.24165244e-01 1.20306802e+02] [ 2.24724895e-01 -7.57567757e-03 9.74392801e-01 1.61449160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.200371743 meters Centerline goodness : 0.981758 Centerline is valid? [True, True] Translation: X:134.40, Y:120.33, Z:16.15 [[ 4.81223456e-02 -9.98774004e-01 -1.16072759e-02 1.34402902e+02] [ 9.72907547e-01 4.95005881e-02 -2.25833118e-01 1.20333457e+02] [ 2.26130814e-01 -4.25187015e-04 9.74096850e-01 1.61532045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.230371743 meters Centerline goodness : 0.980691 Centerline is valid? [True, True] Translation: X:134.41, Y:120.37, Z:16.16 [[ 6.02757295e-02 -9.97343725e-01 4.08941452e-02 1.34406464e+02] [ 9.74944622e-01 5.00346973e-02 -2.16747579e-01 1.20374655e+02] [ 2.14125712e-01 5.29341454e-02 9.75370779e-01 1.61557336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.260371743 meters Centerline goodness : 0.982863 Centerline is valid? [True, True] Translation: X:134.43, Y:120.39, Z:16.16 [[ 5.47098767e-02 -9.95989875e-01 -7.07884062e-02 1.34432345e+02] [ 9.72346488e-01 6.92630537e-02 -2.23035728e-01 1.20389109e+02] [ 2.27044348e-01 -5.66286010e-02 9.72236630e-01 1.61578346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.290371743 meters Centerline goodness : 0.982863 Centerline is valid? [True, True] Translation: X:134.42, Y:120.42, Z:16.17 [[ 5.53929795e-02 -9.98399519e-01 -1.14025827e-02 1.34418173e+02] [ 9.72391246e-01 5.65357282e-02 -2.26404452e-01 1.20415679e+02] [ 2.26686750e-01 1.45344564e-03 9.73966634e-01 1.61730058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.320371743 meters Centerline goodness : 0.981261 Centerline is valid? [True, True] Translation: X:134.43, Y:120.45, Z:16.18 [[ 6.38912480e-02 -9.97881537e-01 1.22616252e-02 1.34426625e+02] [ 9.73116809e-01 5.95719507e-02 -2.22474399e-01 1.20452352e+02] [ 2.21272646e-01 2.61461606e-02 9.74861423e-01 1.61790271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.350371743 meters Centerline goodness : 0.983787 Centerline is valid? [True, True] Translation: X:134.44, Y:120.47, Z:16.18 [[ 5.79823246e-02 -9.97503991e-01 -4.02968762e-02 1.34436447e+02] [ 9.72376280e-01 6.55715904e-02 -2.24019499e-01 1.20470414e+02] [ 2.26102674e-01 -2.61945553e-02 9.73751214e-01 1.61826315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380371743 meters Centerline goodness : 0.984943 Centerline is valid? [True, True] Translation: X:134.45, Y:120.50, Z:16.20 [[ 6.21522622e-02 -9.97769148e-01 -2.43684965e-02 1.34446930e+02] [ 9.71447693e-01 6.60778433e-02 -2.27866407e-01 1.20499805e+02] [ 2.28968288e-01 -9.51030701e-03 9.73387424e-01 1.61995192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.410371743 meters Centerline goodness : 0.985426 Centerline is valid? [True, True] Translation: X:134.44, Y:120.52, Z:16.20 [[ 5.80120117e-02 -9.98315390e-01 -9.93955244e-04 1.34441757e+02] [ 9.72904102e-01 5.67585193e-02 -2.24134065e-01 1.20523294e+02] [ 2.23812902e-01 1.20354449e-02 9.74557814e-01 1.62023575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440371743 meters Centerline goodness : 0.987441 Centerline is valid? [True, True] Translation: X:134.46, Y:120.55, Z:16.21 [[ 5.82739843e-02 -9.97938508e-01 -2.68863691e-02 1.34463589e+02] [ 9.71815655e-01 6.28698698e-02 -2.27204118e-01 1.20552840e+02] [ 2.28426081e-01 -1.28885052e-02 9.73475943e-01 1.62144492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.470371743 meters Centerline goodness : 0.988646 Centerline is valid? [True, True] Translation: X:134.46, Y:120.58, Z:16.22 [[ 5.21598014e-02 -9.98636650e-01 2.04869125e-03 1.34457283e+02] [ 9.73437809e-01 5.03854640e-02 -2.23338616e-01 1.20576094e+02] [ 2.22930903e-01 1.36435714e-02 9.74738768e-01 1.62155658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500371743 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:134.47, Y:120.60, Z:16.22 [[ 4.65134840e-02 -9.98859336e-01 -1.07945259e-02 1.34470486e+02] [ 9.73594095e-01 4.77494514e-02 -2.23236485e-01 1.20601702e+02] [ 2.23497280e-01 -1.25980022e-04 9.74704545e-01 1.62207076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.530371743 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:134.48, Y:120.63, Z:16.23 [[ 4.30965290e-02 -9.99013261e-01 -1.07328193e-02 1.34475765e+02] [ 9.73828170e-01 4.44048355e-02 -2.22905598e-01 1.20628791e+02] [ 2.23162237e-01 -8.45464218e-04 9.74780950e-01 1.62267513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560371743 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:134.48, Y:120.65, Z:16.23 [[ 3.80685511e-02 -9.99218568e-01 -1.06319664e-02 1.34484642e+02] [ 9.74212362e-01 3.94796192e-02 -2.22152276e-01 1.20654266e+02] [ 2.22398425e-01 -1.90077779e-03 9.74954013e-01 1.62341189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.590371743 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:134.49, Y:120.68, Z:16.24 [[ 3.53758794e-02 -9.99318416e-01 -1.05475746e-02 1.34489299e+02] [ 9.74439397e-01 3.68342069e-02 -2.21610251e-01 1.20681278e+02] [ 2.21847716e-01 -2.43831472e-03 9.75078277e-01 1.62406866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620371743 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:134.49, Y:120.71, Z:16.25 [[ 3.31927609e-02 -9.99394091e-01 -1.04733934e-02 1.34493814e+02] [ 9.74565425e-01 3.46883679e-02 -2.21402236e-01 1.20708295e+02] [ 2.21631391e-01 -2.85805556e-03 9.75126329e-01 1.62473066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.650371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:134.50, Y:120.74, Z:16.25 [[ 2.90733002e-02 -9.99522759e-01 -1.04401550e-02 1.34501257e+02] [ 9.74550837e-01 3.06663756e-02 -2.22059089e-01 1.20735570e+02] [ 2.22273275e-01 -3.71847125e-03 9.74977315e-01 1.62540352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680371743 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:134.51, Y:120.76, Z:16.26 [[ 2.71086468e-02 -9.99578650e-01 -1.03751710e-02 1.34505223e+02] [ 9.74598232e-01 2.87365683e-02 -2.22109200e-01 1.20762950e+02] [ 2.22313761e-01 -4.09054341e-03 9.74966594e-01 1.62603742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.710371743 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:134.51, Y:120.79, Z:16.27 [[ 2.44302389e-02 -9.99648227e-01 -1.03240739e-02 1.34511765e+02] [ 9.74596584e-01 2.61152996e-02 -2.22439857e-01 1.20788829e+02] [ 2.22631225e-01 -4.62754834e-03 9.74891750e-01 1.62660611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740371743 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:134.52, Y:120.82, Z:16.27 [[ 2.31840273e-02 -9.99678490e-01 -1.02673527e-02 1.34515127e+02] [ 9.74611311e-01 2.48880674e-02 -2.22516014e-01 1.20815474e+02] [ 2.22700007e-01 -4.84786074e-03 9.74874969e-01 1.62724168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.770371743 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:134.52, Y:120.84, Z:16.28 [[ 2.12480700e-02 -9.99722838e-01 -1.01374246e-02 1.34518808e+02] [ 9.74977752e-01 2.29642782e-02 -2.21113151e-01 1.20842517e+02] [ 2.21284665e-01 -5.18553570e-03 9.75195471e-01 1.62792890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800371743 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:134.52, Y:120.87, Z:16.29 [[ 2.07433051e-02 -9.99734348e-01 -1.00472902e-02 1.34521024e+02] [ 9.75108343e-01 2.24492608e-02 -2.20589552e-01 1.20868751e+02] [ 2.20756506e-01 -5.22144011e-03 9.75314976e-01 1.62856124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.830371743 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:134.52, Y:120.90, Z:16.29 [[ 1.93426553e-02 -9.99763489e-01 -9.94126064e-03 1.34523946e+02] [ 9.75370692e-01 2.10539905e-02 -2.19564895e-01 1.20895628e+02] [ 2.19722268e-01 -5.44944619e-03 9.75547246e-01 1.62920648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86037174300003 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:134.53, Y:120.92, Z:16.30 [[ 1.79355614e-02 -9.99790393e-01 -9.87349147e-03 1.34525858e+02] [ 9.75417922e-01 1.96658614e-02 -2.19483782e-01 1.20922792e+02] [ 2.19631948e-01 -5.69421569e-03 9.75566186e-01 1.62978289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.890371743 meters Centerline goodness : 0.996792 Centerline is valid? [True, True] Translation: X:134.53, Y:120.95, Z:16.30 [[ 1.59039005e-02 -9.99825705e-01 -9.77885297e-03 1.34528206e+02] [ 9.75603856e-01 1.76588621e-02 -2.18827056e-01 1.20949904e+02] [ 2.18961599e-01 -6.06008294e-03 9.75714658e-01 1.63035510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.920371743 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:134.53, Y:120.98, Z:16.31 [[ 1.39305697e-02 -9.99855854e-01 -9.70626084e-03 1.34529472e+02] [ 9.75675446e-01 1.57163119e-02 -2.18655945e-01 1.20976976e+02] [ 2.18776973e-01 -6.42415850e-03 9.75753743e-01 1.63104851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.950371743 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:134.53, Y:121.00, Z:16.32 [[ 1.28472043e-02 -9.99870984e-01 -9.64180727e-03 1.34530815e+02] [ 9.75689966e-01 1.46451086e-02 -2.18665524e-01 1.21003701e+02] [ 2.18778518e-01 -6.59817394e-03 9.75752235e-01 1.63161647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.980371743 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:134.53, Y:121.03, Z:16.32 [[ 1.04487829e-02 -9.99899431e-01 -9.58913657e-03 1.34531070e+02] [ 9.75691489e-01 1.22941616e-02 -2.18803499e-01 1.21030589e+02] [ 2.18899384e-01 -7.06980868e-03 9.75721824e-01 1.63219756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.010371743 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:134.53, Y:121.06, Z:16.33 [[ 9.00499898e-03 -9.99914067e-01 -9.52730408e-03 1.34531513e+02] [ 9.75693860e-01 1.08722803e-02 -2.18868192e-01 1.21058124e+02] [ 2.18952968e-01 -7.32482424e-03 9.75707920e-01 1.63283032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.040371743 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:134.53, Y:121.08, Z:16.33 [[ 5.99999387e-03 -9.99937097e-01 -9.47637316e-03 1.34530857e+02] [ 9.75643696e-01 7.93174527e-03 -2.19217849e-01 1.21084448e+02] [ 2.19279224e-01 -7.93025798e-03 9.75629916e-01 1.63333186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.070371743 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:134.53, Y:121.11, Z:16.34 [[ 1.91572652e-03 -9.99953504e-01 -9.45097255e-03 1.34529814e+02] [ 9.75487038e-01 3.94836690e-03 -2.20021476e-01 1.21112352e+02] [ 2.20048561e-01 -8.79780024e-03 9.75449245e-01 1.63389651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.100371743 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:134.53, Y:121.14, Z:16.34 [[-1.38212215e-03 -9.99954984e-01 -9.38720219e-03 1.34529629e+02] [ 9.75488430e-01 7.17437844e-04 -2.20049560e-01 1.21139364e+02] [ 2.20046389e-01 -9.46124249e-03 9.75443526e-01 1.63447268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130371743 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:134.53, Y:121.17, Z:16.35 [[-4.84816553e-03 -9.99944671e-01 -9.33544374e-03 1.34529605e+02] [ 9.75416063e-01 -2.67201386e-03 -2.20355087e-01 1.21167179e+02] [ 2.20317950e-01 -1.01742597e-02 9.75375049e-01 1.63506386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.160371743 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:134.53, Y:121.19, Z:16.36 [[-8.28952888e-03 -9.99922531e-01 -9.28528189e-03 1.34529693e+02] [ 9.75323598e-01 -6.03620106e-03 -2.20697628e-01 1.21194787e+02] [ 2.20624483e-01 -1.08856339e-02 9.75298078e-01 1.63563258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190371743 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:134.53, Y:121.22, Z:16.36 [[-1.52670788e-02 -9.99840857e-01 -9.22917144e-03 1.34527559e+02] [ 9.75211492e-01 -1.28519403e-02 -2.20901274e-01 1.21221995e+02] [ 2.20747507e-01 -1.23729112e-02 9.75252505e-01 1.63623936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.220371743 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:134.53, Y:121.25, Z:16.37 [[-1.87566300e-02 -9.99782275e-01 -9.14286410e-03 1.34526885e+02] [ 9.75270691e-01 -1.62811279e-02 -2.20413259e-01 1.21249131e+02] [ 2.20216413e-01 -1.30509773e-02 9.75363729e-01 1.63681105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250371743 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:134.52, Y:121.28, Z:16.37 [[-2.50274702e-02 -9.99645237e-01 -9.11190480e-03 1.34523493e+02] [ 9.74957399e-01 -2.23925477e-02 -2.21261485e-01 1.21275621e+02] [ 2.20978951e-01 -1.44213342e-02 9.75171948e-01 1.63738048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.280371743 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:134.52, Y:121.30, Z:16.38 [[-2.75525460e-02 -9.99579253e-01 -9.06497480e-03 1.34521884e+02] [ 9.74826672e-01 -2.48608570e-02 -2.21573686e-01 1.21303006e+02] [ 2.21255096e-01 -1.49416984e-02 9.75101496e-01 1.63792175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310371743 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:134.52, Y:121.33, Z:16.39 [[-2.98434000e-02 -9.99514061e-01 -9.00070624e-03 1.34517017e+02] [ 9.74761547e-01 -2.71088465e-02 -2.21596562e-01 1.21330483e+02] [ 2.21244881e-01 -1.53867372e-02 9.75096893e-01 1.63854917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.340371743 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:134.51, Y:121.36, Z:16.39 [[-2.99189970e-02 -9.99512487e-01 -8.92428094e-03 1.34514360e+02] [ 9.74817372e-01 -2.72035265e-02 -2.21339242e-01 1.21358055e+02] [ 2.20988564e-01 -1.53217922e-02 9.75156037e-01 1.63918187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370371743 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:134.51, Y:121.39, Z:16.40 [[-2.77732053e-02 -9.99575588e-01 -8.79164595e-03 1.34506966e+02] [ 9.75250372e-01 -2.51652782e-02 -2.19666613e-01 1.21385922e+02] [ 2.19352139e-01 -1.46749019e-02 9.75535384e-01 1.63981284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.400371743 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:134.50, Y:121.41, Z:16.40 [[-2.66269694e-02 -9.99607306e-01 -8.73148914e-03 1.34503254e+02] [ 9.75245082e-01 -2.40579638e-02 -2.19814116e-01 1.21413515e+02] [ 2.19517734e-01 -1.43683256e-02 9.75502699e-01 1.64044099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430371743 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:134.50, Y:121.44, Z:16.41 [[-2.47767747e-02 -9.99655566e-01 -8.65221699e-03 1.34499994e+02] [ 9.75367738e-01 -2.22753453e-02 -2.19457480e-01 1.21439923e+02] [ 2.19189160e-01 -1.38765418e-02 9.75583699e-01 1.64096487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.460371743 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:134.49, Y:121.47, Z:16.42 [[-2.19524767e-02 -9.99721605e-01 -8.64883241e-03 1.34492269e+02] [ 9.75183984e-01 -1.95057630e-02 -2.20535082e-01 1.21467729e+02] [ 2.20304984e-01 -1.32754941e-02 9.75340697e-01 1.64151270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490371743 meters Centerline goodness : 0.990913 Centerline is valid? [True, True] Translation: X:134.50, Y:121.50, Z:16.42 [[-1.66428215e-02 -9.99762072e-01 -1.41002037e-02 1.34497510e+02] [ 9.75356682e-01 -1.31303414e-02 -2.20242906e-01 1.21502679e+02] [ 2.20005363e-01 -1.74181912e-02 9.75343143e-01 1.64228507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.520371743 meters Centerline goodness : 0.988423 Centerline is valid? [True, True] Translation: X:134.48, Y:121.52, Z:16.43 [[-2.02677404e-02 -9.99763861e-01 -7.83840836e-03 1.34481560e+02] [ 9.74929334e-01 -1.80254423e-02 -2.21783400e-01 1.21522291e+02] [ 2.21589738e-01 -1.21369426e-02 9.75064451e-01 1.64255269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550371743 meters Centerline goodness : 0.987170 Centerline is valid? [True, True] Translation: X:134.49, Y:121.56, Z:16.43 [[-1.35890501e-02 -9.99907612e-01 3.22914428e-04 1.34486393e+02] [ 9.75667090e-01 -1.33302908e-02 -2.18851623e-01 1.21561084e+02] [ 2.18835709e-01 -2.65892868e-03 9.75758096e-01 1.64313142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.580371743 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:134.48, Y:121.58, Z:16.43 [[-2.08284345e-02 -9.99497380e-01 -2.38990262e-02 1.34479037e+02] [ 9.75089445e-01 -1.50282297e-02 -2.21302340e-01 1.21577591e+02] [ 2.20831949e-01 -2.79130695e-02 9.74912361e-01 1.64348814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61037174300003 meters Centerline goodness : 0.985227 Centerline is valid? [True, True] Translation: X:134.47, Y:121.61, Z:16.44 [[-1.94448159e-02 -9.99776674e-01 -8.27657216e-03 1.34468390e+02] [ 9.74940058e-01 -1.71255481e-02 -2.21807574e-01 1.21605079e+02] [ 2.21616298e-01 -1.23821692e-02 9.75055331e-01 1.64433438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.640371743 meters Centerline goodness : 0.982828 Centerline is valid? [True, True] Translation: X:134.47, Y:121.64, Z:16.45 [[-9.92936470e-03 -9.99891597e-01 1.08720701e-02 1.34472482e+02] [ 9.76033762e-01 -1.20550398e-02 -2.17285002e-01 1.21644884e+02] [ 2.17392511e-01 8.45400547e-03 9.76047656e-01 1.64480930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.670371743 meters Centerline goodness : 0.981884 Centerline is valid? [True, True] Translation: X:134.47, Y:121.68, Z:16.45 [[-3.16714985e-03 -9.99994943e-01 -2.90021406e-04 1.34470853e+02] [ 9.76999203e-01 -3.03247945e-03 -2.13221390e-01 1.21675789e+02] [ 2.13219432e-01 -9.58654774e-04 9.77003866e-01 1.64455323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.700371743 meters Centerline goodness : 0.980596 Centerline is valid? [True, True] Translation: X:134.47, Y:121.71, Z:16.45 [[-1.26593261e-04 -9.99982684e-01 -5.88344391e-03 1.34471105e+02] [ 9.77414625e-01 1.11961996e-03 -2.11327702e-01 1.21707580e+02] [ 2.11330630e-01 -5.77731678e-03 9.77397559e-01 1.64476215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.730371743 meters Centerline goodness : 0.978651 Centerline is valid? [True, True] Translation: X:134.47, Y:121.73, Z:16.45 [[ 6.37272611e-03 -9.99664380e-01 -2.51100770e-02 1.34470290e+02] [ 9.76873997e-01 1.15902776e-02 -2.13501427e-01 1.21732722e+02] [ 2.13720804e-01 -2.31687951e-02 9.76620000e-01 1.64525417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.760371743 meters Centerline goodness : 0.981153 Centerline is valid? [True, True] Translation: X:134.46, Y:121.74, Z:16.46 [[-1.08036152e-03 -9.98500719e-01 -5.47279442e-02 1.34460149e+02] [ 9.74557790e-01 1.12150973e-02 -2.23855613e-01 1.21743553e+02] [ 2.24133769e-01 -5.35773894e-02 9.73084537e-01 1.64648816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.790371743 meters Centerline goodness : 0.980955 Centerline is valid? [True, True] Translation: X:134.45, Y:121.77, Z:16.48 [[ 4.34492179e-03 -9.99959312e-01 -7.90540033e-03 1.34447101e+02] [ 9.74047590e-01 6.02110682e-03 -2.26263208e-01 1.21769891e+02] [ 2.26301601e-01 -6.71714019e-03 9.74034119e-01 1.64796333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.820371743 meters Centerline goodness : 0.981573 Centerline is valid? [True, True] Translation: X:134.44, Y:121.80, Z:16.49 [[ 1.44199656e-02 -9.99865294e-01 -7.83949923e-03 1.34443499e+02] [ 9.73929925e-01 1.58202204e-02 -2.26296755e-01 1.21796622e+02] [ 2.26390294e-01 -4.37193147e-03 9.74026859e-01 1.64853030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.850371743 meters Centerline goodness : 0.981104 Centerline is valid? [True, True] Translation: X:134.44, Y:121.82, Z:16.49 [[ 2.47417170e-02 -9.99663813e-01 -7.75295380e-03 1.34441767e+02] [ 9.73891979e-01 2.58530136e-02 -2.25534998e-01 1.21822860e+02] [ 2.25659614e-01 -1.97041641e-03 9.74204217e-01 1.64917709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880371743 meters Centerline goodness : 0.981442 Centerline is valid? [True, True] Translation: X:134.44, Y:121.85, Z:16.50 [[ 2.90067930e-02 -9.99549770e-01 -7.67227023e-03 1.34441706e+02] [ 9.73918418e-01 2.99893061e-02 -2.24907883e-01 1.21849809e+02] [ 2.25036709e-01 -9.48308871e-04 9.74349824e-01 1.64981976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.910371743 meters Centerline goodness : 0.981756 Centerline is valid? [True, True] Translation: X:134.44, Y:121.88, Z:16.50 [[ 3.25005418e-02 -9.99442854e-01 -7.59579520e-03 1.34442057e+02] [ 9.73889476e-01 3.33762111e-02 -2.24555820e-01 1.21876691e+02] [ 2.24684229e-01 -9.92791852e-05 9.74431623e-01 1.65043784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940371743 meters Centerline goodness : 0.980029 Centerline is valid? [True, True] Translation: X:134.45, Y:121.92, Z:16.51 [[ 5.00801396e-02 -9.98227944e-01 3.21395664e-02 1.34449620e+02] [ 9.75762453e-01 4.20386313e-02 -2.14756580e-01 1.21920823e+02] [ 2.13024916e-01 4.21156217e-02 9.76138648e-01 1.65070383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.970371743 meters Centerline goodness : 0.981415 Centerline is valid? [True, True] Translation: X:134.46, Y:121.93, Z:16.51 [[ 3.88711854e-02 -9.97640349e-01 -5.65929731e-02 1.34457751e+02] [ 9.73513659e-01 5.05791694e-02 -2.22963905e-01 1.21932129e+02] [ 2.25300214e-01 -4.64271610e-02 9.73182579e-01 1.65079452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000371743 meters Centerline goodness : 0.981303 Centerline is valid? [True, True] Translation: X:134.45, Y:121.96, Z:16.52 [[ 4.20636229e-02 -9.99088092e-01 -7.32367497e-03 1.34450416e+02] [ 9.73299511e-01 4.26311991e-02 -2.25545211e-01 1.21958039e+02] [ 2.25651751e-01 2.35911943e-03 9.74205174e-01 1.65222246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.030371743 meters Centerline goodness : 0.980578 Centerline is valid? [True, True] Translation: X:134.46, Y:122.00, Z:16.52 [[ 5.41019496e-02 -9.98125580e-01 2.86060446e-02 1.34459789e+02] [ 9.75217890e-01 4.66620234e-02 -2.16270024e-01 1.22002175e+02] [ 2.14529827e-01 3.95977564e-02 9.75914428e-01 1.65229808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060371743 meters Centerline goodness : 0.980466 Centerline is valid? [True, True] Translation: X:134.48, Y:122.03, Z:16.52 [[ 5.34400158e-02 -9.98359870e-01 -2.05361840e-02 1.34475289e+02] [ 9.74670215e-01 5.66224791e-02 -2.16360502e-01 1.22030339e+02] [ 2.17168453e-01 -8.45369820e-03 9.76097535e-01 1.65231320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.090371743 meters Centerline goodness : 0.982185 Centerline is valid? [True, True] Translation: X:134.48, Y:122.06, Z:16.53 [[ 5.44785090e-02 -9.98501694e-01 -5.14383440e-03 1.34478670e+02] [ 9.75191604e-01 5.43122081e-02 -2.14596177e-01 1.22057532e+02] [ 2.14554019e-01 6.67465565e-03 9.76689317e-01 1.65302558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120371743 meters Centerline goodness : 0.982965 Centerline is valid? [True, True] Translation: X:134.49, Y:122.08, Z:16.54 [[ 5.25868904e-02 -9.98493964e-01 -1.56340146e-02 1.34486423e+02] [ 9.75256312e-01 5.47168918e-02 -2.14198945e-01 1.22081850e+02] [ 2.14731798e-01 -3.98311497e-03 9.76664932e-01 1.65361127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.150371743 meters Centerline goodness : 0.983180 Centerline is valid? [True, True] Translation: X:134.49, Y:122.11, Z:16.55 [[ 5.02774423e-02 -9.98296486e-01 -2.96024484e-02 1.34492386e+02] [ 9.74081129e-01 5.55598649e-02 -2.19269368e-01 1.22105588e+02] [ 2.20540547e-01 -1.78108834e-02 9.75215176e-01 1.65481833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180371743 meters Centerline goodness : 0.985377 Centerline is valid? [True, True] Translation: X:134.50, Y:122.13, Z:16.56 [[ 4.87334845e-02 -9.98755632e-01 -1.05941318e-02 1.34495799e+02] [ 9.74335590e-01 4.98703064e-02 -2.19506518e-01 1.22130320e+02] [ 2.19761703e-01 3.75077842e-04 9.75553511e-01 1.65585265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.210371743 meters Centerline goodness : 0.985377 Centerline is valid? [True, True] Translation: X:134.50, Y:122.16, Z:16.57 [[ 4.82615044e-02 -9.98795726e-01 -8.82750716e-03 1.34496010e+02] [ 9.74295629e-01 4.90209548e-02 -2.19874905e-01 1.22158052e+02] [ 2.20042849e-01 2.01089209e-03 9.75488135e-01 1.65651037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240371743 meters Centerline goodness : 0.986382 Centerline is valid? [True, True] Translation: X:134.50, Y:122.18, Z:16.57 [[ 4.80090331e-02 -9.98796339e-01 -1.00501493e-02 1.34501562e+02] [ 9.74334729e-01 4.90438826e-02 -2.19696457e-01 1.22183540e+02] [ 2.19924915e-01 7.55204942e-04 9.75516510e-01 1.65725734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.270371743 meters Centerline goodness : 0.986889 Centerline is valid? [True, True] Translation: X:134.51, Y:122.21, Z:16.58 [[ 4.45073259e-02 -9.98576144e-01 -2.94071790e-02 1.34507691e+02] [ 9.73766968e-01 4.99392613e-02 -2.21999916e-01 1.22207107e+02] [ 2.23152393e-01 -1.87551169e-02 9.74603127e-01 1.65807381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300371743 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:134.51, Y:122.23, Z:16.59 [[ 4.33477913e-02 -9.99040702e-01 -6.21641700e-03 1.34512933e+02] [ 9.73931436e-01 4.36434467e-02 -2.22604601e-01 1.22233269e+02] [ 2.22662363e-01 3.59505385e-03 9.74888993e-01 1.65905861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.330371743 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:134.52, Y:122.26, Z:16.60 [[ 4.06577627e-02 -9.99154113e-01 -6.16477444e-03 1.34523892e+02] [ 9.73934870e-01 4.10080014e-02 -2.23090146e-01 1.22259765e+02] [ 2.23154242e-01 3.06625741e-03 9.74778325e-01 1.65968475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36037174300003 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:134.53, Y:122.29, Z:16.60 [[ 3.90795085e-02 -9.99217521e-01 -6.09410346e-03 1.34530028e+02] [ 9.74040578e-01 3.94543282e-02 -2.22908744e-01 1.22286792e+02] [ 2.22974762e-01 2.77526011e-03 9.74820267e-01 1.66025901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.390371743 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:134.54, Y:122.31, Z:16.61 [[ 3.72300573e-02 -9.99288551e-01 -6.02610317e-03 1.34536067e+02] [ 9.74134245e-01 3.76365489e-02 -2.22813742e-01 1.22314133e+02] [ 2.22882023e-01 2.42513492e-03 9.74842409e-01 1.66082935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.420371743 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:134.55, Y:122.34, Z:16.61 [[ 3.49131167e-02 -9.99372632e-01 -5.95115062e-03 1.34547042e+02] [ 9.74300317e-01 3.53619383e-02 -2.22459941e-01 1.22339954e+02] [ 2.22530821e-01 1.96856193e-03 9.74923668e-01 1.66145178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.450371743 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:134.55, Y:122.37, Z:16.62 [[ 3.37528011e-02 -9.99412858e-01 -5.88957866e-03 1.34552627e+02] [ 9.74363067e-01 3.42172041e-02 -2.22364110e-01 1.22367500e+02] [ 2.22435075e-01 1.76682365e-03 9.74945904e-01 1.66209749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.480371743 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:134.56, Y:122.39, Z:16.63 [[ 3.18275841e-02 -9.99476458e-01 -5.81503295e-03 1.34562141e+02] [ 9.74510101e-01 3.23241785e-02 -2.22002727e-01 1.22394515e+02] [ 2.22074466e-01 1.39900214e-03 9.75028704e-01 1.66277131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.510371743 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:134.57, Y:122.42, Z:16.63 [[ 3.12529340e-02 -9.99495021e-01 -5.74076198e-03 1.34566740e+02] [ 9.74616233e-01 3.17479145e-02 -2.21619649e-01 1.22421012e+02] [ 2.21689993e-01 1.33122447e-03 9.75116288e-01 1.66336374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.540371743 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:134.57, Y:122.45, Z:16.64 [[ 3.07681932e-02 -9.99510432e-01 -5.67580159e-03 1.34571195e+02] [ 9.74697710e-01 3.12612190e-02 -2.21330319e-01 1.22447582e+02] [ 2.21399395e-01 1.27774321e-03 9.75182380e-01 1.66394630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.570371743 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:134.58, Y:122.48, Z:16.65 [[ 3.03596760e-02 -9.99523215e-01 -5.62436248e-03 1.34578816e+02] [ 9.74779974e-01 3.08518401e-02 -2.21025262e-01 1.22475081e+02] [ 2.21093402e-01 1.22773943e-03 9.75251865e-01 1.66452058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.600371743 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:134.58, Y:122.50, Z:16.65 [[ 3.01693643e-02 -9.99529346e-01 -5.55847919e-03 1.34582454e+02] [ 9.74798739e-01 3.06517437e-02 -2.20970337e-01 1.22502056e+02] [ 2.21036714e-01 1.24813610e-03 9.75264689e-01 1.66509873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630371743 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:134.59, Y:122.53, Z:16.66 [[ 3.02299869e-02 -9.99527892e-01 -5.49009883e-03 1.34588249e+02] [ 9.74828919e-01 3.06959413e-02 -2.20831018e-01 1.22527185e+02] [ 2.20895285e-01 1.32381165e-03 9.75296632e-01 1.66568773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.660371743 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:134.59, Y:122.55, Z:16.66 [[ 2.99713410e-02 -9.99536263e-01 -5.38315670e-03 1.34591230e+02] [ 9.74995079e-01 3.04210354e-02 -2.20134407e-01 1.22552144e+02] [ 2.20196083e-01 1.34917208e-03 9.75454696e-01 1.66626668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690371743 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:134.60, Y:122.58, Z:16.67 [[ 2.93752565e-02 -9.99554631e-01 -5.25686919e-03 1.34596175e+02] [ 9.75247814e-01 2.98131894e-02 -2.19095587e-01 1.22578307e+02] [ 2.19154732e-01 1.30923887e-03 9.75689238e-01 1.66683329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.720371743 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:134.60, Y:122.60, Z:16.67 [[ 2.88603368e-02 -9.99570118e-01 -5.16340824e-03 1.34598205e+02] [ 9.75318486e-01 2.92906303e-02 -2.18851340e-01 1.22602770e+02] [ 2.18908499e-01 1.28015588e-03 9.75744552e-01 1.66737870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750371743 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:134.60, Y:122.63, Z:16.68 [[ 2.79637414e-02 -9.99596152e-01 -5.05590655e-03 1.34601052e+02] [ 9.75405692e-01 2.83925832e-02 -2.18580872e-01 1.22627238e+02] [ 2.18636148e-01 1.18077893e-03 9.75805739e-01 1.66791931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.780371743 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:134.60, Y:122.65, Z:16.69 [[ 2.73019833e-02 -9.99614943e-01 -4.95656499e-03 1.34602567e+02] [ 9.75419287e-01 2.77250912e-02 -2.18605889e-01 1.22653305e+02] [ 2.18659135e-01 1.13364526e-03 9.75800644e-01 1.66853264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810371743 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:134.61, Y:122.68, Z:16.69 [[ 2.55792844e-02 -9.99660929e-01 -4.87110914e-03 1.34605006e+02] [ 9.75448029e-01 2.60253332e-02 -2.18686589e-01 1.22678888e+02] [ 2.18739210e-01 8.42332627e-04 9.75782992e-01 1.66904046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.840371743 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:134.61, Y:122.71, Z:16.70 [[ 2.36880623e-02 -9.99708034e-01 -4.76671207e-03 1.34606205e+02] [ 9.75574985e-01 2.41572710e-02 -2.18334321e-01 1.22705302e+02] [ 2.18385726e-01 5.21631960e-04 9.75862389e-01 1.66959930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870371743 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:134.61, Y:122.73, Z:16.70 [[ 1.98930961e-02 -9.99791182e-01 -4.67507101e-03 1.34608524e+02] [ 9.75672195e-01 2.04338829e-02 -2.18280153e-01 1.22731314e+02] [ 2.18330102e-01 -2.19068738e-04 9.75874950e-01 1.67014604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.900371743 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:134.61, Y:122.76, Z:16.71 [[ 1.69578233e-02 -9.99845695e-01 -4.58463464e-03 1.34609654e+02] [ 9.75685722e-01 1.75498217e-02 -2.18470540e-01 1.22757990e+02] [ 2.18517288e-01 -7.68377751e-04 9.75832775e-01 1.67073731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930371743 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:134.61, Y:122.78, Z:16.71 [[ 1.36234160e-02 -9.99897078e-01 -4.49838870e-03 1.34610882e+02] [ 9.75708174e-01 1.42773343e-02 -2.18608594e-01 1.22782799e+02] [ 2.18650320e-01 -1.41091879e-03 9.75802258e-01 1.67132311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.960371743 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:134.61, Y:122.81, Z:16.72 [[ 6.58250606e-03 -9.99968543e-01 -4.42536898e-03 1.34613225e+02] [ 9.75721593e-01 7.39159388e-03 -2.18889785e-01 1.22808701e+02] [ 2.18915610e-01 -2.87708473e-03 9.75739554e-01 1.67194278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990371743 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:134.62, Y:122.83, Z:16.72 [[-1.52728202e-03 -9.99989433e-01 -4.33608020e-03 1.34616554e+02] [ 9.75716121e-01 -5.40431936e-04 -2.19038261e-01 1.22834219e+02] [ 2.19033603e-01 -4.56531655e-03 9.75706636e-01 1.67249794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.020371743 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:134.62, Y:122.86, Z:16.73 [[-5.54575715e-03 -9.99975657e-01 -4.23440980e-03 1.34618992e+02] [ 9.75773239e-01 -4.48528276e-03 -2.18738358e-01 1.22861209e+02] [ 2.18714040e-01 -5.34489357e-03 9.75774360e-01 1.67315360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:122.89, Z:16.74 [[-1.31860743e-02 -9.99904356e-01 -4.17211987e-03 1.34623097e+02] [ 9.75697964e-01 -1.19539366e-02 -2.18793477e-01 1.22888009e+02] [ 2.18722678e-01 -6.95575592e-03 9.75762270e-01 1.67380922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.080371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:134.63, Y:122.92, Z:16.74 [[-1.69888234e-02 -9.99847209e-01 -4.11553213e-03 1.34625155e+02] [ 9.75555922e-01 -1.56738518e-02 -2.19191638e-01 1.22915187e+02] [ 2.19093641e-01 -7.73873977e-03 9.75673146e-01 1.67440362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11037174300003 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:134.63, Y:122.94, Z:16.75 [[-2.07072880e-02 -9.99777329e-01 -4.06215850e-03 1.34627326e+02] [ 9.75346376e-01 -1.93080803e-02 -2.19833220e-01 1.22941515e+02] [ 2.19705837e-01 -8.51416137e-03 9.75529013e-01 1.67500124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.140371743 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:134.63, Y:122.97, Z:16.76 [[-2.70323970e-02 -9.99626471e-01 -4.02090056e-03 1.34630359e+02] [ 9.74863708e-01 -2.54724267e-02 -2.21341156e-01 1.22968146e+02] [ 2.21156056e-01 -9.90321203e-03 9.75188149e-01 1.67558816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.170371743 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:134.63, Y:123.00, Z:16.76 [[-3.00323459e-02 -9.99540983e-01 -3.98504732e-03 1.34631835e+02] [ 9.74633720e-01 -2.83989045e-02 -2.21996879e-01 1.22995105e+02] [ 2.21781808e-01 -1.05510486e-02 9.75039233e-01 1.67623370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.200371743 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:134.63, Y:123.03, Z:16.76 [[-2.88544099e-02 -9.99187307e-01 2.81451496e-02 1.34633814e+02] [ 9.76031763e-01 -3.42395398e-02 -2.14917779e-01 1.23033429e+02] [ 2.15706794e-01 2.12692343e-02 9.76226510e-01 1.67598383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.230371743 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:134.64, Y:123.05, Z:16.78 [[-3.55837659e-02 -9.98545868e-01 -4.04962330e-02 1.34643370e+02] [ 9.74155842e-01 -2.56132119e-02 -2.24420048e-01 1.23050573e+02] [ 2.23056473e-01 -4.74353524e-02 9.73650706e-01 1.67754463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.260371743 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:134.63, Y:123.08, Z:16.78 [[-3.32289659e-02 -9.99440592e-01 -3.78680348e-03 1.34634986e+02] [ 9.73598989e-01 -3.15131978e-02 -2.26079472e-01 1.23076567e+02] [ 2.25833667e-01 -1.11992151e-02 9.74101500e-01 1.67837163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.290371743 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:134.63, Y:123.10, Z:16.79 [[-3.13580392e-02 -9.99501283e-01 -3.72269529e-03 1.34634689e+02] [ 9.73674975e-01 -2.97060354e-02 -2.25996892e-01 1.23103516e+02] [ 2.25773597e-01 -1.07115146e-02 9.74120910e-01 1.67901825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.320371743 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:134.63, Y:123.13, Z:16.80 [[-2.85085420e-02 -9.99586889e-01 -3.64892830e-03 1.34634631e+02] [ 9.73841354e-01 -2.69506410e-02 -2.25625086e-01 1.23130948e+02] [ 2.25433537e-01 -9.98571953e-03 9.74207373e-01 1.67965695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.350371743 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:134.63, Y:123.16, Z:16.80 [[-2.28753417e-02 -9.99731902e-01 -3.58361275e-03 1.34632813e+02] [ 9.73940302e-01 -2.14758471e-02 -2.25785467e-01 1.23157777e+02] [ 2.25647973e-01 -8.65514458e-03 9.74170458e-01 1.68034319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380371743 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:134.63, Y:123.18, Z:16.81 [[-2.03781826e-02 -9.99786142e-01 -3.52140791e-03 1.34631708e+02] [ 9.73910598e-01 -1.90543046e-02 -2.26130670e-01 1.23184856e+02] [ 2.26015212e-01 -8.03766856e-03 9.74090612e-01 1.68097732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.410371743 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:134.63, Y:123.21, Z:16.82 [[-1.48362568e-02 -9.99883919e-01 -3.46913799e-03 1.34629440e+02] [ 9.73756667e-01 -1.36603664e-02 -2.27181312e-01 1.23210975e+02] [ 2.27107551e-01 -6.74861654e-03 9.73846300e-01 1.68159726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440371743 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:134.63, Y:123.24, Z:16.82 [[-1.31098705e-02 -9.99908231e-01 -3.41482294e-03 1.34628340e+02] [ 9.73656187e-01 -1.19880318e-02 -2.27705769e-01 1.23237688e+02] [ 2.27643935e-01 -6.31005663e-03 9.73723997e-01 1.68220137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.470371743 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:134.63, Y:123.27, Z:16.83 [[-1.19643907e-02 -9.99922807e-01 -3.35154297e-03 1.34626932e+02] [ 9.73545011e-01 -1.08837704e-02 -2.28235964e-01 1.23265235e+02] [ 2.28181868e-01 -5.99358219e-03 9.73600078e-01 1.68280096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500371743 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:134.62, Y:123.29, Z:16.84 [[-1.08584418e-02 -9.99935599e-01 -3.30045945e-03 1.34624601e+02] [ 9.73279660e-01 -9.81176332e-03 -2.29413234e-01 1.23292374e+02] [ 2.29366076e-01 -5.70334029e-03 9.73323520e-01 1.68350392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.530371743 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:134.62, Y:123.32, Z:16.84 [[-1.20464162e-02 -9.99922172e-01 -3.24560623e-03 1.34622112e+02] [ 9.73041627e-01 -1.09748339e-02 -2.30368281e-01 1.23318503e+02] [ 2.30314732e-01 -5.93322217e-03 9.73098105e-01 1.68411314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560371743 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:134.62, Y:123.35, Z:16.85 [[-1.39083600e-02 -9.99898176e-01 -3.19287243e-03 1.34620730e+02] [ 9.72855935e-01 -1.27943957e-02 -2.31057640e-01 1.23345973e+02] [ 2.30993262e-01 -6.31983772e-03 9.72934824e-01 1.68471823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.590371743 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:134.62, Y:123.37, Z:16.85 [[-1.58628061e-02 -9.99869283e-01 -3.12877598e-03 1.34619560e+02] [ 9.72755927e-01 -1.47086734e-02 -2.31364563e-01 1.23372838e+02] [ 2.31288300e-01 -6.71362657e-03 9.72862092e-01 1.68530578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620371743 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:134.62, Y:123.40, Z:16.86 [[-2.03750351e-02 -9.99787678e-01 -3.07527944e-03 1.34617688e+02] [ 9.72404586e-01 -1.91017766e-02 -2.32517618e-01 1.23400123e+02] [ 2.32409506e-01 -7.72797044e-03 9.72587323e-01 1.68594246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.650371743 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:134.62, Y:123.43, Z:16.86 [[-2.42731615e-02 -9.99700837e-01 -3.00820250e-03 1.34615810e+02] [ 9.72289879e-01 -2.29075336e-02 -2.32653468e-01 1.23426427e+02] [ 2.32514957e-01 -8.57208005e-03 9.72555044e-01 1.68649422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680371743 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:134.61, Y:123.45, Z:16.87 [[-2.60433348e-02 -9.99656498e-01 -2.93778797e-03 1.34614956e+02] [ 9.72212815e-01 -2.46442181e-02 -2.32797991e-01 1.23453931e+02] [ 2.32645625e-01 -8.91899113e-03 9.72520676e-01 1.68715514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.710371743 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:134.61, Y:123.48, Z:16.88 [[-2.75098570e-02 -9.99617412e-01 -2.87017010e-03 1.34613927e+02] [ 9.72133078e-01 -2.60845467e-02 -2.32973978e-01 1.23481521e+02] [ 2.32809977e-01 -9.19926811e-03 9.72478734e-01 1.68779492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740371743 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:134.61, Y:123.51, Z:16.88 [[-2.84423011e-02 -9.99591504e-01 -2.80360909e-03 1.34611464e+02] [ 9.72012746e-01 -2.70030286e-02 -2.33371075e-01 1.23507611e+02] [ 2.33200037e-01 -9.36275414e-03 9.72383711e-01 1.68845203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.770371743 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:134.61, Y:123.53, Z:16.89 [[-2.86676000e-02 -9.99585243e-01 -2.74042598e-03 1.34610030e+02] [ 9.71970422e-01 -2.72354102e-02 -2.33520303e-01 1.23534633e+02] [ 2.33348813e-01 -9.35807964e-03 9.72348064e-01 1.68903214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800371743 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:134.61, Y:123.56, Z:16.90 [[-2.70191015e-02 -9.99631343e-01 -2.67319599e-03 1.34607481e+02] [ 9.71952954e-01 -2.56458293e-02 -2.33772853e-01 1.23561171e+02] [ 2.33618114e-01 -8.91455317e-03 9.72287564e-01 1.68961127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.830371743 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:134.61, Y:123.59, Z:16.90 [[-2.59091099e-02 -9.99660891e-01 -2.61153664e-03 1.34606542e+02] [ 9.71930838e-01 -2.45791524e-02 -2.33979299e-01 1.23587992e+02] [ 2.33835765e-01 -8.60042837e-03 9.72238072e-01 1.69022054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86037174300003 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:134.60, Y:123.62, Z:16.91 [[-2.38734152e-02 -9.99711758e-01 -2.54187472e-03 1.34604053e+02] [ 9.71955826e-01 -2.26154381e-02 -2.34073523e-01 1.23615623e+02] [ 2.33948567e-01 -8.05872433e-03 9.72215575e-01 1.69076877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.890371743 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:134.60, Y:123.64, Z:16.91 [[-2.32666206e-02 -9.99726232e-01 -2.47502325e-03 1.34603471e+02] [ 9.71928566e-01 -2.20397736e-02 -2.34241568e-01 1.23641586e+02] [ 2.34122891e-01 -7.85555548e-03 9.72175273e-01 1.69138199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.920371743 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:134.60, Y:123.67, Z:16.92 [[-2.30656503e-02 -9.99731008e-01 -2.42625503e-03 1.34602590e+02] [ 9.71912557e-01 -2.18551412e-02 -2.34325273e-01 1.23668532e+02] [ 2.34209215e-01 -7.76297254e-03 9.72155224e-01 1.69194992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.950371743 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:134.60, Y:123.69, Z:16.93 [[-2.29002983e-02 -9.99734966e-01 -2.36101206e-03 1.34600741e+02] [ 9.71794827e-01 -2.17057150e-02 -2.34826905e-01 1.23694995e+02] [ 2.34713420e-01 -7.67202548e-03 9.72034336e-01 1.69250342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.980371743 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:134.60, Y:123.72, Z:16.93 [[-2.38669355e-02 -9.99712491e-01 -2.30340993e-03 1.34599320e+02] [ 9.71598153e-01 -2.26530149e-02 -2.35550145e-01 1.23722630e+02] [ 2.35430243e-01 -7.85984895e-03 9.71859467e-01 1.69301752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.010371743 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:134.60, Y:123.75, Z:16.94 [[-2.32349472e-02 -9.99726090e-01 2.80739845e-03 1.34598536e+02] [ 9.71331579e-01 -2.32394062e-02 -2.36590137e-01 1.23746296e+02] [ 2.36590575e-01 -2.77024458e-03 9.71605489e-01 1.69362070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.040371743 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:134.60, Y:123.78, Z:16.94 [[-2.79065284e-02 -9.99596346e-01 -5.32636678e-03 1.34599751e+02] [ 9.71571452e-01 -2.58701814e-02 -2.35328806e-01 1.23775338e+02] [ 2.35096021e-01 -1.17421559e-02 9.71901221e-01 1.69421684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.070371743 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:134.60, Y:123.80, Z:16.95 [[-2.91289451e-02 -9.99573492e-01 -2.08314162e-03 1.34599316e+02] [ 9.71556301e-01 -2.78223872e-02 -2.35168598e-01 1.23801963e+02] [ 2.35010339e-01 -8.87410256e-03 9.71952360e-01 1.69484594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.100371743 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:134.60, Y:123.83, Z:16.95 [[-2.94002521e-02 -9.99565652e-01 -2.03299605e-03 1.34599476e+02] [ 9.71548267e-01 -2.80978705e-02 -2.35169032e-01 1.23829751e+02] [ 2.35009764e-01 -8.88918263e-03 9.71952362e-01 1.69546378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130371743 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:134.60, Y:123.86, Z:16.96 [[-3.25720213e-02 -9.99467468e-01 -1.96078874e-03 1.34599160e+02] [ 9.71639825e-01 -3.12052866e-02 -2.34397699e-01 1.23857073e+02] [ 2.34211688e-01 -9.53998729e-03 9.72138814e-01 1.69605591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.160371743 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:134.60, Y:123.88, Z:16.97 [[-3.46157121e-02 -9.99398914e-01 -1.88761753e-03 1.34599336e+02] [ 9.71670166e-01 -3.32133245e-02 -2.33995650e-01 1.23884498e+02] [ 2.33792305e-01 -9.93406769e-03 9.72235811e-01 1.69666902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190371743 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:134.60, Y:123.91, Z:16.97 [[-3.84356294e-02 -9.99259439e-01 -1.80984826e-03 1.34600039e+02] [ 9.71788553e-01 -3.69570871e-02 -2.32940296e-01 1.23911774e+02] [ 2.32700903e-01 -1.07119967e-02 9.72489354e-01 1.69727478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.220371743 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:134.60, Y:123.94, Z:16.98 [[-4.05726519e-02 -9.99175071e-01 -1.74292027e-03 1.34600613e+02] [ 9.71603959e-01 -3.90460156e-02 -2.33369138e-01 1.23939368e+02] [ 2.33108571e-01 -1.11618331e-02 9.72386655e-01 1.69794110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250371743 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:134.60, Y:123.97, Z:16.99 [[-4.42481794e-02 -9.99019162e-01 -1.67702174e-03 1.34601379e+02] [ 9.71365610e-01 -4.26309974e-02 -2.33733715e-01 1.23965352e+02] [ 2.33432967e-01 -1.19712926e-02 9.72299202e-01 1.69857929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.280371743 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:134.60, Y:123.99, Z:16.99 [[-4.61753079e-02 -9.98932022e-01 -1.62966573e-03 1.34601239e+02] [ 9.71212746e-01 -4.45122143e-02 -2.34018088e-01 1.23992613e+02] [ 2.33695622e-01 -1.23886094e-02 9.72230877e-01 1.69919690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310371743 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:134.60, Y:124.02, Z:17.00 [[-4.89211480e-02 -9.98801425e-01 -1.56022394e-03 1.34600184e+02] [ 9.71053045e-01 -4.71962640e-02 -2.34154855e-01 1.24019950e+02] [ 2.33800566e-01 -1.29701845e-02 9.72198061e-01 1.69981964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.340371743 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:134.60, Y:124.05, Z:17.01 [[-4.99008921e-02 -9.98753062e-01 -1.49036373e-03 1.34599923e+02] [ 9.70965457e-01 -4.81628748e-02 -2.34321186e-01 1.24047288e+02] [ 2.33957222e-01 -1.31399279e-02 9.72158094e-01 1.70055158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370371743 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:134.60, Y:124.07, Z:17.01 [[-5.11224383e-02 -9.98691384e-01 -1.41968967e-03 1.34599309e+02] [ 9.70917496e-01 -4.93676836e-02 -2.34269178e-01 1.24074386e+02] [ 2.33892523e-01 -1.33548131e-02 9.72170734e-01 1.70115245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.400371743 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:134.60, Y:124.10, Z:17.02 [[-5.23981810e-02 -9.98625368e-01 -1.34327759e-03 1.34598624e+02] [ 9.71127406e-01 -5.06417726e-02 -2.33124371e-01 1.24100885e+02] [ 2.32735885e-01 -1.35197867e-02 9.72446000e-01 1.70182000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430371743 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:134.60, Y:124.12, Z:17.03 [[-5.29368401e-02 -9.98519471e-01 -1.25122990e-02 1.34598376e+02] [ 9.71547549e-01 -4.86022108e-02 -2.31804195e-01 1.24123345e+02] [ 2.30852876e-01 -2.44272750e-02 9.72681992e-01 1.70269977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.460371743 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:134.59, Y:124.15, Z:17.03 [[-5.37714494e-02 -9.98470437e-01 1.28615083e-02 1.34592357e+02] [ 9.70896591e-01 -5.52882022e-02 -2.33030095e-01 1.24154820e+02] [ 2.33384750e-01 -4.31714082e-05 9.72384470e-01 1.70306640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490371743 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:134.59, Y:124.18, Z:17.04 [[-5.46927469e-02 -9.98502520e-01 -1.19220100e-03 1.34594717e+02] [ 9.70968738e-01 -5.29060537e-02 -2.33282359e-01 1.24182443e+02] [ 2.32869949e-01 -1.39164429e-02 9.72408309e-01 1.70359442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.520371743 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:134.59, Y:124.21, Z:17.04 [[-5.60040548e-02 -9.98429912e-01 -1.12106720e-03 1.34592783e+02] [ 9.70898622e-01 -5.41978351e-02 -2.33277649e-01 1.24209734e+02] [ 2.32850623e-01 -1.41529368e-02 9.72409524e-01 1.70414359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550371743 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:134.59, Y:124.24, Z:17.05 [[-5.66262691e-02 -9.98394893e-01 -1.05081863e-03 1.34591882e+02] [ 9.70866126e-01 -5.48193956e-02 -2.33267654e-01 1.24235739e+02] [ 2.32835629e-01 -1.42292812e-02 9.72412000e-01 1.70476323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.580371743 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:134.59, Y:124.26, Z:17.05 [[-5.78856266e-02 -9.98322732e-01 -9.87993292e-04 1.34589837e+02] [ 9.70725218e-01 -5.60542994e-02 -2.33560414e-01 1.24262506e+02] [ 2.33113289e-01 -1.44788609e-02 9.72341790e-01 1.70542302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61037174300003 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:134.59, Y:124.29, Z:17.06 [[-5.84938439e-02 -9.98287346e-01 -9.19500106e-04 1.34588550e+02] [ 9.70666899e-01 -5.66602302e-02 -2.33656562e-01 1.24288682e+02] [ 2.33204290e-01 -1.45599988e-02 9.72318757e-01 1.70596932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.640371743 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:134.58, Y:124.32, Z:17.07 [[-5.84243136e-02 -9.98281737e-01 4.49156903e-03 1.34584842e+02] [ 9.70293185e-01 -5.78432425e-02 -2.34915506e-01 1.24315081e+02] [ 2.34771666e-01 -9.36663836e-03 9.72005417e-01 1.70666130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.670371743 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:134.59, Y:124.34, Z:17.07 [[-6.06067151e-02 -9.98149561e-01 -4.92755217e-03 1.34586120e+02] [ 9.70770349e-01 -5.77942835e-02 -2.32947957e-01 1.24343177e+02] [ 2.32232116e-01 -1.89017320e-02 9.72476719e-01 1.70722079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.700371743 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:134.58, Y:124.37, Z:17.08 [[-6.31544763e-02 -9.98003480e-01 -7.52477930e-04 1.34583331e+02] [ 9.70682399e-01 -6.12503270e-02 -2.32430804e-01 1.24370586e+02] [ 2.31920662e-01 -1.54094628e-02 9.72612644e-01 1.70784884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.730371743 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:134.58, Y:124.40, Z:17.08 [[-6.49812713e-02 -9.97886249e-01 -6.84401265e-04 1.34582688e+02] [ 9.70492140e-01 -6.30377667e-02 -2.32747172e-01 1.24397812e+02] [ 2.32212060e-01 -1.57884132e-02 9.72537035e-01 1.70837106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.760371743 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:134.58, Y:124.42, Z:17.09 [[-6.82876004e-02 -9.97665486e-01 -6.17478438e-04 1.34581256e+02] [ 9.70069139e-01 -6.62541122e-02 -2.33615620e-01 1.24424082e+02] [ 2.33029331e-01 -1.65520469e-02 9.72328834e-01 1.70889184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.790371743 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:134.58, Y:124.45, Z:17.10 [[-6.98077229e-02 -9.97560316e-01 -5.45171716e-04 1.34580336e+02] [ 9.69935151e-01 -6.77468145e-02 -2.33743818e-01 1.24451486e+02] [ 2.33136624e-01 -1.68459049e-02 9.72298067e-01 1.70951664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.820371743 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:134.58, Y:124.48, Z:17.10 [[-7.16807005e-02 -9.97427517e-01 -4.75175901e-04 1.34578969e+02] [ 9.69644802e-01 -6.95724059e-02 -2.34411258e-01 1.24478924e+02] [ 2.33775180e-01 -1.72635150e-02 9.72137406e-01 1.71012998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.850371743 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:134.58, Y:124.51, Z:17.11 [[-7.26474415e-02 -9.97357602e-01 -4.03898231e-04 1.34575819e+02] [ 9.69638276e-01 -7.05335445e-02 -2.34150878e-01 1.24505090e+02] [ 2.33503670e-01 -1.74020974e-02 9.72200187e-01 1.71079970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880371743 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:134.57, Y:124.53, Z:17.12 [[-7.30083311e-02 -9.97331273e-01 -3.38742309e-04 1.34572192e+02] [ 9.69736917e-01 -7.09089707e-02 -2.33628401e-01 1.24531868e+02] [ 2.32980891e-01 -1.73853106e-02 9.72325900e-01 1.71152744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.910371743 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:134.57, Y:124.56, Z:17.12 [[-7.35244140e-02 -9.97293382e-01 -2.67404066e-04 1.34570299e+02] [ 9.69906647e-01 -7.14429458e-02 -2.32759538e-01 1.24558474e+02] [ 2.32110443e-01 -1.73728656e-02 9.72534280e-01 1.71213463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940371743 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:134.57, Y:124.60, Z:17.12 [[-6.76645152e-02 -9.97389331e-01 2.52197368e-02 1.34569585e+02] [ 9.72084664e-01 -7.15976392e-02 -2.23439444e-01 1.24596325e+02] [ 2.24661791e-01 9.39679772e-03 9.74391492e-01 1.71214643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.970371743 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:134.57, Y:124.62, Z:17.13 [[-7.54778022e-02 -9.96896304e-01 -2.23799180e-02 1.34570068e+02] [ 9.68787299e-01 -6.79979424e-02 -2.38385087e-01 1.24622536e+02] [ 2.36123423e-01 -3.96741627e-02 9.70912813e-01 1.71317551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000371743 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:134.56, Y:124.62, Z:17.13 [[-7.25276857e-02 -9.97365426e-01 1.39378526e-03 1.34562001e+02] [ 9.68467953e-01 -7.07601071e-02 -2.38878279e-01 1.24621598e+02] [ 2.38347561e-01 -1.59754524e-02 9.71048519e-01 1.71332786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.030371743 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:134.56, Y:124.59, Z:17.12 [[-5.55524721e-02 -9.98091917e-01 2.69527060e-02 1.34558182e+02] [ 9.73605957e-01 -6.01351608e-02 -2.20170848e-01 1.24592918e+02] [ 2.21371549e-01 1.40102802e-02 9.75088893e-01 1.71179415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060371743 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:134.56, Y:124.61, Z:17.13 [[-6.04844238e-02 -9.97366519e-01 -4.00207530e-02 1.34562985e+02] [ 9.71734888e-01 -4.96692163e-02 -2.30790545e-01 1.24608826e+02] [ 2.28194963e-01 -5.28487951e-02 9.72180057e-01 1.71278997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.090371743 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:134.54, Y:124.65, Z:17.12 [[-4.75749367e-02 -9.96914486e-01 6.24350234e-02 1.34544896e+02] [ 9.74883005e-01 -5.99570216e-02 -2.14495413e-01 1.24651049e+02] [ 2.17577003e-01 5.06622375e-02 9.74727442e-01 1.71249214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120371743 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:134.56, Y:124.68, Z:17.13 [[-4.74459423e-02 -9.98389529e-01 -3.11003376e-02 1.34563531e+02] [ 9.74639014e-01 -3.94555123e-02 -2.20277223e-01 1.24676763e+02] [ 2.18695393e-01 -4.07628628e-02 9.74941390e-01 1.71295799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.150371743 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:134.55, Y:124.68, Z:17.13 [[-4.43718521e-02 -9.98992390e-01 -6.73369587e-03 1.34551935e+02] [ 9.74036783e-01 -4.17636215e-02 -2.22504258e-01 1.24676018e+02] [ 2.21998837e-01 -1.64317935e-02 9.74908464e-01 1.71338937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180371743 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:134.55, Y:124.67, Z:17.13 [[-4.06162423e-02 -9.99146096e-01 7.57629603e-03 1.34546296e+02] [ 9.75173112e-01 -4.12914265e-02 -2.17560151e-01 1.24674936e+02] [ 2.17687211e-01 -1.44827562e-03 9.76017510e-01 1.71334016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.210371743 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:134.54, Y:124.67, Z:17.13 [[-3.50819553e-02 -9.99328262e-01 -1.05963181e-02 1.34544737e+02] [ 9.74376334e-01 -3.18450619e-02 -2.22658149e-01 1.24672021e+02] [ 2.22171141e-01 -1.81360848e-02 9.74838995e-01 1.71325922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240371743 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:134.54, Y:124.67, Z:17.13 [[-3.41478879e-02 -9.99353549e-01 -1.12430732e-02 1.34541987e+02] [ 9.73541249e-01 -3.07183851e-02 -2.26437226e-01 1.24672226e+02] [ 2.25945476e-01 -1.86779486e-02 9.73960870e-01 1.71345653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.270371743 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:134.53, Y:124.69, Z:17.15 [[-4.14120913e-02 -9.99012027e-01 -1.61247751e-02 1.34531643e+02] [ 9.70094839e-01 -3.63397664e-02 -2.39990470e-01 1.24691799e+02] [ 2.39167395e-01 -2.55810683e-02 9.70641317e-01 1.71459824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300371743 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:134.53, Y:124.67, Z:17.13 [[-2.69147793e-02 -9.99224794e-01 2.87298654e-02 1.34526059e+02] [ 9.74740224e-01 -3.26080148e-02 -2.20948440e-01 1.24666320e+02] [ 2.21713983e-01 2.20573769e-02 9.74862237e-01 1.71346310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.330371743 meters Centerline goodness : 0.989394 Centerline is valid? [True, True] Translation: X:134.54, Y:124.65, Z:17.12 [[-2.18780417e-02 -9.99613367e-01 -1.71600726e-02 1.34535328e+02] [ 9.76765785e-01 -1.77115831e-02 -2.13576452e-01 1.24652911e+02] [ 2.13189944e-01 -2.14340063e-02 9.76775630e-01 1.71236563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36037174300003 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:134.52, Y:124.65, Z:17.13 [[-1.91507111e-02 -9.99562773e-01 2.25280704e-02 1.34524812e+02] [ 9.77088977e-01 -2.34876087e-02 -2.11531236e-01 1.24651275e+02] [ 2.11967879e-01 1.79609557e-02 9.77111571e-01 1.71253967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.390371743 meters Centerline goodness : 0.987784 Centerline is valid? [True, True] Translation: X:134.53, Y:124.68, Z:17.13 [[-2.12731034e-02 -9.99667920e-01 -1.45432024e-02 1.34530254e+02] [ 9.77087418e-01 -1.77069405e-02 -2.12100548e-01 1.24680509e+02] [ 2.11772598e-01 -1.87220170e-02 9.77139628e-01 1.71285055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.420371743 meters Centerline goodness : 0.988078 Centerline is valid? [True, True] Translation: X:134.53, Y:124.71, Z:17.14 [[-2.48728343e-02 -9.99468686e-01 -2.10639010e-02 1.34528349e+02] [ 9.75944898e-01 -1.97115015e-02 -2.17124420e-01 1.24706062e+02] [ 2.16593857e-01 -2.59577064e-02 9.75916645e-01 1.71396143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.450371743 meters Centerline goodness : 0.987218 Centerline is valid? [True, True] Translation: X:134.52, Y:124.73, Z:17.15 [[-2.71003899e-02 -9.99581853e-01 -1.00840655e-02 1.34522508e+02] [ 9.75348193e-01 -2.42306383e-02 -2.19337136e-01 1.24733375e+02] [ 2.19001078e-01 -1.57795970e-02 9.75597013e-01 1.71476826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.480371743 meters Centerline goodness : 0.988194 Centerline is valid? [True, True] Translation: X:134.51, Y:124.75, Z:17.16 [[-3.78960823e-02 -9.98754594e-01 -3.24522284e-02 1.34514525e+02] [ 9.73510793e-01 -2.95714826e-02 -2.26720672e-01 1.24745805e+02] [ 2.25478652e-01 -4.01844199e-02 9.73419021e-01 1.71574342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.510371743 meters Centerline goodness : 0.985461 Centerline is valid? [True, True] Translation: X:134.52, Y:124.78, Z:17.17 [[-3.14908090e-02 -9.99503907e-01 -5.18817917e-04 1.34516500e+02] [ 9.73562648e-01 -3.05559907e-02 -2.26367185e-01 1.24784115e+02] [ 2.26239033e-01 -7.63358755e-03 9.74041903e-01 1.71680567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.540371743 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:134.51, Y:124.81, Z:17.18 [[-5.00254220e-02 -9.98741320e-01 -3.63773457e-03 1.34506699e+02] [ 9.72690248e-01 -4.78933489e-02 -2.27112107e-01 1.24813030e+02] [ 2.26652023e-01 -1.48997680e-02 9.73861827e-01 1.71752915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.570371743 meters Centerline goodness : 0.984473 Centerline is valid? [True, True] Translation: X:134.52, Y:124.79, Z:17.17 [[-3.67140906e-02 -9.99246652e-01 -1.25779420e-02 1.34516423e+02] [ 9.71507119e-01 -3.27401422e-02 -2.34738156e-01 1.24789403e+02] [ 2.34149512e-01 -2.08377581e-02 9.71977260e-01 1.71739863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.600371743 meters Centerline goodness : 0.985068 Centerline is valid? [True, True] Translation: X:134.50, Y:124.82, Z:17.18 [[-5.36659487e-02 -9.98503170e-01 1.05539071e-02 1.34500793e+02] [ 9.72722860e-01 -5.46631656e-02 -2.25437743e-01 1.24818264e+02] [ 2.25677211e-01 -1.83230360e-03 9.74200410e-01 1.71799365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630371743 meters Centerline goodness : 0.984623 Centerline is valid? [True, True] Translation: X:134.51, Y:124.79, Z:17.17 [[-3.68106883e-02 -9.99318491e-01 -2.74351336e-03 1.34513272e+02] [ 9.73286854e-01 -3.52289372e-02 -2.26873579e-01 1.24792671e+02] [ 2.26622312e-01 -1.10215981e-02 9.73920352e-01 1.71727626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.660371743 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:134.50, Y:124.81, Z:17.17 [[-4.58069166e-02 -9.98947091e-01 -2.53678038e-03 1.34499968e+02] [ 9.72830419e-01 -4.40321310e-02 -2.27293087e-01 1.24807271e+02] [ 2.26942068e-01 -1.28794526e-02 9.73823094e-01 1.71747389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690371743 meters Centerline goodness : 0.985958 Centerline is valid? [True, True] Translation: X:134.50, Y:124.83, Z:17.18 [[-4.49142603e-02 -9.98990838e-01 -1.20858192e-04 1.34498547e+02] [ 9.72729126e-01 -4.37059854e-02 -2.27789013e-01 1.24833297e+02] [ 2.27553854e-01 -1.03485373e-02 9.73710507e-01 1.71810676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.720371743 meters Centerline goodness : 0.984155 Centerline is valid? [True, True] Translation: X:134.49, Y:124.88, Z:17.18 [[-3.07357356e-02 -9.97448544e-01 6.44338117e-02 1.34494928e+02] [ 9.76006291e-01 -4.38526491e-02 -2.13280719e-01 1.24881159e+02] [ 2.15562136e-01 5.63324657e-02 9.74863898e-01 1.71804987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750371743 meters Centerline goodness : 0.983116 Centerline is valid? [True, True] Translation: X:134.51, Y:124.89, Z:17.17 [[-3.01786961e-02 -9.99204905e-01 -2.60538748e-02 1.34514632e+02] [ 9.74211524e-01 -2.35726356e-02 -2.24401954e-01 1.24893696e+02] [ 2.23609375e-01 -3.21541435e-02 9.74148325e-01 1.71748604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.780371743 meters Centerline goodness : 0.981881 Centerline is valid? [True, True] Translation: X:134.51, Y:124.89, Z:17.18 [[-3.01177371e-02 -9.99106240e-01 -2.96587746e-02 1.34512971e+02] [ 9.73346554e-01 -2.25662516e-02 -2.28226314e-01 1.24889660e+02] [ 2.27353047e-01 -3.57419261e-02 9.73156260e-01 1.71791682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810371743 meters Centerline goodness : 0.984396 Centerline is valid? [True, True] Translation: X:134.49, Y:124.93, Z:17.20 [[-4.64254098e-02 -9.98910744e-01 -4.69114719e-03 1.34492538e+02] [ 9.68986613e-01 -4.38925996e-02 -2.43183849e-01 1.24928349e+02] [ 2.42713053e-01 -1.58355686e-02 9.69968870e-01 1.71997469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.840371743 meters Centerline goodness : 0.981622 Centerline is valid? [True, True] Translation: X:134.50, Y:124.89, Z:17.19 [[-2.51711687e-02 -9.99527893e-01 1.76182732e-02 1.34496953e+02] [ 9.72140621e-01 -2.85822872e-02 -2.32649233e-01 1.24892083e+02] [ 2.33042968e-01 1.12713859e-02 9.72401116e-01 1.71887057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870371743 meters Centerline goodness : 0.982460 Centerline is valid? [True, True] Translation: X:134.50, Y:124.91, Z:17.19 [[-2.86340800e-02 -9.99263929e-01 -2.55282301e-02 1.34502513e+02] [ 9.68907595e-01 -2.14671299e-02 -2.46489827e-01 1.24906533e+02] [ 2.45760375e-01 -3.17925055e-02 9.68809101e-01 1.71936057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.900371743 meters Centerline goodness : 0.981761 Centerline is valid? [True, True] Translation: X:134.49, Y:124.90, Z:17.19 [[-2.69486827e-02 -9.99613575e-01 6.81682706e-03 1.34494510e+02] [ 9.70384927e-01 -2.77970974e-02 -2.39959194e-01 1.24902467e+02] [ 2.40055956e-01 1.48362026e-04 9.70759041e-01 1.71934830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930371743 meters Centerline goodness : 0.982200 Centerline is valid? [True, True] Translation: X:134.50, Y:124.91, Z:17.19 [[-2.98549038e-02 -9.99518843e-01 -8.41234266e-03 1.34495125e+02] [ 9.69768101e-01 -2.69249724e-02 -2.42538401e-01 1.24909019e+02] [ 2.42195200e-01 -1.53989822e-02 9.70105333e-01 1.71945956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.960371743 meters Centerline goodness : 0.981372 Centerline is valid? [True, True] Translation: X:134.49, Y:124.91, Z:17.20 [[-3.19528782e-02 -9.99481645e-01 -3.93123889e-03 1.34493041e+02] [ 9.69794390e-01 -3.00516819e-02 -2.42065564e-01 1.24911412e+02] [ 2.41821947e-01 -1.15471849e-02 9.70251930e-01 1.71959613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990371743 meters Centerline goodness : 0.981491 Centerline is valid? [True, True] Translation: X:134.49, Y:124.91, Z:17.19 [[-3.21756902e-02 -9.99479668e-01 2.26235229e-03 1.34491869e+02] [ 9.71155216e-01 -3.17987708e-02 -2.36318397e-01 1.24908926e+02] [ 2.36267373e-01 -5.40661231e-03 9.71673040e-01 1.71929751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.020371743 meters Centerline goodness : 0.981491 Centerline is valid? [True, True] Translation: X:134.49, Y:124.94, Z:17.20 [[-3.30800782e-02 -9.99405078e-01 -9.75693709e-03 1.34494363e+02] [ 9.71187577e-01 -2.98377712e-02 -2.36441107e-01 1.24937470e+02] [ 2.36009317e-01 -1.72973064e-02 9.71596833e-01 1.71977550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050371743 meters Centerline goodness : 0.984113 Centerline is valid? [True, True] Translation: X:134.48, Y:124.95, Z:17.20 [[-4.92892901e-02 -9.98581868e-01 -2.01201118e-02 1.34480768e+02] [ 9.69757898e-01 -4.30259079e-02 -2.40246521e-01 1.24949763e+02] [ 2.39040134e-01 -3.13532177e-02 9.70503370e-01 1.72041203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.080371743 meters Centerline goodness : 0.982272 Centerline is valid? [True, True] Translation: X:134.47, Y:124.96, Z:17.21 [[-5.47553250e-02 -9.98499796e-01 1.04804206e-04 1.34473454e+02] [ 9.69106532e-01 -5.31687485e-02 -2.40843548e-01 1.24955541e+02] [ 2.40487806e-01 -1.30859003e-02 9.70563947e-01 1.72093858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11037174300003 meters Centerline goodness : 0.983673 Centerline is valid? [True, True] Translation: X:134.47, Y:124.96, Z:17.21 [[-5.72894110e-02 -9.98357613e-01 6.77367890e-06 1.34472448e+02] [ 9.68934012e-01 -5.56026122e-02 -2.40988030e-01 1.24957504e+02] [ 2.40592611e-01 -1.37994991e-02 9.70528088e-01 1.72096802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.140371743 meters Centerline goodness : 0.980787 Centerline is valid? [True, True] Translation: X:134.47, Y:125.01, Z:17.21 [[-5.05577832e-02 -9.95847585e-01 7.57066591e-02 1.34469683e+02] [ 9.72494189e-01 -6.63463055e-02 -2.23278348e-01 1.25008059e+02] [ 2.27374061e-01 6.23358277e-02 9.71810311e-01 1.72102325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.170371743 meters Centerline goodness : 0.975846 Centerline is valid? [True, True] Translation: X:134.50, Y:125.02, Z:17.20 [[-5.82063510e-02 -9.96511530e-01 -5.98062775e-02 1.34502759e+02] [ 9.70247360e-01 -4.23657066e-02 -2.38380382e-01 1.25017687e+02] [ 2.35015064e-01 -7.19021351e-02 9.69328635e-01 1.71950104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.200371743 meters Centerline goodness : 0.981369 Centerline is valid? [True, True] Translation: X:134.47, Y:125.06, Z:17.23 [[-8.51786105e-02 -9.96350902e-01 -5.42997045e-03 1.34470224e+02] [ 9.62028137e-01 -8.08235082e-02 -2.60709462e-01 1.25063498e+02] [ 2.59319238e-01 -2.74306541e-02 9.65402036e-01 1.72312511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.230371743 meters Centerline goodness : 0.981677 Centerline is valid? [True, True] Translation: X:134.47, Y:125.07, Z:17.23 [[-8.79196713e-02 -9.96121184e-01 3.56617955e-03 1.34466602e+02] [ 9.61795891e-01 -8.58207547e-02 -2.59968196e-01 1.25066883e+02] [ 2.59265879e-01 -1.94263815e-02 9.65610594e-01 1.72338240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.260371743 meters Centerline goodness : 0.976162 Centerline is valid? [True, True] Translation: X:134.47, Y:125.32, Z:17.29 [[-8.08707584e-02 -9.96719306e-01 3.24744968e-03 1.34472120e+02] [ 9.66544342e-01 -7.92173106e-02 -2.43960353e-01 1.25319052e+02] [ 2.43417247e-01 -1.65904546e-02 9.69779769e-01 1.72932153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.290371743 meters Centerline goodness : 0.980716 Centerline is valid? [True, True] Translation: X:134.46, Y:125.08, Z:17.24 [[-9.62436293e-02 -9.95351333e-01 3.58989566e-03 1.34463597e+02] [ 9.60800206e-01 -9.38436647e-02 -2.60876082e-01 1.25075058e+02] [ 2.60000245e-01 -2.16584884e-02 9.65365621e-01 1.72357176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.320371743 meters Centerline goodness : 0.981052 Centerline is valid? [True, True] Translation: X:134.46, Y:125.08, Z:17.24 [[-9.97078829e-02 -9.95010627e-01 3.49148973e-03 1.34460561e+02] [ 9.60021725e-01 -9.71229599e-02 -2.62536507e-01 1.25077424e+02] [ 2.61565719e-01 -2.28250533e-02 9.64915743e-01 1.72356942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.350371743 meters Centerline goodness : 0.980864 Centerline is valid? [True, True] Translation: X:134.46, Y:125.09, Z:17.24 [[-1.00510654e-01 -9.94930193e-01 3.39397532e-03 1.34458556e+02] [ 9.59688670e-01 -9.78492664e-02 -2.63482783e-01 1.25086809e+02] [ 2.62479074e-01 -2.32256671e-02 9.64658128e-01 1.72380499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380371743 meters Centerline goodness : 0.974972 Centerline is valid? [True, True] Translation: X:134.46, Y:125.36, Z:17.30 [[-8.82233887e-02 -9.96095861e-01 3.10962314e-03 1.34462611e+02] [ 9.64645633e-01 -8.62153538e-02 -2.49049625e-01 1.25357350e+02] [ 2.48345398e-01 -1.89723175e-02 9.68485733e-01 1.73007498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.410371743 meters Centerline goodness : 0.979975 Centerline is valid? [True, True] Translation: X:134.45, Y:125.08, Z:17.24 [[-1.00871095e-01 -9.94893666e-01 3.40824064e-03 1.34453056e+02] [ 9.59627700e-01 -9.81984576e-02 -2.63574924e-01 1.25080073e+02] [ 2.62563706e-01 -2.33164490e-02 9.64632906e-01 1.72355728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440371743 meters Centerline goodness : 0.974028 Centerline is valid? [True, True] Translation: X:134.46, Y:125.36, Z:17.30 [[-8.80314511e-02 -9.96112842e-01 3.10956594e-03 1.34458414e+02] [ 9.64672769e-01 -8.60302654e-02 -2.49008519e-01 1.25361364e+02] [ 2.48308100e-01 -1.89208677e-02 9.68496303e-01 1.73045317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.470371743 meters Centerline goodness : 0.980913 Centerline is valid? [True, True] Translation: X:134.45, Y:125.08, Z:17.24 [[-9.81840779e-02 -9.95162463e-01 3.39975594e-03 1.34447607e+02] [ 9.60082068e-01 -9.56210263e-02 -2.62866966e-01 1.25083249e+02] [ 2.61920426e-01 -2.25453060e-02 9.64826098e-01 1.72371695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500371743 meters Centerline goodness : 0.978783 Centerline is valid? [True, True] Translation: X:134.42, Y:126.07, Z:17.47 [[-1.10005117e-01 -9.93417988e-01 3.19307799e-02 1.34418768e+02] [ 9.68699915e-01 -1.14349856e-01 -2.20328359e-01 1.26073330e+02] [ 2.22529435e-01 6.69409696e-03 9.74902990e-01 1.74749226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.530371743 meters Centerline goodness : 0.981454 Centerline is valid? [True, True] Translation: X:134.45, Y:125.10, Z:17.24 [[-8.98174313e-02 -9.95683295e-01 -2.34009753e-02 1.34445346e+02] [ 9.61135889e-01 -8.04944895e-02 -2.64080367e-01 1.25100035e+02] [ 2.61056761e-01 -4.62105375e-02 9.64216757e-01 1.72353201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560371743 meters Centerline goodness : 0.973030 Centerline is valid? [True, True] Translation: X:134.45, Y:125.37, Z:17.30 [[-6.61808996e-02 -9.97686180e-01 1.55683696e-02 1.34447802e+02] [ 9.69228862e-01 -6.79850184e-02 -2.36587087e-01 1.25366100e+02] [ 2.37098083e-01 -5.68233081e-04 9.71485551e-01 1.73023611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.590371743 meters Centerline goodness : 0.982226 Centerline is valid? [True, True] Translation: X:134.44, Y:125.10, Z:17.24 [[-8.60695390e-02 -9.96168524e-01 -1.55018095e-02 1.34439994e+02] [ 9.61293037e-01 -7.89484463e-02 -2.63975073e-01 1.25095698e+02] [ 2.61739815e-01 -3.76219944e-02 9.64404923e-01 1.72356950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620371743 meters Centerline goodness : 0.981393 Centerline is valid? [True, True] Translation: X:134.44, Y:125.09, Z:17.24 [[-8.41634381e-02 -9.96450001e-01 1.97748707e-03 1.34435210e+02] [ 9.61091248e-01 -8.17005849e-02 -2.63872371e-01 1.25094780e+02] [ 2.63097186e-01 -2.03078604e-02 9.64555577e-01 1.72393449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.650371743 meters Centerline goodness : 0.972375 Centerline is valid? [True, True] Translation: X:134.44, Y:125.37, Z:17.30 [[-5.99858561e-02 -9.97942405e-01 2.26418333e-02 1.34441871e+02] [ 9.70725447e-01 -6.36049079e-02 -2.31617189e-01 1.25370691e+02] [ 2.32580746e-01 8.08524844e-03 9.72543483e-01 1.73032780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680371743 meters Centerline goodness : 0.981653 Centerline is valid? [True, True] Translation: X:134.44, Y:125.10, Z:17.24 [[-8.25526217e-02 -9.96325968e-01 -2.27953987e-02 1.34437870e+02] [ 9.61606228e-01 -7.36271608e-02 -2.64371904e-01 1.25096016e+02] [ 2.61722233e-01 -4.37447912e-02 9.64151371e-01 1.72352386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.710371743 meters Centerline goodness : 0.974986 Centerline is valid? [True, True] Translation: X:134.44, Y:125.39, Z:17.31 [[-5.96448084e-02 -9.98127667e-01 1.35520359e-02 1.34440191e+02] [ 9.69420472e-01 -6.11562253e-02 -2.37663345e-01 1.25391536e+02] [ 2.38047151e-01 -1.03776364e-03 9.71253045e-01 1.73065565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740371743 meters Centerline goodness : 0.973623 Centerline is valid? [True, True] Translation: X:134.44, Y:125.42, Z:17.31 [[-5.94512554e-02 -9.98188650e-01 9.21772384e-03 1.34439927e+02] [ 9.69518135e-01 -5.99375426e-02 -2.37575413e-01 1.25417678e+02] [ 2.37697569e-01 -5.18740615e-03 9.71325361e-01 1.73108721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.770371743 meters Centerline goodness : 0.981553 Centerline is valid? [True, True] Translation: X:134.43, Y:125.13, Z:17.24 [[-8.27002092e-02 -9.96224457e-01 -2.64103423e-02 1.34433944e+02] [ 9.59508000e-01 -7.24358787e-02 -2.72208453e-01 1.25129484e+02] [ 2.69267662e-01 -4.78526307e-02 9.61875799e-01 1.72403122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800371743 meters Centerline goodness : 0.976503 Centerline is valid? [True, True] Translation: X:134.44, Y:125.44, Z:17.32 [[-6.97254276e-02 -9.97450517e-01 -1.51931065e-02 1.34439160e+02] [ 9.62401829e-01 -6.32516858e-02 -2.64162721e-01 1.25440486e+02] [ 2.62528253e-01 -3.30407322e-02 9.64358453e-01 1.73237030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.830371743 meters Centerline goodness : 0.982766 Centerline is valid? [True, True] Translation: X:134.42, Y:125.13, Z:17.25 [[-8.31792911e-02 -9.96380727e-01 1.75115210e-02 1.34422743e+02] [ 9.58724521e-01 -8.48055019e-02 -2.71395136e-01 1.25133053e+02] [ 2.71897956e-01 -5.78573046e-03 9.62308696e-01 1.72515683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86037174300003 meters Centerline goodness : 0.981187 Centerline is valid? [True, True] Translation: X:134.42, Y:125.14, Z:17.25 [[-8.43045031e-02 -9.96438766e-01 1.59289142e-03 1.34424875e+02] [ 9.59133911e-01 -8.15814108e-02 -2.70936550e-01 1.25137733e+02] [ 2.70101632e-01 -2.13133751e-02 9.62595891e-01 1.72490653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.890371743 meters Centerline goodness : 0.982511 Centerline is valid? [True, True] Translation: X:134.42, Y:125.14, Z:17.25 [[-8.55237137e-02 -9.96335039e-01 1.47801477e-03 1.34423403e+02] [ 9.59166384e-01 -8.27344507e-02 -2.70471549e-01 1.25141053e+02] [ 2.69602564e-01 -2.17140693e-02 9.62726834e-01 1.72496257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.920371743 meters Centerline goodness : 0.982006 Centerline is valid? [True, True] Translation: X:134.42, Y:125.14, Z:17.25 [[-8.53208996e-02 -9.96352589e-01 1.36497829e-03 1.34423720e+02] [ 9.59224257e-01 -8.25118315e-02 -2.70334280e-01 1.25141981e+02] [ 2.69460886e-01 -2.17558437e-02 9.62765555e-01 1.72501765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.950371743 meters Centerline goodness : 0.982974 Centerline is valid? [True, True] Translation: X:134.42, Y:125.15, Z:17.25 [[-8.61835028e-02 -9.96278487e-01 1.25681392e-03 1.34423325e+02] [ 9.58881269e-01 -8.32907007e-02 -2.71310469e-01 1.25146548e+02] [ 2.70405465e-01 -2.21773513e-02 9.62491065e-01 1.72500955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.980371743 meters Centerline goodness : 0.983186 Centerline is valid? [True, True] Translation: X:134.42, Y:125.15, Z:17.25 [[-8.61503632e-02 -9.96281487e-01 1.14606976e-03 1.34423090e+02] [ 9.58742042e-01 -8.32169485e-02 -2.71824641e-01 1.25148485e+02] [ 2.70909230e-01 -2.23190063e-02 9.62346118e-01 1.72501046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.010371743 meters Centerline goodness : 0.982122 Centerline is valid? [True, True] Translation: X:134.42, Y:125.16, Z:17.25 [[-8.65147633e-02 -9.96250030e-01 1.03622000e-03 1.34422303e+02] [ 9.58455575e-01 -8.35163613e-02 -2.72741504e-01 1.25156743e+02] [ 2.71805273e-01 -2.26029959e-02 9.62086793e-01 1.72520463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.040371743 meters Centerline goodness : 0.983314 Centerline is valid? [True, True] Translation: X:134.42, Y:125.16, Z:17.25 [[-8.59169681e-02 -9.96301873e-01 9.23576625e-04 1.34421414e+02] [ 9.58420751e-01 -8.29033756e-02 -2.73050719e-01 1.25156259e+02] [ 2.72117510e-01 -2.25745149e-02 9.61999195e-01 1.72522996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.070371743 meters Centerline goodness : 0.982529 Centerline is valid? [True, True] Translation: X:134.42, Y:125.16, Z:17.25 [[-8.47762482e-02 -9.96399685e-01 8.09754430e-04 1.34421217e+02] [ 9.58518755e-01 -8.17751411e-02 -2.73046925e-01 1.25156377e+02] [ 2.72130088e-01 -2.23717291e-02 9.62000375e-01 1.72530063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.100371743 meters Centerline goodness : 0.981711 Centerline is valid? [True, True] Translation: X:134.42, Y:125.16, Z:17.25 [[-8.31911511e-02 -9.96533366e-01 6.95003179e-04 1.34420577e+02] [ 9.58801651e-01 -8.02313418e-02 -2.72511148e-01 1.25157638e+02] [ 2.71622212e-01 -2.20041459e-02 9.62152374e-01 1.72534148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130371743 meters Centerline goodness : 0.983830 Centerline is valid? [True, True] Translation: X:134.42, Y:125.16, Z:17.25 [[-8.11062741e-02 -9.96705290e-01 5.80884802e-04 1.34420351e+02] [ 9.59118035e-01 -7.82061494e-02 -2.71986017e-01 1.25159692e+02] [ 2.71135331e-01 -2.15026354e-02 9.62301028e-01 1.72547402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.160371743 meters Centerline goodness : 0.983310 Centerline is valid? [True, True] Translation: X:134.42, Y:125.16, Z:17.26 [[-7.98830582e-02 -9.96804132e-01 4.67925856e-04 1.34419504e+02] [ 9.59218227e-01 -7.69986280e-02 -2.71977213e-01 1.25162631e+02] [ 2.71144039e-01 -2.12775285e-02 9.62303578e-01 1.72553431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190371743 meters Centerline goodness : 0.975990 Centerline is valid? [True, True] Translation: X:134.43, Y:125.49, Z:17.33 [[-6.13201014e-02 -9.98116743e-01 1.67688050e-03 1.34430347e+02] [ 9.66787368e-01 -5.98128213e-02 -2.48484630e-01 1.25488113e+02] [ 2.48116969e-01 -1.36159158e-02 9.68634388e-01 1.73346833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.220371743 meters Centerline goodness : 0.982516 Centerline is valid? [True, True] Translation: X:134.42, Y:125.51, Z:17.35 [[-7.25289627e-02 -9.97344860e-01 -6.54056993e-03 1.34418629e+02] [ 9.60020732e-01 -6.80339500e-02 -2.71535588e-01 1.25507935e+02] [ 2.70369642e-01 -2.59732772e-02 9.62406175e-01 1.73465836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250371743 meters Centerline goodness : 0.983344 Centerline is valid? [True, True] Translation: X:134.42, Y:125.53, Z:17.36 [[-7.13959232e-02 -9.97447820e-01 -6.84666840e-04 1.34417272e+02] [ 9.60016978e-01 -6.85303652e-02 -2.71424006e-01 1.25534025e+02] [ 2.70684362e-01 -2.00358592e-02 9.62459631e-01 1.73553231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.280371743 meters Centerline goodness : 0.979957 Centerline is valid? [True, True] Translation: X:134.42, Y:125.55, Z:17.34 [[-6.55708182e-02 -9.97630314e-01 -2.08380730e-02 1.34421390e+02] [ 9.67200370e-01 -5.84071774e-02 -2.47208506e-01 1.25553238e+02] [ 2.45405606e-01 -3.63642559e-02 9.68738215e-01 1.73436561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310371743 meters Centerline goodness : 0.979473 Centerline is valid? [True, True] Translation: X:134.42, Y:125.58, Z:17.36 [[-6.27492575e-02 -9.98023864e-01 3.30120752e-03 1.34417542e+02] [ 9.67094028e-01 -6.16210873e-02 -2.46844043e-01 1.25579244e+02] [ 2.46559670e-01 -1.22967024e-02 9.69049596e-01 1.73558968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.340371743 meters Centerline goodness : 0.983512 Centerline is valid? [True, True] Translation: X:134.41, Y:125.61, Z:17.38 [[-6.21857267e-02 -9.97440016e-01 3.53036705e-02 1.34413117e+02] [ 9.60037004e-01 -6.94498950e-02 -2.71119278e-01 1.25610070e+02] [ 2.72877053e-01 1.70330808e-02 9.61898117e-01 1.73835065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370371743 meters Centerline goodness : 0.983552 Centerline is valid? [True, True] Translation: X:134.42, Y:125.64, Z:17.38 [[-6.26391155e-02 -9.98035711e-01 -1.03035716e-03 1.34421459e+02] [ 9.60607599e-01 -6.00098978e-02 -2.71351899e-01 1.25639318e+02] [ 2.70757053e-01 -1.79870118e-02 9.62479655e-01 1.73820344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.400371743 meters Centerline goodness : 0.983960 Centerline is valid? [True, True] Translation: X:134.42, Y:125.67, Z:17.39 [[-6.18854646e-02 -9.98082808e-01 -9.47696362e-04 1.34422165e+02] [ 9.60705541e-01 -5.93104420e-02 -2.71158873e-01 1.25666011e+02] [ 2.70582802e-01 -1.76912500e-02 9.62534138e-01 1.73894735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430371743 meters Centerline goodness : 0.983801 Centerline is valid? [True, True] Translation: X:134.42, Y:125.69, Z:17.40 [[-6.06154094e-02 -9.98160821e-01 -8.64404089e-04 1.34423488e+02] [ 9.60935416e-01 -5.81204786e-02 -2.70601435e-01 1.25692929e+02] [ 2.70053511e-01 -1.72332533e-02 9.62691080e-01 1.73970195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.460371743 meters Centerline goodness : 0.982630 Centerline is valid? [True, True] Translation: X:134.43, Y:125.72, Z:17.40 [[-5.84804932e-02 -9.98288246e-01 -7.81447549e-04 1.34425224e+02] [ 9.61164795e-01 -5.60942527e-02 -2.70214121e-01 1.25720034e+02] [ 2.69707746e-01 -1.65533549e-02 9.62799937e-01 1.74047240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490371743 meters Centerline goodness : 0.983718 Centerline is valid? [True, True] Translation: X:134.43, Y:125.75, Z:17.41 [[-5.75638903e-02 -9.98341579e-01 -6.99494048e-04 1.34425757e+02] [ 9.61221082e-01 -5.52342295e-02 -2.70191064e-01 1.25745739e+02] [ 2.69704338e-01 -1.62256172e-02 9.62806471e-01 1.74115522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.520371743 meters Centerline goodness : 0.983695 Centerline is valid? [True, True] Translation: X:134.43, Y:125.77, Z:17.42 [[-5.66154017e-02 -9.98395866e-01 -6.26167600e-04 1.34425758e+02] [ 9.61121215e-01 -5.43318978e-02 -2.70728747e-01 1.25773072e+02] [ 2.70260440e-01 -1.59292397e-02 9.62655470e-01 1.74190653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550371743 meters Centerline goodness : 0.983016 Centerline is valid? [True, True] Translation: X:134.43, Y:125.80, Z:17.43 [[-5.29288959e-02 -9.98598134e-01 -5.46816146e-04 1.34426666e+02] [ 9.60990213e-01 -5.07866789e-02 -2.71879614e-01 1.25800438e+02] [ 2.71470704e-01 -1.49157727e-02 9.62331116e-01 1.74259326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.580371743 meters Centerline goodness : 0.982333 Centerline is valid? [True, True] Translation: X:134.43, Y:125.83, Z:17.43 [[-4.84235382e-02 -9.98826784e-01 -4.64323249e-04 1.34428227e+02] [ 9.61266270e-01 -4.64762958e-02 -2.71674644e-01 1.25826822e+02] [ 2.71334331e-01 -1.36017858e-02 9.62389044e-01 1.74323483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61037174300003 meters Centerline goodness : 0.982900 Centerline is valid? [True, True] Translation: X:134.43, Y:125.85, Z:17.44 [[-4.67508708e-02 -9.98906504e-01 -3.89708211e-04 1.34429255e+02] [ 9.61310387e-01 -4.48852623e-02 -2.71786043e-01 1.25854197e+02] [ 2.71471353e-01 -1.30808647e-02 9.62357623e-01 1.74397128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.640371743 meters Centerline goodness : 0.981727 Centerline is valid? [True, True] Translation: X:134.43, Y:125.88, Z:17.45 [[-4.50524041e-02 -9.98984578e-01 -3.07643794e-04 1.34430737e+02] [ 9.61519753e-01 -4.32792577e-02 -2.71305493e-01 1.25880599e+02] [ 2.71016689e-01 -1.25187703e-02 9.62493239e-01 1.74457995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.670371743 meters Centerline goodness : 0.982234 Centerline is valid? [True, True] Translation: X:134.43, Y:125.91, Z:17.45 [[-4.14513479e-02 -9.99140497e-01 -2.32531532e-04 1.34434202e+02] [ 9.62110936e-01 -3.98523276e-02 -2.69730122e-01 1.25907388e+02] [ 2.69489021e-01 -1.14043982e-02 9.62935931e-01 1.74528142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.700371743 meters Centerline goodness : 0.981102 Centerline is valid? [True, True] Translation: X:134.44, Y:125.93, Z:17.46 [[-3.97299409e-02 -9.99210443e-01 -1.51435753e-04 1.34435540e+02] [ 9.62367246e-01 -3.82242302e-02 -2.69050539e-01 1.25934716e+02] [ 2.68832319e-01 -1.08350988e-02 9.63126048e-01 1.74600842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.730371743 meters Centerline goodness : 0.982150 Centerline is valid? [True, True] Translation: X:134.44, Y:125.96, Z:17.47 [[-3.61308966e-02 -9.99347064e-01 -7.03335478e-05 1.34438836e+02] [ 9.62622435e-01 -3.47842317e-02 -2.68603994e-01 1.25960989e+02] [ 2.68426166e-01 -9.77260778e-03 9.63250689e-01 1.74673106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.760371743 meters Centerline goodness : 0.981053 Centerline is valid? [True, True] Translation: X:134.44, Y:125.99, Z:17.47 [[-3.47680403e-02 -9.99395409e-01 3.23794572e-06 1.34440468e+02] [ 9.62525076e-01 -3.34862275e-02 -2.69117355e-01 1.25988299e+02] [ 2.68954758e-01 -9.35356645e-03 9.63107392e-01 1.74745797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.790371743 meters Centerline goodness : 0.981251 Centerline is valid? [True, True] Translation: X:134.44, Y:125.99, Z:17.47 [[-3.11637496e-02 -9.99514290e-01 7.20098864e-05 1.34444678e+02] [ 9.62681127e-01 -3.00347100e-02 -2.68966475e-01 1.25985992e+02] [ 2.68837998e-01 -8.31268130e-03 9.63149537e-01 1.74733591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.820371743 meters Centerline goodness : 0.980571 Centerline is valid? [True, True] Translation: X:134.45, Y:126.01, Z:17.48 [[-3.02662747e-02 -9.99541871e-01 -2.78474079e-05 1.34446776e+02] [ 9.62674945e-01 -2.91424419e-02 -2.69086731e-01 1.26012155e+02] [ 2.68962643e-01 -8.17106090e-03 9.63115949e-01 1.74805452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.850371743 meters Centerline goodness : 0.981471 Centerline is valid? [True, True] Translation: X:134.45, Y:126.01, Z:17.48 [[-2.82710676e-02 -9.99600293e-01 9.77396760e-06 1.34451160e+02] [ 9.63100661e-01 -2.72413895e-02 -2.67759263e-01 1.26014899e+02] [ 2.67652504e-01 -7.56042689e-03 9.63485847e-01 1.74814329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880371743 meters Centerline goodness : 0.980312 Centerline is valid? [True, True] Translation: X:134.45, Y:126.04, Z:17.49 [[-2.80377623e-02 -9.99606861e-01 -8.80844429e-05 1.34453332e+02] [ 9.63207900e-01 -2.69932526e-02 -2.67398404e-01 1.26041871e+02] [ 2.67290902e-01 -7.58209653e-03 9.63586055e-01 1.74890554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.910371743 meters Centerline goodness : 0.980312 Centerline is valid? [True, True] Translation: X:134.45, Y:126.07, Z:17.50 [[-2.83094915e-02 -9.99599206e-01 -7.81168921e-06 1.34453249e+02] [ 9.63199918e-01 -2.72765433e-02 -2.67398408e-01 1.26069365e+02] [ 2.67291023e-01 -7.57743717e-03 9.63586058e-01 1.74962874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940371743 meters Centerline goodness : 0.975059 Centerline is valid? [True, True] Translation: X:134.46, Y:126.04, Z:17.48 [[-1.54240039e-03 -9.99370401e-01 3.54460561e-02 1.34461445e+02] [ 9.73429120e-01 -9.61705130e-03 -2.28786495e-01 1.26039087e+02] [ 2.28983338e-01 3.41513429e-02 9.72831083e-01 1.74785481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.970371743 meters Centerline goodness : 0.979378 Centerline is valid? [True, True] Translation: X:134.47, Y:126.05, Z:17.48 [[-1.98144832e-02 -9.96624820e-01 -7.96640124e-02 1.34472364e+02] [ 9.69770811e-01 2.24661205e-04 -2.44017466e-01 1.26046266e+02] [ 2.43211760e-01 -8.20909139e-02 9.66493208e-01 1.74780777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000371743 meters Centerline goodness : 0.977086 Centerline is valid? [True, True] Translation: X:134.46, Y:126.09, Z:17.50 [[-5.58293477e-03 -9.97417182e-01 7.16086303e-02 1.34460971e+02] [ 9.72486329e-01 -2.20931454e-02 -2.31909967e-01 1.26091130e+02] [ 2.32893045e-01 6.83436758e-02 9.70097919e-01 1.74983686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.030371743 meters Centerline goodness : 0.976674 Centerline is valid? [True, True] Translation: X:134.48, Y:126.12, Z:17.49 [[-7.66201049e-03 -9.99740870e-01 -2.14356546e-02 1.34483730e+02] [ 9.71953878e-01 -2.40695241e-03 -2.35159234e-01 1.26121646e+02] [ 2.35046703e-01 -2.26362601e-02 9.71720457e-01 1.74922150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060371743 meters Centerline goodness : 0.976942 Centerline is valid? [True, True] Translation: X:134.48, Y:126.15, Z:17.50 [[-1.12574486e-02 -9.99933026e-01 -2.68580529e-03 1.34482966e+02] [ 9.72190212e-01 -1.03166871e-02 -2.33965293e-01 1.26148764e+02] [ 2.33921914e-01 -5.24496587e-03 9.72241240e-01 1.75003819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.090371743 meters Centerline goodness : 0.976366 Centerline is valid? [True, True] Translation: X:134.49, Y:126.18, Z:17.51 [[-1.54448956e-02 -9.99757162e-01 -1.57185331e-02 1.34487171e+02] [ 9.71575404e-01 -1.12918053e-02 -2.36460841e-01 1.26175002e+02] [ 2.36225928e-01 -1.89238531e-02 9.71513869e-01 1.75078536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120371743 meters Centerline goodness : 0.977566 Centerline is valid? [True, True] Translation: X:134.48, Y:126.21, Z:17.51 [[-1.80627525e-02 -9.99753589e-01 1.29034361e-02 1.34481747e+02] [ 9.72639792e-01 -2.05595617e-02 -2.31406870e-01 1.26206471e+02] [ 2.31615138e-01 8.37055041e-03 9.72771485e-01 1.75139995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.150371743 meters Centerline goodness : 0.981931 Centerline is valid? [True, True] Translation: X:134.49, Y:126.22, Z:17.53 [[-4.04317970e-02 -9.96817647e-01 -6.87011477e-02 1.34488130e+02] [ 9.66370271e-01 -2.15358660e-02 -2.56251255e-01 1.26215795e+02] [ 2.53956235e-01 -7.67514454e-02 9.64165674e-01 1.75266530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180371743 meters Centerline goodness : 0.979302 Centerline is valid? [True, True] Translation: X:134.47, Y:126.26, Z:17.54 [[-3.42666781e-02 -9.96717152e-01 7.33533494e-02 1.34472690e+02] [ 9.69375442e-01 -5.10062691e-02 -2.40228253e-01 1.26260340e+02] [ 2.43181101e-01 6.28751112e-02 9.67940945e-01 1.75398944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.210371743 meters Centerline goodness : 0.978725 Centerline is valid? [True, True] Translation: X:134.50, Y:126.29, Z:17.53 [[-3.52238296e-02 -9.98553638e-01 -4.06191253e-02 1.34499609e+02] [ 9.71580035e-01 -2.46959543e-02 -2.35419509e-01 1.26288711e+02] [ 2.34075879e-01 -4.77571078e-02 9.71044665e-01 1.75324404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240371743 meters Centerline goodness : 0.982244 Centerline is valid? [True, True] Translation: X:134.49, Y:126.30, Z:17.55 [[-5.81720930e-02 -9.96923900e-01 -5.25237521e-02 1.34486943e+02] [ 9.64890602e-01 -4.26485043e-02 -2.59166417e-01 1.26297194e+02] [ 2.56129136e-01 -6.57559277e-02 9.64403455e-01 1.75527267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.270371743 meters Centerline goodness : 0.981088 Centerline is valid? [True, True] Translation: X:134.47, Y:126.35, Z:17.56 [[-4.76844685e-02 -9.94527246e-01 9.29610017e-02 1.34469896e+02] [ 9.69108384e-01 -6.86093779e-02 -2.36900174e-01 1.26346179e+02] [ 2.41981675e-01 7.87928273e-02 9.67076295e-01 1.75598868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300371743 meters Centerline goodness : 0.982549 Centerline is valid? [True, True] Translation: X:134.50, Y:126.35, Z:17.56 [[-6.59591577e-02 -9.91999671e-01 -1.07638481e-01 1.34499117e+02] [ 9.65408119e-01 -3.61722449e-02 -2.58222256e-01 1.26353862e+02] [ 2.52262867e-01 -1.20947186e-01 9.60070427e-01 1.75601107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.330371743 meters Centerline goodness : 0.982517 Centerline is valid? [True, True] Translation: X:134.47, Y:126.38, Z:17.58 [[-7.18232124e-02 -9.97417142e-01 -6.86909594e-04 1.34473619e+02] [ 9.63410889e-01 -6.91961184e-02 -2.58942765e-01 1.26375700e+02] [ 2.58226421e-01 -1.92598774e-02 9.65892423e-01 1.75847412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36037174300003 meters Centerline goodness : 0.982736 Centerline is valid? [True, True] Translation: X:134.47, Y:126.40, Z:17.59 [[-7.91142832e-02 -9.96865364e-01 -6.12749827e-04 1.34472713e+02] [ 9.63135079e-01 -7.62787718e-02 -2.57977459e-01 1.26402115e+02] [ 2.57122054e-01 -2.09998626e-02 9.66150742e-01 1.75922985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.390371743 meters Centerline goodness : 0.983165 Centerline is valid? [True, True] Translation: X:134.47, Y:126.43, Z:17.60 [[-8.25127724e-02 -9.96589865e-01 -5.32447945e-04 1.34472069e+02] [ 9.62847663e-01 -7.95812132e-02 -2.58052722e-01 1.26428284e+02] [ 2.57130355e-01 -2.18053118e-02 9.66130689e-01 1.75993286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.420371743 meters Centerline goodness : 0.982669 Centerline is valid? [True, True] Translation: X:134.47, Y:126.46, Z:17.61 [[-8.90226216e-02 -9.96029498e-01 -4.61227541e-04 1.34469790e+02] [ 9.61977570e-01 -8.58590807e-02 -2.59282420e-01 1.26455572e+02] [ 2.58213338e-01 -2.35256914e-02 9.65801436e-01 1.76066780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.450371743 meters Centerline goodness : 0.983029 Centerline is valid? [True, True] Translation: X:134.47, Y:126.48, Z:17.61 [[-9.16869496e-02 -9.95787807e-01 -3.81866415e-04 1.34468960e+02] [ 9.61730225e-01 -8.84516572e-02 -2.59328515e-01 1.26482746e+02] [ 2.58202397e-01 -2.41442930e-02 9.65789095e-01 1.76132460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.480371743 meters Centerline goodness : 0.983717 Centerline is valid? [True, True] Translation: X:134.47, Y:126.51, Z:17.62 [[-9.46262107e-02 -9.95512827e-01 -3.02014241e-04 1.34468013e+02] [ 9.61394798e-01 -9.13044477e-02 -2.59583396e-01 1.26509912e+02] [ 2.58391026e-01 -2.48537481e-02 9.65720648e-01 1.76202478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.510371743 meters Centerline goodness : 0.981092 Centerline is valid? [True, True] Translation: X:134.47, Y:126.55, Z:17.63 [[-9.28549214e-02 -9.95200589e-01 3.08828540e-02 1.34468457e+02] [ 9.62856810e-01 -9.76490031e-02 -2.51736837e-01 1.26551220e+02] [ 2.53544329e-01 6.36076205e-03 9.67302855e-01 1.76260152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.540371743 meters Centerline goodness : 0.982300 Centerline is valid? [True, True] Translation: X:134.47, Y:126.57, Z:17.63 [[-1.01615746e-01 -9.93965633e-01 -4.13105454e-02 1.34473849e+02] [ 9.62022306e-01 -8.76051882e-02 -2.58531264e-01 1.26565577e+02] [ 2.53352174e-01 -6.60125133e-02 9.65119176e-01 1.76266202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.570371743 meters Centerline goodness : 0.981717 Centerline is valid? [True, True] Translation: X:134.46, Y:126.59, Z:17.64 [[-1.04101817e-01 -9.94566639e-01 -1.12294593e-04 1.34461420e+02] [ 9.60719387e-01 -1.00529801e-01 -2.58673574e-01 1.26589974e+02] [ 2.57256818e-01 -2.70362726e-02 9.65964787e-01 1.76411519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.600371743 meters Centerline goodness : 0.979427 Centerline is valid? [True, True] Translation: X:134.47, Y:126.62, Z:17.64 [[-9.58522428e-02 -9.95367415e-01 -7.48705503e-03 1.34470304e+02] [ 9.65681467e-01 -9.11641752e-02 -2.43204436e-01 1.26623745e+02] [ 2.41395219e-01 -3.05418009e-02 9.69946157e-01 1.76398477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630371743 meters Centerline goodness : 0.980571 Centerline is valid? [True, True] Translation: X:134.46, Y:126.34, Z:17.58 [[-1.10882850e-01 -9.93826454e-01 3.73808377e-03 1.34456841e+02] [ 9.60278134e-01 -1.08107413e-01 -2.57252195e-01 1.26335578e+02] [ 2.56068151e-01 -2.49352566e-02 9.66337071e-01 1.75778909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.660371743 meters Centerline goodness : 0.980592 Centerline is valid? [True, True] Translation: X:134.46, Y:126.34, Z:17.58 [[-1.10806648e-01 -9.93841266e-01 1.19366323e-03 1.34455343e+02] [ 9.60377854e-01 -1.07384594e-01 -2.57182673e-01 1.26342174e+02] [ 2.55726934e-01 -2.73511822e-02 9.66362069e-01 1.75784552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690371743 meters Centerline goodness : 0.975428 Centerline is valid? [True, True] Translation: X:134.46, Y:126.64, Z:17.65 [[-9.71114520e-02 -9.95268675e-01 3.10330312e-03 1.34460181e+02] [ 9.66937196e-01 -9.50848712e-02 -2.36624865e-01 1.26636515e+02] [ 2.35800393e-01 -1.99782850e-02 9.71596132e-01 1.76450890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.720371743 meters Centerline goodness : 0.976430 Centerline is valid? [True, True] Translation: X:134.46, Y:126.66, Z:17.65 [[-9.59448001e-02 -9.95354468e-01 -8.00490294e-03 1.34462672e+02] [ 9.67392268e-01 -9.13495788e-02 -2.36236015e-01 1.26664227e+02] [ 2.34407328e-01 -3.04094984e-02 9.71662733e-01 1.76488448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750371743 meters Centerline goodness : 0.974389 Centerline is valid? [True, True] Translation: X:134.45, Y:126.98, Z:17.73 [[-1.08000501e-01 -9.94150834e-01 1.03778950e-04 1.34451912e+02] [ 9.66099080e-01 -1.04977695e-01 -2.35864900e-01 1.26980466e+02] [ 2.34496181e-01 -2.53732667e-02 9.71785850e-01 1.77314482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.780371743 meters Centerline goodness : 0.980331 Centerline is valid? [True, True] Translation: X:134.44, Y:126.69, Z:17.67 [[-1.18318313e-01 -9.92972012e-01 2.71312817e-03 1.34442807e+02] [ 9.59739334e-01 -1.15058597e-01 -2.56245840e-01 1.26688599e+02] [ 2.54757116e-01 -2.77146797e-02 9.66607836e-01 1.76658722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810371743 meters Centerline goodness : 0.973195 Centerline is valid? [True, True] Translation: X:134.45, Y:126.98, Z:17.74 [[-1.07038187e-01 -9.94251944e-01 2.42849041e-03 1.34446912e+02] [ 9.65180442e-01 -1.04494174e-01 -2.39807593e-01 1.26984623e+02] [ 2.38682929e-01 -2.33246386e-02 9.70817398e-01 1.77372921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.840371743 meters Centerline goodness : 0.977824 Centerline is valid? [True, True] Translation: X:134.42, Y:127.65, Z:17.89 [[-1.36921549e-01 -9.90401897e-01 1.88831374e-02 1.34415514e+02] [ 9.66845226e-01 -1.37764373e-01 -2.15014620e-01 1.27649003e+02] [ 2.15552311e-01 -1.11830636e-02 9.76428257e-01 1.78883883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870371743 meters Centerline goodness : 0.973388 Centerline is valid? [True, True] Translation: X:134.45, Y:126.96, Z:17.72 [[-9.70418872e-02 -9.94994600e-01 -2.38457177e-02 1.34447516e+02] [ 9.62219643e-01 -8.76676007e-02 -2.57774614e-01 1.26958762e+02] [ 2.54393852e-01 -4.79597529e-02 9.65910778e-01 1.77243086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.900371743 meters Centerline goodness : 0.977717 Centerline is valid? [True, True] Translation: X:134.41, Y:126.97, Z:17.74 [[-1.05706472e-01 -9.91940554e-01 6.98575567e-02 1.34414622e+02] [ 9.60475377e-01 -1.20040782e-01 -2.51151869e-01 1.26972448e+02] [ 2.57513480e-01 4.05480849e-02 9.65423565e-01 1.77384746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930371743 meters Centerline goodness : 0.981519 Centerline is valid? [True, True] Translation: X:134.44, Y:127.01, Z:17.74 [[-1.09184539e-01 -9.93287575e-01 -3.81906916e-02 1.34437738e+02] [ 9.55571986e-01 -9.43013201e-02 -2.79265895e-01 1.27008012e+02] [ 2.73789911e-01 -6.69854731e-02 9.59454028e-01 1.77427176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.960371743 meters Centerline goodness : 0.972586 Centerline is valid? [True, True] Translation: X:134.44, Y:127.03, Z:17.75 [[-9.56512114e-02 -9.95414742e-01 -5.81184574e-04 1.34440753e+02] [ 9.61625639e-01 -9.22534911e-02 -2.58390061e-01 1.27033970e+02] [ 2.57151659e-01 -2.52742043e-02 9.66040495e-01 1.77526275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990371743 meters Centerline goodness : 0.973087 Centerline is valid? [True, True] Translation: X:134.44, Y:127.06, Z:17.76 [[-9.67473073e-02 -9.95308850e-01 -5.02365433e-04 1.34438787e+02] [ 9.60942540e-01 -9.32752775e-02 -2.60555480e-01 1.27060925e+02] [ 2.59286316e-01 -2.56907854e-02 9.65458746e-01 1.77603256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.020371743 meters Centerline goodness : 0.972500 Centerline is valid? [True, True] Translation: X:134.44, Y:127.09, Z:17.77 [[-9.68135351e-02 -9.95302453e-01 -4.07035591e-04 1.34436056e+02] [ 9.61471013e-01 -9.34170004e-02 -2.58547393e-01 1.27086896e+02] [ 2.57294831e-01 -2.54222400e-02 9.65998489e-01 1.77680084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050371743 meters Centerline goodness : 0.970811 Centerline is valid? [True, True] Translation: X:134.43, Y:127.11, Z:17.77 [[-9.45693248e-02 -9.95518231e-01 -3.07168445e-04 1.34433606e+02] [ 9.62381125e-01 -9.13425082e-02 -2.55888877e-01 1.27114822e+02] [ 2.54713985e-01 -2.44948514e-02 9.66706154e-01 1.77731244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.080371743 meters Centerline goodness : 0.981345 Centerline is valid? [True, True] Translation: X:134.42, Y:127.14, Z:17.79 [[-1.08569462e-01 -9.94088839e-01 -2.28052175e-04 1.34416878e+02] [ 9.54267504e-01 -1.04156088e-01 -2.80223198e-01 1.27138817e+02] [ 2.78543001e-01 -3.06413047e-02 9.59934845e-01 1.77888340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11037174300003 meters Centerline goodness : 0.981756 Centerline is valid? [True, True] Translation: X:134.41, Y:127.16, Z:17.80 [[-1.05475876e-01 -9.94421854e-01 -1.26027983e-04 1.34411771e+02] [ 9.54685131e-01 -1.01225630e-01 -2.79874388e-01 1.27164808e+02] [ 2.78300450e-01 -2.96403132e-02 9.60036620e-01 1.77969164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.140371743 meters Centerline goodness : 0.971671 Centerline is valid? [True, True] Translation: X:134.42, Y:127.19, Z:17.80 [[-8.86616589e-02 -9.96061798e-01 -6.68514726e-05 1.34422888e+02] [ 9.62835191e-01 -8.56868944e-02 -2.56136978e-01 1.27192559e+02] [ 2.55122530e-01 -2.27738963e-02 9.66640494e-01 1.77977018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.170371743 meters Centerline goodness : 0.971818 Centerline is valid? [True, True] Translation: X:134.41, Y:127.11, Z:17.77 [[-7.30502326e-02 -9.97062363e-01 2.30284285e-02 1.34413463e+02] [ 9.68007159e-01 -7.64413962e-02 -2.38995509e-01 1.27105505e+02] [ 2.40053752e-01 4.83300612e-03 9.70747567e-01 1.77729034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.200371743 meters Centerline goodness : 0.973177 Centerline is valid? [True, True] Translation: X:134.42, Y:127.14, Z:17.77 [[-7.12330814e-02 -9.97049049e-01 -2.86189116e-02 1.34423082e+02] [ 9.69039950e-01 -6.23748439e-02 -2.38895278e-01 1.27135532e+02] [ 2.36405210e-01 -4.47501155e-02 9.70623513e-01 1.77718609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.230371743 meters Centerline goodness : 0.974446 Centerline is valid? [True, True] Translation: X:134.41, Y:127.17, Z:17.78 [[-6.69690086e-02 -9.97749577e-01 3.30667317e-03 1.34411430e+02] [ 9.69201173e-01 -6.58393023e-02 -2.37306285e-01 1.27165778e+02] [ 2.36989954e-01 -1.26873351e-02 9.71429253e-01 1.77841335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.260371743 meters Centerline goodness : 0.974151 Centerline is valid? [True, True] Translation: X:134.41, Y:127.19, Z:17.79 [[-6.49693516e-02 -9.97838464e-01 -9.86828865e-03 1.34411130e+02] [ 9.68889787e-01 -6.07116676e-02 -2.39930561e-01 1.27189899e+02] [ 2.38812822e-01 -2.51494171e-02 9.70739894e-01 1.77885812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.290371743 meters Centerline goodness : 0.976075 Centerline is valid? [True, True] Translation: X:134.41, Y:127.22, Z:17.80 [[-6.11332637e-02 -9.98024955e-01 -1.44538099e-02 1.34406305e+02] [ 9.69316447e-01 -5.59080324e-02 -2.39374010e-01 1.27216375e+02] [ 2.38093152e-01 -2.86440302e-02 9.70819845e-01 1.77951013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.320371743 meters Centerline goodness : 0.973626 Centerline is valid? [True, True] Translation: X:134.41, Y:127.24, Z:17.80 [[-5.84451236e-02 -9.98116075e-01 -1.86673228e-02 1.34405053e+02] [ 9.68736707e-01 -5.21886883e-02 -2.42539755e-01 1.27237457e+02] [ 2.41108605e-01 -3.22589868e-02 9.69961854e-01 1.78035088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.350371743 meters Centerline goodness : 0.975775 Centerline is valid? [True, True] Translation: X:134.39, Y:127.27, Z:17.81 [[-5.80211412e-02 -9.98314822e-01 -1.03121285e-03 1.34394768e+02] [ 9.68646250e-01 -5.60468153e-02 -2.42039658e-01 1.27265804e+02] [ 2.41573982e-01 -1.50422976e-02 9.70265809e-01 1.78145913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380371743 meters Centerline goodness : 0.974756 Centerline is valid? [True, True] Translation: X:134.39, Y:127.29, Z:17.82 [[-5.76653188e-02 -9.98232501e-01 -1.43730835e-02 1.34394627e+02] [ 9.68396306e-01 -5.24307713e-02 -2.43843411e-01 1.27287067e+02] [ 2.42658826e-01 -2.79801489e-02 9.69708103e-01 1.78196947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.410371743 meters Centerline goodness : 0.975090 Centerline is valid? [True, True] Translation: X:134.39, Y:127.31, Z:17.83 [[-5.74559558e-02 -9.98347785e-01 -7.15921174e-04 1.34388428e+02] [ 9.67723407e-01 -5.55172093e-02 -2.45823608e-01 1.27313023e+02] [ 2.45377709e-01 -1.48168441e-02 9.69314315e-01 1.78320039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440371743 meters Centerline goodness : 0.978963 Centerline is valid? [True, True] Translation: X:134.37, Y:127.33, Z:17.84 [[-6.59279013e-02 -9.97585572e-01 2.18297814e-02 1.34368076e+02] [ 9.68155524e-01 -6.92475059e-02 -2.40581927e-01 1.27332409e+02] [ 2.41512717e-01 5.27356187e-03 9.70383325e-01 1.78356189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.470371743 meters Centerline goodness : 0.979871 Centerline is valid? [True, True] Translation: X:134.37, Y:127.36, Z:17.84 [[-6.14374989e-02 -9.98096597e-01 5.34945045e-03 1.34372272e+02] [ 9.68769741e-01 -6.09205506e-02 -2.40361968e-01 1.27357821e+02] [ 2.40230354e-01 -9.58485241e-03 9.70668588e-01 1.78380287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500371743 meters Centerline goodness : 0.979114 Centerline is valid? [True, True] Translation: X:134.37, Y:127.38, Z:17.85 [[-5.81244474e-02 -9.98241534e-01 1.16356300e-02 1.34368824e+02] [ 9.69083300e-01 -5.92185528e-02 -2.39521858e-01 1.27384673e+02] [ 2.39789712e-01 -2.64618089e-03 9.70821246e-01 1.78469632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.530371743 meters Centerline goodness : 0.978866 Centerline is valid? [True, True] Translation: X:134.37, Y:127.41, Z:17.86 [[-5.79849601e-02 -9.98256757e-01 1.10086812e-02 1.34367193e+02] [ 9.68753941e-01 -5.89281151e-02 -2.40921730e-01 1.27412552e+02] [ 2.41150466e-01 -3.30513356e-03 9.70482112e-01 1.78552177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560371743 meters Centerline goodness : 0.978260 Centerline is valid? [True, True] Translation: X:134.37, Y:127.44, Z:17.86 [[-5.41695087e-02 -9.98507014e-01 7.02905965e-03 1.34365264e+02] [ 9.68642442e-01 -5.42561726e-02 -2.42462548e-01 1.27438793e+02] [ 2.42481925e-01 -6.32543159e-03 9.70135303e-01 1.78625000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.590371743 meters Centerline goodness : 0.979924 Centerline is valid? [True, True] Translation: X:134.36, Y:127.46, Z:17.87 [[-4.99373733e-02 -9.98733057e-01 6.20797110e-03 1.34362952e+02] [ 9.68822688e-01 -4.99502179e-02 -2.42667621e-01 1.27463230e+02] [ 2.42670265e-01 -6.10376033e-03 9.70089628e-01 1.78688654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620371743 meters Centerline goodness : 0.978063 Centerline is valid? [True, True] Translation: X:134.37, Y:127.50, Z:17.89 [[-4.30878747e-02 -9.98841773e-01 2.14137036e-02 1.34365253e+02] [ 9.67974694e-01 -4.70430946e-02 -2.46600769e-01 1.27501452e+02] [ 2.47322516e-01 1.01024202e-02 9.68880547e-01 1.78896916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.650371743 meters Centerline goodness : 0.978828 Centerline is valid? [True, True] Translation: X:134.34, Y:128.12, Z:18.06 [[-8.69628253e-02 -9.96193644e-01 -5.97422380e-03 1.34338809e+02] [ 9.60292133e-01 -8.22299665e-02 -2.66603174e-01 1.28115275e+02] [ 2.65097127e-01 -2.89215653e-02 9.63787869e-01 1.80644969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680371743 meters Centerline goodness : 0.979172 Centerline is valid? [True, True] Translation: X:134.36, Y:127.53, Z:17.90 [[-3.89197150e-02 -9.99072512e-01 1.84220225e-02 1.34361835e+02] [ 9.68502172e-01 -4.22536704e-02 -2.45393908e-01 1.27527150e+02] [ 2.45944707e-01 8.29110781e-03 9.69248399e-01 1.78950872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.710371743 meters Centerline goodness : 0.979954 Centerline is valid? [True, True] Translation: X:134.34, Y:128.13, Z:18.07 [[-8.29646501e-02 -9.96500230e-01 -1.02058088e-02 1.34338530e+02] [ 9.59911320e-01 -7.71585329e-02 -2.69475078e-01 1.28127091e+02] [ 2.67744512e-01 -3.21535769e-02 9.62953282e-01 1.80676002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740371743 meters Centerline goodness : 0.979582 Centerline is valid? [True, True] Translation: X:134.36, Y:127.54, Z:17.90 [[-4.19799883e-02 -9.98964248e-01 1.75531111e-02 1.34358821e+02] [ 9.66364114e-01 -4.50590663e-02 -2.53199683e-01 1.27536933e+02] [ 2.53728357e-01 6.33337695e-03 9.67254780e-01 1.78992649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.770371743 meters Centerline goodness : 0.979244 Centerline is valid? [True, True] Translation: X:134.36, Y:127.57, Z:17.90 [[-4.63226582e-02 -9.98824662e-01 -1.42655680e-02 1.34364577e+02] [ 9.63285618e-01 -4.08846719e-02 -2.65347437e-01 1.27568416e+02] [ 2.64452321e-01 -2.60334151e-02 9.64047318e-01 1.79041837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800371743 meters Centerline goodness : 0.979230 Centerline is valid? [True, True] Translation: X:134.33, Y:128.21, Z:18.09 [[-7.80412638e-02 -9.96895810e-01 1.04069893e-02 1.34332882e+02] [ 9.62575747e-01 -7.80638416e-02 -2.59526430e-01 1.28205047e+02] [ 2.59533220e-01 -1.02362550e-02 9.65679930e-01 1.80928125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.830371743 meters Centerline goodness : 0.979230 Centerline is valid? [True, True] Translation: X:134.33, Y:128.21, Z:18.09 [[-7.57354479e-02 -9.97119523e-01 4.09857589e-03 1.34334269e+02] [ 9.62842335e-01 -7.41993067e-02 -2.59671141e-01 1.28209443e+02] [ 2.59227276e-01 -1.57200278e-02 9.65688407e-01 1.80921729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86037174300003 meters Centerline goodness : 0.980400 Centerline is valid? [True, True] Translation: X:134.34, Y:128.16, Z:18.08 [[-7.31671347e-02 -9.97313240e-01 3.58776334e-03 1.34336026e+02] [ 9.62324771e-01 -7.15439145e-02 -2.62321375e-01 1.28164270e+02] [ 2.61873263e-01 -1.57407098e-02 9.64973898e-01 1.80815823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.890371743 meters Centerline goodness : 0.979620 Centerline is valid? [True, True] Translation: X:134.34, Y:128.17, Z:18.08 [[-7.28218219e-02 -9.97337317e-01 3.90632915e-03 1.34336227e+02] [ 9.62945260e-01 -7.13293660e-02 -2.60093344e-01 1.28173471e+02] [ 2.59679434e-01 -1.51788900e-02 9.65575576e-01 1.80842547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.920371743 meters Centerline goodness : 0.979936 Centerline is valid? [True, True] Translation: X:134.34, Y:128.16, Z:18.08 [[-7.65740521e-02 -9.97048346e-01 -5.56863034e-03 1.34337507e+02] [ 9.56873198e-01 -7.19165648e-02 -2.81463481e-01 1.28164651e+02] [ 2.80232222e-01 -2.68812724e-02 9.59555782e-01 1.80836502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.950371743 meters Centerline goodness : 0.979343 Centerline is valid? [True, True] Translation: X:134.36, Y:127.58, Z:17.92 [[-4.84365405e-02 -9.98748495e-01 1.24637921e-02 1.34355313e+02] [ 9.58082685e-01 -4.99847736e-02 -2.82097661e-01 1.27584268e+02] [ 2.82367614e-01 -1.72249138e-03 9.59304729e-01 1.79183849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.980371743 meters Centerline goodness : 0.981625 Centerline is valid? [True, True] Translation: X:134.36, Y:127.59, Z:17.91 [[-5.51153876e-02 -9.98474229e-01 -3.39230549e-03 1.34357461e+02] [ 9.56055196e-01 -5.17934409e-02 -2.88575643e-01 1.27589764e+02] [ 2.87959643e-01 -1.91481897e-02 9.57451091e-01 1.79143932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.010371743 meters Centerline goodness : 0.980522 Centerline is valid? [True, True] Translation: X:134.36, Y:127.61, Z:17.92 [[-5.56431305e-02 -9.98440597e-01 4.49631630e-03 1.34355347e+02] [ 9.55673328e-01 -5.45626566e-02 -2.89329237e-01 1.27606019e+02] [ 2.89123387e-01 -1.18021749e-02 9.57219085e-01 1.79241165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.040371743 meters Centerline goodness : 0.980868 Centerline is valid? [True, True] Translation: X:134.34, Y:128.17, Z:18.09 [[-7.53470166e-02 -9.97149772e-01 3.89351411e-03 1.34340982e+02] [ 9.56863431e-01 -7.34005320e-02 -2.81113386e-01 1.28171466e+02] [ 2.80597935e-01 -1.74554937e-02 9.59666663e-01 1.80887204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.070371743 meters Centerline goodness : 0.979501 Centerline is valid? [True, True] Translation: X:134.34, Y:128.18, Z:18.09 [[-7.00876699e-02 -9.97483134e-01 1.07292232e-02 1.34342807e+02] [ 9.63346714e-01 -7.04732189e-02 -2.58837080e-01 1.28180752e+02] [ 2.58941744e-01 -7.80532592e-03 9.65861403e-01 1.80876607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.100371743 meters Centerline goodness : 0.977968 Centerline is valid? [True, True] Translation: X:134.36, Y:127.61, Z:17.92 [[-4.49814818e-02 -9.98964176e-01 -6.87322749e-03 1.34360355e+02] [ 9.60136449e-01 -4.13310041e-02 -2.76459304e-01 1.27610550e+02] [ 2.75888863e-01 -1.90347854e-02 9.61001047e-01 1.79249670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130371743 meters Centerline goodness : 0.982312 Centerline is valid? [True, True] Translation: X:134.35, Y:128.18, Z:18.09 [[-7.20644560e-02 -9.97393662e-01 -3.54914879e-03 1.34346297e+02] [ 9.58562826e-01 -6.82746358e-02 -2.76578890e-01 1.28183722e+02] [ 2.75615715e-01 -2.33335893e-02 9.60984662e-01 1.80909763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.160371743 meters Centerline goodness : 0.979604 Centerline is valid? [True, True] Translation: X:134.36, Y:127.61, Z:17.93 [[-3.98478081e-02 -9.99143476e-01 1.11564926e-02 1.34357987e+02] [ 9.60157463e-01 -4.13790341e-02 -2.76379126e-01 1.27614299e+02] [ 2.76604046e-01 -3.01112706e-04 9.60983929e-01 1.79316207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190371743 meters Centerline goodness : 0.979118 Centerline is valid? [True, True] Translation: X:134.36, Y:127.65, Z:17.94 [[-3.83819391e-02 -9.99256512e-01 3.64014451e-03 1.34363179e+02] [ 9.61382926e-01 -3.79201986e-02 -2.72589304e-01 1.27645627e+02] [ 2.72524672e-01 -6.96293330e-03 9.62123599e-01 1.79352869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.220371743 meters Centerline goodness : 0.979142 Centerline is valid? [True, True] Translation: X:134.35, Y:127.66, Z:17.94 [[-4.48813984e-02 -9.98829139e-01 1.80557694e-02 1.34352524e+02] [ 9.61354842e-01 -4.80977936e-02 -2.71078346e-01 1.27659481e+02] [ 2.71629393e-01 5.19162613e-03 9.62387926e-01 1.79386177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250371743 meters Centerline goodness : 0.977282 Centerline is valid? [True, True] Translation: X:134.37, Y:127.70, Z:17.95 [[-3.92700624e-02 -9.99187278e-01 -9.09095695e-03 1.34366516e+02] [ 9.60935160e-01 -3.52690232e-02 -2.74517239e-01 1.27696971e+02] [ 2.73973503e-01 -1.95161293e-02 9.61539204e-01 1.79476105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.280371743 meters Centerline goodness : 0.979741 Centerline is valid? [True, True] Translation: X:134.35, Y:127.71, Z:17.95 [[-4.59065326e-02 -9.98904861e-01 9.03711826e-03 1.34354739e+02] [ 9.60877546e-01 -4.66289383e-02 -2.73020301e-01 1.27708845e+02] [ 2.73142697e-01 -3.84985135e-03 9.61965824e-01 1.79526717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310371743 meters Centerline goodness : 0.978375 Centerline is valid? [True, True] Translation: X:134.37, Y:127.75, Z:17.96 [[-4.00027073e-02 -9.99196326e-01 2.54657939e-03 1.34365420e+02] [ 9.60415663e-01 -3.91530540e-02 -2.75805716e-01 1.27747323e+02] [ 2.75683764e-01 -8.58720057e-03 9.61210030e-01 1.79638811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.340371743 meters Centerline goodness : 0.976942 Centerline is valid? [True, True] Translation: X:134.37, Y:127.78, Z:17.97 [[-4.00841524e-02 -9.99186560e-01 -4.41360622e-03 1.34368935e+02] [ 9.60184790e-01 -3.72965597e-02 -2.76864834e-01 1.27775646e+02] [ 2.76475009e-01 -1.53357698e-02 9.60898738e-01 1.79721202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370371743 meters Centerline goodness : 0.976070 Centerline is valid? [True, True] Translation: X:134.37, Y:127.80, Z:17.98 [[-4.17576174e-02 -9.99127693e-01 -3.93640547e-04 1.34367884e+02] [ 9.60426686e-01 -4.00315463e-02 -2.75641173e-01 1.27802575e+02] [ 2.75384971e-01 -1.18881815e-02 9.61260521e-01 1.79800685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.400371743 meters Centerline goodness : 0.978822 Centerline is valid? [True, True] Translation: X:134.37, Y:127.79, Z:17.98 [[-4.36862583e-02 -9.99035130e-01 -4.50769667e-03 1.34369311e+02] [ 9.59333578e-01 -4.06898346e-02 -2.79326733e-01 1.27794993e+02] [ 2.78873802e-01 -1.65271246e-02 9.60185533e-01 1.79791117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430371743 meters Centerline goodness : 0.977356 Centerline is valid? [True, True] Translation: X:134.37, Y:127.82, Z:17.99 [[-4.59683677e-02 -9.98939769e-01 -2.49958934e-03 1.34370024e+02] [ 9.59522218e-01 -4.34582108e-02 -2.78259766e-01 1.27821861e+02] [ 2.77856118e-01 -1.51895587e-02 9.60502605e-01 1.79875269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.460371743 meters Centerline goodness : 0.977606 Centerline is valid? [True, True] Translation: X:134.37, Y:127.83, Z:17.99 [[-4.66957712e-02 -9.98906672e-01 -2.22845662e-03 1.34370802e+02] [ 9.59304425e-01 -4.42223161e-02 -2.78889596e-01 1.27826656e+02] [ 2.78486131e-01 -1.51607331e-02 9.60320586e-01 1.79891218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490371743 meters Centerline goodness : 0.980063 Centerline is valid? [True, True] Translation: X:134.35, Y:128.39, Z:18.16 [[-8.88490707e-02 -9.96044761e-01 -8.22718736e-04 1.34347557e+02] [ 9.54665850e-01 -8.49223325e-02 -2.85309152e-01 1.28388972e+02] [ 2.84110819e-01 -2.61348745e-02 9.58435189e-01 1.81647025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.520371743 meters Centerline goodness : 0.977974 Centerline is valid? [True, True] Translation: X:134.37, Y:127.87, Z:18.01 [[-5.25912851e-02 -9.98591685e-01 6.98590806e-03 1.34369637e+02] [ 9.56877493e-01 -5.23932718e-02 -2.85727857e-01 1.27866173e+02] [ 2.85691477e-01 -8.34213700e-03 9.58285338e-01 1.80060232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550371743 meters Centerline goodness : 0.976636 Centerline is valid? [True, True] Translation: X:134.37, Y:127.87, Z:18.01 [[-5.45648406e-02 -9.98504103e-01 -3.49771249e-03 1.34374015e+02] [ 9.55977908e-01 -5.12288133e-02 -2.88932254e-01 1.27873577e+02] [ 2.88320857e-01 -1.91092783e-02 9.57343156e-01 1.80060103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.580371743 meters Centerline goodness : 0.980201 Centerline is valid? [True, True] Translation: X:134.36, Y:127.89, Z:18.01 [[-6.22354655e-02 -9.98009276e-01 1.02094442e-02 1.34363928e+02] [ 9.56210363e-01 -6.25537822e-02 -2.85917411e-01 1.27886326e+02] [ 2.85986868e-01 -8.03182686e-03 9.58199875e-01 1.80093310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61037174300003 meters Centerline goodness : 0.979510 Centerline is valid? [True, True] Translation: X:134.36, Y:127.91, Z:18.02 [[-6.55206772e-02 -9.97795045e-01 1.05872119e-02 1.34364998e+02] [ 9.55976802e-01 -6.58089541e-02 -2.85967719e-01 1.27909751e+02] [ 2.86033906e-01 -8.61566962e-03 9.58180763e-01 1.80170649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.640371743 meters Centerline goodness : 0.979239 Centerline is valid? [True, True] Translation: X:134.36, Y:127.93, Z:18.03 [[-6.49477415e-02 -9.97697188e-01 1.95476827e-02 1.34364861e+02] [ 9.56193398e-01 -6.78253826e-02 -2.84769914e-01 1.27933510e+02] [ 2.85439971e-01 1.96202381e-04 9.58396570e-01 1.80261715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.670371743 meters Centerline goodness : 0.976814 Centerline is valid? [True, True] Translation: X:134.38, Y:127.97, Z:18.03 [[-6.01793090e-02 -9.98083638e-01 -1.44049106e-02 1.34381117e+02] [ 9.55994874e-01 -5.34782366e-02 -2.88468158e-01 1.27969166e+02] [ 2.87145000e-01 -3.11308352e-02 9.57381126e-01 1.80345026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.700371743 meters Centerline goodness : 0.977561 Centerline is valid? [True, True] Translation: X:134.38, Y:127.99, Z:18.05 [[-6.52949670e-02 -9.97847957e-01 -6.00178307e-03 1.34378720e+02] [ 9.54948260e-01 -6.07405739e-02 -2.90489936e-01 1.27992306e+02] [ 2.89500238e-01 -2.46989231e-02 9.56859225e-01 1.80465538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.730371743 meters Centerline goodness : 0.979139 Centerline is valid? [True, True] Translation: X:134.36, Y:128.01, Z:18.05 [[-7.58492894e-02 -9.96824664e-01 2.42378917e-02 1.34363803e+02] [ 9.54386770e-01 -7.96171153e-02 -2.87762070e-01 1.28006996e+02] [ 2.88778080e-01 1.30577460e-03 9.57395172e-01 1.80538127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.760371743 meters Centerline goodness : 0.979624 Centerline is valid? [True, True] Translation: X:134.37, Y:128.03, Z:18.06 [[-7.73856019e-02 -9.96821767e-01 1.89164887e-02 1.34365388e+02] [ 9.54599374e-01 -7.95555079e-02 -2.87073085e-01 1.28034258e+02] [ 2.87665610e-01 -4.15765513e-03 9.57721886e-01 1.80593929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.790371743 meters Centerline goodness : 0.978576 Centerline is valid? [True, True] Translation: X:134.37, Y:128.06, Z:18.07 [[-7.99919123e-02 -9.96794585e-01 1.36012902e-03 1.34371495e+02] [ 9.54186910e-01 -7.69672186e-02 -2.89142503e-01 1.28060052e+02] [ 2.88320367e-01 -2.18312445e-02 9.57285100e-01 1.80654675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.820371743 meters Centerline goodness : 0.979412 Centerline is valid? [True, True] Translation: X:134.37, Y:128.08, Z:18.08 [[-8.25197953e-02 -9.96221858e-01 2.70646214e-02 1.34365281e+02] [ 9.53945330e-01 -8.68187897e-02 -2.87142481e-01 1.28082652e+02] [ 2.88407334e-01 2.12323047e-03 9.57505458e-01 1.80760262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.850371743 meters Centerline goodness : 0.977574 Centerline is valid? [True, True] Translation: X:134.38, Y:128.12, Z:18.08 [[-8.03854634e-02 -9.96663534e-01 -1.41413487e-02 1.34382514e+02] [ 9.53790949e-01 -7.27912988e-02 -2.91520588e-01 1.28119746e+02] [ 2.89518572e-01 -3.69219079e-02 9.56460020e-01 1.80846568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880371743 meters Centerline goodness : 0.978606 Centerline is valid? [True, True] Translation: X:134.36, Y:128.69, Z:18.26 [[-1.17161592e-01 -9.93046299e-01 1.14982232e-02 1.34357591e+02] [ 9.53577492e-01 -1.15724162e-01 -2.78024974e-01 1.28691023e+02] [ 2.77422294e-01 -2.16094018e-02 9.60505026e-01 1.82612529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.910371743 meters Centerline goodness : 0.978349 Centerline is valid? [True, True] Translation: X:134.36, Y:128.70, Z:18.26 [[-1.16385535e-01 -9.93204109e-01 -7.71333807e-05 1.34359362e+02] [ 9.52411405e-01 -1.11583340e-01 -2.83657671e-01 1.28701725e+02] [ 2.81721358e-01 -3.30871126e-02 9.58925607e-01 1.82643001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940371743 meters Centerline goodness : 0.978173 Centerline is valid? [True, True] Translation: X:134.36, Y:128.65, Z:18.25 [[-1.15587325e-01 -9.93296400e-01 -1.35386932e-03 1.34359152e+02] [ 9.50386707e-01 -1.10197539e-01 -2.90897937e-01 1.28651758e+02] [ 2.88798681e-01 -3.49108137e-02 9.56753133e-01 1.82507729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.970371743 meters Centerline goodness : 0.978337 Centerline is valid? [True, True] Translation: X:134.37, Y:128.18, Z:18.11 [[-9.12635071e-02 -9.95806983e-01 -6.27892827e-03 1.34372186e+02] [ 9.47384232e-01 -8.48795815e-02 -3.08639876e-01 1.28183115e+02] [ 3.06812791e-01 -3.41161152e-02 9.51158242e-01 1.81096331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000371743 meters Centerline goodness : 0.978284 Centerline is valid? [True, True] Translation: X:134.37, Y:128.16, Z:18.10 [[-9.10688776e-02 -9.95840526e-01 2.84731484e-03 1.34369084e+02] [ 9.47563432e-01 -8.75327392e-02 -3.07345997e-01 1.28162144e+02] [ 3.06316832e-01 -2.52916435e-02 9.51593575e-01 1.81047408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.030371743 meters Centerline goodness : 0.979257 Centerline is valid? [True, True] Translation: X:134.37, Y:128.18, Z:18.12 [[-8.94705602e-02 -9.95975132e-01 5.34363572e-03 1.34365825e+02] [ 9.47987558e-01 -8.68027994e-02 -3.06243145e-01 1.28184616e+02] [ 3.05474400e-01 -2.23340456e-02 9.51938329e-01 1.81158256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060371743 meters Centerline goodness : 0.978535 Centerline is valid? [True, True] Translation: X:134.36, Y:128.20, Z:18.11 [[-9.52031955e-02 -9.95365218e-01 1.35806871e-02 1.34355289e+02] [ 9.49782536e-01 -9.49115708e-02 -2.98169295e-01 1.28202257e+02] [ 2.98076310e-01 -1.54879703e-02 9.54416385e-01 1.81134730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.090371743 meters Centerline goodness : 0.979020 Centerline is valid? [True, True] Translation: X:134.37, Y:128.23, Z:18.12 [[-8.93733003e-02 -9.95801284e-01 -1.98044367e-02 1.34367452e+02] [ 9.49301722e-01 -7.91492625e-02 -3.04239437e-01 1.28234433e+02] [ 3.01394515e-01 -4.59912684e-02 9.52389705e-01 1.81224385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120371743 meters Centerline goodness : 0.978702 Centerline is valid? [True, True] Translation: X:134.36, Y:128.26, Z:18.14 [[-8.83512329e-02 -9.96089120e-01 -7.24253594e-04 1.34363638e+02] [ 9.48820715e-01 -8.39372447e-02 -3.04456549e-01 1.28260636e+02] [ 3.03205064e-01 -2.75862983e-02 9.52525950e-01 1.81370039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.150371743 meters Centerline goodness : 0.977215 Centerline is valid? [True, True] Translation: X:134.34, Y:128.27, Z:18.15 [[-9.38901720e-02 -9.94175246e-01 5.29170635e-02 1.34344061e+02] [ 9.47869056e-01 -1.05521417e-01 -3.00681698e-01 1.28274465e+02] [ 3.04514185e-01 2.19273906e-02 9.52255376e-01 1.81502323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180371743 meters Centerline goodness : 0.979447 Centerline is valid? [True, True] Translation: X:134.37, Y:128.31, Z:18.14 [[-8.79331337e-02 -9.95431636e-01 -3.71970797e-02 1.34368805e+02] [ 9.49796818e-01 -7.25292275e-02 -3.04344403e-01 1.28314435e+02] [ 3.00256171e-01 -6.20916250e-02 9.51835522e-01 1.81443690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.210371743 meters Centerline goodness : 0.979011 Centerline is valid? [True, True] Translation: X:134.36, Y:128.34, Z:18.16 [[-8.88127684e-02 -9.96045507e-01 2.37476299e-03 1.34358429e+02] [ 9.48859009e-01 -8.53300407e-02 -3.03949611e-01 1.28338966e+02] [ 3.02950283e-01 -2.47412912e-02 9.52685150e-01 1.81629950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240371743 meters Centerline goodness : 0.981007 Centerline is valid? [True, True] Translation: X:134.35, Y:128.37, Z:18.17 [[-9.06124566e-02 -9.95885634e-01 1.08932753e-03 1.34354137e+02] [ 9.49063731e-01 -8.66836296e-02 -3.02925704e-01 1.28366422e+02] [ 3.01773783e-01 -2.64150009e-02 9.53013553e-01 1.81694992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.270371743 meters Centerline goodness : 0.979309 Centerline is valid? [True, True] Translation: X:134.35, Y:128.39, Z:18.18 [[-9.31726117e-02 -9.95649970e-01 -2.78879935e-05 1.34351243e+02] [ 9.48954128e-01 -8.87943520e-02 -3.02657604e-01 1.28391091e+02] [ 3.01338558e-01 -2.82258638e-02 9.53099352e-01 1.81783301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300371743 meters Centerline goodness : 0.982497 Centerline is valid? [True, True] Translation: X:134.34, Y:128.42, Z:18.19 [[-9.66513511e-02 -9.95086353e-01 2.14864385e-02 1.34342828e+02] [ 9.47996792e-01 -9.86119023e-02 -3.02618200e-01 1.28418017e+02] [ 3.03250059e-01 -8.87938307e-03 9.52869644e-01 1.81911213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.330371743 meters Centerline goodness : 0.979426 Centerline is valid? [True, True] Translation: X:134.35, Y:128.44, Z:18.19 [[-9.24702299e-02 -9.95714973e-01 -9.73793874e-04 1.34351168e+02] [ 9.48801517e-01 -8.78167225e-02 -3.03420343e-01 1.28443803e+02] [ 3.02034664e-01 -2.89812860e-02 9.52856310e-01 1.81946027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36037174300003 meters Centerline goodness : 0.979600 Centerline is valid? [True, True] Translation: X:134.35, Y:128.47, Z:18.20 [[-9.54763592e-02 -9.95431330e-01 -8.56060932e-04 1.34346953e+02] [ 9.47875213e-01 -9.06523301e-02 -3.05474606e-01 1.28470828e+02] [ 3.04001389e-01 -2.99770421e-02 9.52199839e-01 1.82015169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.390371743 meters Centerline goodness : 0.981439 Centerline is valid? [True, True] Translation: X:134.34, Y:128.50, Z:18.21 [[-9.75475272e-02 -9.95230589e-01 -7.44844238e-04 1.34343820e+02] [ 9.48066622e-01 -9.26970351e-02 -3.04264590e-01 1.28495685e+02] [ 3.02744382e-01 -3.03864203e-02 9.52587269e-01 1.82121054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.420371743 meters Centerline goodness : 0.981263 Centerline is valid? [True, True] Translation: X:134.34, Y:128.52, Z:18.22 [[-1.00810267e-01 -9.94905468e-01 -6.32942914e-04 1.34339183e+02] [ 9.48449579e-01 -9.59108848e-02 -3.02067044e-01 1.28522214e+02] [ 3.00467448e-01 -3.10517737e-02 9.53286473e-01 1.82198226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.450371743 meters Centerline goodness : 0.981848 Centerline is valid? [True, True] Translation: X:134.34, Y:128.55, Z:18.23 [[-1.01205546e-01 -9.94865400e-01 -5.22579384e-04 1.34336608e+02] [ 9.48528467e-01 -9.63333206e-02 -3.01684669e-01 1.28548676e+02] [ 3.00085297e-01 -3.10278432e-02 9.53407619e-01 1.82268082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.480371743 meters Centerline goodness : 0.981607 Centerline is valid? [True, True] Translation: X:134.34, Y:128.57, Z:18.24 [[-1.02911511e-01 -9.94690432e-01 -4.07039269e-04 1.34336155e+02] [ 9.48331653e-01 -9.79917050e-02 -3.01769286e-01 1.28574801e+02] [ 3.00127135e-01 -3.14415415e-02 9.53380896e-01 1.82381717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.510371743 meters Centerline goodness : 0.980918 Centerline is valid? [True, True] Translation: X:134.33, Y:128.60, Z:18.25 [[-1.04985374e-01 -9.94473721e-01 -2.98105737e-04 1.34334388e+02] [ 9.48628419e-01 -1.00055566e-01 -3.00154972e-01 1.28601205e+02] [ 2.98466405e-01 -3.17946736e-02 9.53890405e-01 1.82462303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.540371743 meters Centerline goodness : 0.980782 Centerline is valid? [True, True] Translation: X:134.33, Y:128.63, Z:18.26 [[-1.07014542e-01 -9.94257437e-01 -1.89458018e-04 1.34333689e+02] [ 9.48154066e-01 -1.01994959e-01 -3.00999828e-01 1.28626922e+02] [ 2.99251994e-01 -3.23909942e-02 9.53624175e-01 1.82557988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.570371743 meters Centerline goodness : 0.980374 Centerline is valid? [True, True] Translation: X:134.33, Y:128.65, Z:18.26 [[-1.10902453e-01 -9.93831293e-01 -7.97443772e-05 1.34332860e+02] [ 9.47629106e-01 -1.05722531e-01 -3.01366595e-01 1.28652851e+02] [ 2.99499122e-01 -3.34978626e-02 9.53508348e-01 1.82639798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.600371743 meters Centerline goodness : 0.979832 Centerline is valid? [True, True] Translation: X:134.33, Y:128.66, Z:18.27 [[-1.13058518e-01 -9.93588330e-01 3.53302818e-05 1.34332217e+02] [ 9.46669821e-01 -1.07730548e-01 -3.03661618e-01 1.28659730e+02] [ 3.01718446e-01 -3.42980865e-02 9.52779943e-01 1.82672271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630371743 meters Centerline goodness : 0.979219 Centerline is valid? [True, True] Translation: X:134.33, Y:128.69, Z:18.28 [[-1.15052200e-01 -9.93359436e-01 -1.46165941e-04 1.34331003e+02] [ 9.46787440e-01 -1.09613642e-01 -3.02619220e-01 1.28685350e+02] [ 3.00593636e-01 -3.49553951e-02 9.53111529e-01 1.82752291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.660371743 meters Centerline goodness : 0.980673 Centerline is valid? [True, True] Translation: X:134.33, Y:128.71, Z:18.28 [[-1.17732810e-01 -9.93045308e-01 -3.03489322e-05 1.34328457e+02] [ 9.46528592e-01 -1.12208668e-01 -3.02477834e-01 1.28712268e+02] [ 3.00370788e-01 -3.56402914e-02 9.53156419e-01 1.82836309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690371743 meters Centerline goodness : 0.979923 Centerline is valid? [True, True] Translation: X:134.33, Y:128.77, Z:18.30 [[-1.18263055e-01 -9.92982298e-01 7.92390428e-05 1.34325512e+02] [ 9.45415303e-01 -1.12622282e-01 -3.05787713e-01 1.28768868e+02] [ 3.03650710e-01 -3.60884753e-02 9.52099715e-01 1.83019375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.720371743 meters Centerline goodness : 0.979923 Centerline is valid? [True, True] Translation: X:134.33, Y:128.80, Z:18.31 [[-1.18594597e-01 -9.92942752e-01 -1.14518877e-04 1.34325399e+02] [ 9.45384695e-01 -1.12879114e-01 -3.05787645e-01 1.28795945e+02] [ 3.03616699e-01 -3.63730268e-02 9.52099734e-01 1.83104575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750371743 meters Centerline goodness : 0.979280 Centerline is valid? [True, True] Translation: X:134.33, Y:128.82, Z:18.32 [[-1.16293382e-01 -9.93214906e-01 -8.33271636e-06 1.34327053e+02] [ 9.46370468e-01 -1.10805922e-01 -3.03488032e-01 1.28821471e+02] [ 3.01427914e-01 -3.53015355e-02 9.52835250e-01 1.83192598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.780371743 meters Centerline goodness : 0.980675 Centerline is valid? [True, True] Translation: X:134.32, Y:128.87, Z:18.33 [[-1.17239251e-01 -9.93103694e-01 1.09619536e-04 1.34321162e+02] [ 9.46510048e-01 -1.11772126e-01 -3.02697410e-01 1.28871775e+02] [ 3.00622168e-01 -3.53842617e-02 9.53086704e-01 1.83342409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810371743 meters Centerline goodness : 0.980832 Centerline is valid? [True, True] Translation: X:134.32, Y:128.90, Z:18.34 [[-1.15768179e-01 -9.93276256e-01 -8.54861512e-05 1.34320674e+02] [ 9.46526329e-01 -1.10293295e-01 -3.03188552e-01 1.28896458e+02] [ 3.01140562e-01 -3.51805015e-02 9.52930582e-01 1.83426986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.840371743 meters Centerline goodness : 0.981344 Centerline is valid? [True, True] Translation: X:134.32, Y:128.89, Z:18.34 [[-1.12560533e-01 -9.93644869e-01 8.28182159e-06 1.34320950e+02] [ 9.46699645e-01 -1.07245088e-01 -3.03740471e-01 1.28885919e+02] [ 3.01811048e-01 -3.41813488e-02 9.52754809e-01 1.83405298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870371743 meters Centerline goodness : 0.980346 Centerline is valid? [True, True] Translation: X:134.32, Y:128.91, Z:18.35 [[-1.06853231e-01 -9.94274786e-01 -1.92492776e-04 1.34320296e+02] [ 9.47057622e-01 -1.01719916e-01 -3.04524086e-01 1.28911563e+02] [ 3.02761041e-01 -3.27216842e-02 9.52504616e-01 1.83501025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.900371743 meters Centerline goodness : 0.979821 Centerline is valid? [True, True] Translation: X:134.32, Y:128.94, Z:18.36 [[-1.03918436e-01 -9.94585820e-01 -7.30932869e-05 1.34320435e+02] [ 9.47875340e-01 -9.90156736e-02 -3.02866696e-01 1.28938161e+02] [ 3.01219684e-01 -3.15427165e-02 9.53032927e-01 1.83573014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930371743 meters Centerline goodness : 0.981549 Centerline is valid? [True, True] Translation: X:134.32, Y:128.92, Z:18.35 [[-9.74164192e-02 -9.95243709e-01 3.47478794e-05 1.34317022e+02] [ 9.49962142e-01 -9.29945814e-02 -2.98201168e-01 1.28920246e+02] [ 2.96786068e-01 -2.90166808e-02 9.54503045e-01 1.83472118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.960371743 meters Centerline goodness : 0.979173 Centerline is valid? [True, True] Translation: X:134.30, Y:128.94, Z:18.35 [[-9.72171761e-02 -9.95207400e-01 1.05381333e-02 1.34302015e+02] [ 9.50192391e-01 -9.59597212e-02 -2.96523444e-01 1.28935860e+02] [ 2.96113562e-01 -1.88139178e-02 9.54967431e-01 1.83514903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990371743 meters Centerline goodness : 0.982024 Centerline is valid? [True, True] Translation: X:134.31, Y:128.34, Z:18.16 [[-6.32424405e-02 -9.97979377e-01 -6.12834575e-03 1.34305106e+02] [ 9.50476955e-01 -5.83576192e-02 -3.05267010e-01 1.28339121e+02] [ 3.04292545e-01 -2.51306821e-02 9.52247077e-01 1.81594892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.020371743 meters Centerline goodness : 0.979356 Centerline is valid? [True, True] Translation: X:134.32, Y:128.37, Z:18.17 [[-4.88827175e-02 -9.97947044e-01 -4.13784677e-02 1.34318112e+02] [ 9.50273842e-01 -3.37110005e-02 -3.09585521e-01 1.28367694e+02] [ 3.07555046e-01 -5.44542570e-02 9.49970856e-01 1.81690034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050371743 meters Centerline goodness : 0.980877 Centerline is valid? [True, True] Translation: X:134.30, Y:128.39, Z:18.19 [[-4.96246727e-02 -9.98543749e-01 2.11606430e-02 1.34297797e+02] [ 9.50999935e-01 -5.37144766e-02 -3.04489537e-01 1.28388270e+02] [ 3.05182757e-01 5.01357658e-03 9.52280604e-01 1.81857779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.080371743 meters Centerline goodness : 0.980165 Centerline is valid? [True, True] Translation: X:134.31, Y:128.42, Z:18.19 [[-3.60011534e-02 -9.98597755e-01 -3.88128926e-02 1.34313946e+02] [ 9.50616689e-01 -2.22391908e-02 -3.09569588e-01 1.28419681e+02] [ 3.08272328e-01 -4.80410457e-02 9.50084328e-01 1.81860927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11037174300003 meters Centerline goodness : 0.980139 Centerline is valid? [True, True] Translation: X:134.30, Y:128.44, Z:18.20 [[-3.68396420e-02 -9.99127866e-01 1.96557254e-02 1.34296922e+02] [ 9.51261115e-01 -4.10874740e-02 -3.05637220e-01 1.28439905e+02] [ 3.06178268e-01 7.43816152e-03 9.51945136e-01 1.82049142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.140371743 meters Centerline goodness : 0.980385 Centerline is valid? [True, True] Translation: X:134.31, Y:128.47, Z:18.20 [[-2.37675286e-02 -9.99188801e-01 -3.25091440e-02 1.34311193e+02] [ 9.51225451e-01 -1.25979034e-02 -3.08239249e-01 1.28473367e+02] [ 3.07579658e-01 -3.82496103e-02 9.50753239e-01 1.82035336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.170371743 meters Centerline goodness : 0.981287 Centerline is valid? [True, True] Translation: X:134.30, Y:128.49, Z:18.21 [[-2.82426107e-02 -9.99586822e-01 -5.34238768e-03 1.34297828e+02] [ 9.51782495e-01 -2.52579190e-02 -3.05732104e-01 1.28491493e+02] [ 3.05470844e-01 -1.37194639e-02 9.52102589e-01 1.82145402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.200371743 meters Centerline goodness : 0.981165 Centerline is valid? [True, True] Translation: X:134.30, Y:128.52, Z:18.22 [[-2.29399002e-02 -9.99611702e-01 -1.58179121e-02 1.34299007e+02] [ 9.52175791e-01 -1.70237603e-02 -3.05076144e-01 1.28518174e+02] [ 3.04688404e-01 -2.20598492e-02 9.52196587e-01 1.82219024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.230371743 meters Centerline goodness : 0.981581 Centerline is valid? [True, True] Translation: X:134.30, Y:128.55, Z:18.23 [[-1.86829310e-02 -9.99815523e-01 4.45737158e-03 1.34297029e+02] [ 9.53188479e-01 -1.91569867e-02 -3.01769338e-01 1.28547255e+02] [ 3.01799058e-01 -1.38922048e-03 9.53370546e-01 1.82330884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.260371743 meters Centerline goodness : 0.980069 Centerline is valid? [True, True] Translation: X:134.30, Y:128.57, Z:18.25 [[-1.44659525e-02 -9.99818807e-01 1.23729681e-02 1.34298868e+02] [ 9.52706417e-01 -1.75387651e-02 -3.03385687e-01 1.28573119e+02] [ 3.03547722e-01 7.39904311e-03 9.52787507e-01 1.82452563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.290371743 meters Centerline goodness : 0.980195 Centerline is valid? [True, True] Translation: X:134.29, Y:128.59, Z:18.24 [[-1.89675240e-02 -9.99814938e-01 3.21284275e-03 1.34292834e+02] [ 9.54899241e-01 -1.90676234e-02 -2.96317172e-01 1.28593552e+02] [ 2.96323596e-01 -2.55246197e-03 9.55084191e-01 1.82396070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.320371743 meters Centerline goodness : 0.980377 Centerline is valid? [True, True] Translation: X:134.30, Y:128.63, Z:18.26 [[-1.15448607e-02 -9.99669939e-01 2.29505716e-02 1.34297103e+02] [ 9.54325306e-01 -1.78681074e-02 -2.98234708e-01 1.28629550e+02] [ 2.98546356e-01 1.84592331e-02 9.54216605e-01 1.82602512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.350371743 meters Centerline goodness : 0.981414 Centerline is valid? [True, True] Translation: X:134.30, Y:128.65, Z:18.25 [[-1.65027347e-02 -9.99413535e-01 -3.00041040e-02 1.34302609e+02] [ 9.54943100e-01 -6.86068953e-03 -2.96709632e-01 1.28645451e+02] [ 2.96329774e-01 -3.35487324e-02 9.54496280e-01 1.82466551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380371743 meters Centerline goodness : 0.980612 Centerline is valid? [True, True] Translation: X:134.30, Y:128.67, Z:18.27 [[-1.40077984e-02 -9.99877862e-01 6.93127377e-03 1.34297873e+02] [ 9.54615446e-01 -1.54355903e-02 -2.97440905e-01 1.28668237e+02] [ 2.97511565e-01 2.45020878e-03 9.54715070e-01 1.82660141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.410371743 meters Centerline goodness : 0.980959 Centerline is valid? [True, True] Translation: X:134.30, Y:128.69, Z:18.27 [[-1.27327556e-02 -9.99905159e-01 5.24874513e-03 1.34300898e+02] [ 9.54196556e-01 -1.37195226e-02 -2.98865700e-01 1.28693359e+02] [ 2.98909366e-01 1.20295059e-03 9.54280747e-01 1.82746034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440371743 meters Centerline goodness : 0.980124 Centerline is valid? [True, True] Translation: X:134.30, Y:128.72, Z:18.28 [[-1.28229796e-02 -9.99876822e-01 9.05053719e-03 1.34301770e+02] [ 9.53947196e-01 -1.49458456e-02 -2.99602016e-01 1.28717604e+02] [ 2.99700380e-01 4.79194403e-03 9.54021341e-01 1.82838573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.470371743 meters Centerline goodness : 0.983939 Centerline is valid? [True, True] Translation: X:134.32, Y:128.75, Z:18.28 [[-8.86505473e-03 -9.99267597e-01 -3.72247309e-02 1.34319828e+02] [ 9.53571484e-01 2.75893891e-03 -3.01154135e-01 1.28752567e+02] [ 3.01036270e-01 -3.81661898e-02 9.52848627e-01 1.82834947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500371743 meters Centerline goodness : 0.980051 Centerline is valid? [True, True] Translation: X:134.30, Y:128.77, Z:18.31 [[-1.23073816e-02 -9.99262371e-01 3.63763949e-02 1.34303198e+02] [ 9.53841663e-01 -2.26490814e-02 -2.99454672e-01 1.28767665e+02] [ 3.00057678e-01 3.10118181e-02 9.53416833e-01 1.83062640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.530371743 meters Centerline goodness : 0.980845 Centerline is valid? [True, True] Translation: X:134.31, Y:128.79, Z:18.31 [[-1.30826222e-02 -9.99825625e-01 1.33253091e-02 1.34312260e+02] [ 9.54675995e-01 -1.64527088e-02 -2.97191947e-01 1.28794347e+02] [ 2.97359362e-01 8.83330273e-03 9.54724768e-01 1.83056818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560371743 meters Centerline goodness : 0.980285 Centerline is valid? [True, True] Translation: X:134.32, Y:128.82, Z:18.31 [[-1.33593986e-02 -9.99908405e-01 -2.16960380e-03 1.34318600e+02] [ 9.54448425e-01 -1.21051411e-02 -2.98130291e-01 1.28821875e+02] [ 2.98076720e-01 -6.05361630e-03 9.54522720e-01 1.83103755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.590371743 meters Centerline goodness : 0.979959 Centerline is valid? [True, True] Translation: X:134.32, Y:128.85, Z:18.32 [[-1.60380072e-02 -9.99861675e-01 4.40599185e-03 1.34321660e+02] [ 9.54188525e-01 -1.66218453e-02 -2.98743994e-01 1.28848308e+02] [ 2.98775906e-01 -5.87111468e-04 9.54323118e-01 1.83215577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620371743 meters Centerline goodness : 0.974362 Centerline is valid? [True, True] Translation: X:134.32, Y:128.89, Z:18.36 [[-1.28588665e-02 -9.96925503e-01 7.72928938e-02 1.34315503e+02] [ 9.53448254e-01 -3.55154296e-02 -2.99457978e-01 1.28885536e+02] [ 3.01282386e-01 6.98440845e-02 9.50973569e-01 1.83586619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.650371743 meters Centerline goodness : 0.980337 Centerline is valid? [True, True] Translation: X:134.35, Y:128.90, Z:18.31 [[-2.02081280e-02 -9.96062040e-01 -8.63252273e-02 1.34346167e+02] [ 9.55227955e-01 6.25667573e-03 -2.95804677e-01 1.28904962e+02] [ 2.95179919e-01 -8.84379292e-02 9.51339870e-01 1.83117105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680371743 meters Centerline goodness : 0.975434 Centerline is valid? [True, True] Translation: X:134.32, Y:128.94, Z:18.37 [[-2.23585745e-02 -9.97757564e-01 6.30867541e-02 1.34323936e+02] [ 9.52809596e-01 -4.03750166e-02 -3.00871621e-01 1.28936281e+02] [ 3.02744064e-01 5.33826041e-02 9.51575709e-01 1.83704072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.710371743 meters Centerline goodness : 0.974737 Centerline is valid? [True, True] Translation: X:134.35, Y:128.97, Z:18.36 [[-2.79038281e-02 -9.99163499e-01 -2.98944581e-02 1.34348739e+02] [ 9.51917256e-01 -1.74332345e-02 -3.05858825e-01 1.28970364e+02] [ 3.05081817e-01 -3.69916826e-02 9.51607430e-01 1.83613831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740371743 meters Centerline goodness : 0.979498 Centerline is valid? [True, True] Translation: X:134.35, Y:128.98, Z:18.35 [[-3.70794630e-02 -9.97224600e-01 -6.45616873e-02 1.34351648e+02] [ 9.52795364e-01 -1.57977558e-02 -3.03201954e-01 1.28978326e+02] [ 3.01340517e-01 -7.27566420e-02 9.50736748e-01 1.83507449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.770371743 meters Centerline goodness : 0.978515 Centerline is valid? [True, True] Translation: X:134.34, Y:129.00, Z:18.38 [[-4.31798908e-02 -9.99066789e-01 -1.02369275e-03 1.34342048e+02] [ 9.51704532e-01 -4.08210934e-02 -3.04289536e-01 1.28999753e+02] [ 3.03963781e-01 -1.41134419e-02 9.52579042e-01 1.83756672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800371743 meters Centerline goodness : 0.979279 Centerline is valid? [True, True] Translation: X:134.34, Y:129.02, Z:18.39 [[-4.63589054e-02 -9.98874975e-01 9.98180739e-03 1.34342383e+02] [ 9.51179859e-01 -4.71932784e-02 -3.05007655e-01 1.29023735e+02] [ 3.05135588e-01 -4.64532689e-03 9.52297587e-01 1.83869288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.830371743 meters Centerline goodness : 0.978915 Centerline is valid? [True, True] Translation: X:134.35, Y:129.05, Z:18.40 [[-5.17899564e-02 -9.98641620e-01 5.71968298e-03 1.34348353e+02] [ 9.50891215e-01 -5.10621062e-02 -3.05284389e-01 1.29051233e+02] [ 3.05161756e-01 -1.03718689e-02 9.52244048e-01 1.83950783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86037174300003 meters Centerline goodness : 0.979182 Centerline is valid? [True, True] Translation: X:134.35, Y:129.07, Z:18.40 [[-5.40736912e-02 -9.98464892e-01 1.19956737e-02 1.34348504e+02] [ 9.51348026e-01 -5.51639508e-02 -3.03140021e-01 1.29073905e+02] [ 3.03336397e-01 -4.97983940e-03 9.52870522e-01 1.84026386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.890371743 meters Centerline goodness : 0.977957 Centerline is valid? [True, True] Translation: X:134.35, Y:129.10, Z:18.41 [[-5.94793449e-02 -9.98229353e-01 -6.05612049e-04 1.34353327e+02] [ 9.50806114e-01 -5.64688439e-02 -3.04596460e-01 1.29101575e+02] [ 3.04022929e-01 -1.86930175e-02 9.52481302e-01 1.84107179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.920371743 meters Centerline goodness : 0.977910 Centerline is valid? [True, True] Translation: X:134.35, Y:129.13, Z:18.42 [[-6.15729289e-02 -9.98082639e-01 6.31034200e-03 1.34353586e+02] [ 9.50381012e-01 -6.05593745e-02 -3.05136846e-01 1.29126392e+02] [ 3.04933939e-01 -1.27909401e-02 9.52287606e-01 1.84217607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.950371743 meters Centerline goodness : 0.978689 Centerline is valid? [True, True] Translation: X:134.36, Y:129.15, Z:18.43 [[-6.62379681e-02 -9.97795252e-01 4.14328068e-03 1.34356018e+02] [ 9.50063590e-01 -6.43372886e-02 -3.05352074e-01 1.29151706e+02] [ 3.04945417e-01 -1.62895208e-02 9.52230510e-01 1.84294688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.980371743 meters Centerline goodness : 0.975102 Centerline is valid? [True, True] Translation: X:134.37, Y:129.19, Z:18.45 [[-5.94804406e-02 -9.98156797e-01 1.20451410e-02 1.34365742e+02] [ 9.49699940e-01 -6.03011999e-02 -3.07300814e-01 1.29188485e+02] [ 3.07460732e-01 -6.83911812e-03 9.51536192e-01 1.84487328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.010371743 meters Centerline goodness : 0.974138 Centerline is valid? [True, True] Translation: X:134.37, Y:129.21, Z:18.45 [[-6.21603042e-02 -9.97816731e-01 -2.23129630e-02 1.34372916e+02] [ 9.49743425e-01 -5.22638723e-02 -3.08635569e-01 1.29212890e+02] [ 3.06795572e-01 -4.03764708e-02 9.50918618e-01 1.84498171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.040371743 meters Centerline goodness : 0.974681 Centerline is valid? [True, True] Translation: X:134.37, Y:129.24, Z:18.46 [[-6.70006390e-02 -9.97745099e-01 -3.95360554e-03 1.34367805e+02] [ 9.48918436e-01 -6.24963325e-02 -3.09270126e-01 1.29240118e+02] [ 3.08325666e-01 -2.44729452e-02 9.50966013e-01 1.84627256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.070371743 meters Centerline goodness : 0.976930 Centerline is valid? [True, True] Translation: X:134.37, Y:129.27, Z:18.47 [[-7.30086987e-02 -9.97166982e-01 -1.81035802e-02 1.34367779e+02] [ 9.48435365e-01 -6.38039436e-02 -3.10482553e-01 1.29267108e+02] [ 3.08447871e-01 -3.98380029e-02 9.50406673e-01 1.84698481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.100371743 meters Centerline goodness : 0.977994 Centerline is valid? [True, True] Translation: X:134.36, Y:129.28, Z:18.47 [[-8.16104122e-02 -9.96587814e-01 -1.23478842e-02 1.34358281e+02] [ 9.48590204e-01 -7.38666165e-02 -3.07766711e-01 1.29280524e+02] [ 3.05804457e-01 -3.68300501e-02 9.51381722e-01 1.84706360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130371743 meters Centerline goodness : 0.977310 Centerline is valid? [True, True] Translation: X:134.36, Y:129.31, Z:18.49 [[-7.65578959e-02 -9.97065080e-01 3.40309532e-04 1.34362740e+02] [ 9.47421335e-01 -7.28524355e-02 -3.11585200e-01 1.29314929e+02] [ 3.10695514e-01 -2.35318908e-02 9.50218158e-01 1.84915375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.160371743 meters Centerline goodness : 0.978009 Centerline is valid? [True, True] Translation: X:134.36, Y:129.33, Z:18.49 [[-8.33573525e-02 -9.96514659e-01 -3.17596452e-03 1.34355832e+02] [ 9.48195069e-01 -7.83342374e-02 -3.07879618e-01 1.29329780e+02] [ 3.06557765e-01 -2.86754637e-02 9.51420020e-01 1.84887886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190371743 meters Centerline goodness : 0.978518 Centerline is valid? [True, True] Translation: X:134.36, Y:129.35, Z:18.50 [[-8.29426434e-02 -9.96552277e-01 2.01903865e-03 1.34355209e+02] [ 9.47535103e-01 -7.94902417e-02 -3.09610287e-01 1.29354942e+02] [ 3.08703330e-01 -2.37667856e-02 9.50861396e-01 1.85006504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.220371743 meters Centerline goodness : 0.978514 Centerline is valid? [True, True] Translation: X:134.35, Y:129.38, Z:18.51 [[-8.37246727e-02 -9.96482394e-01 3.60801366e-03 1.34353218e+02] [ 9.46978650e-01 -8.06914064e-02 -3.10998930e-01 1.29380857e+02] [ 3.10196094e-01 -2.26215717e-02 9.50403413e-01 1.85115524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250371743 meters Centerline goodness : 0.977942 Centerline is valid? [True, True] Translation: X:134.36, Y:129.41, Z:18.53 [[-7.60249723e-02 -9.97071116e-01 8.33031699e-03 1.34359526e+02] [ 9.46532554e-01 -7.47933803e-02 -3.13818538e-01 1.29414686e+02] [ 3.13522452e-01 -1.59731294e-02 9.49446434e-01 1.85301973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.280371743 meters Centerline goodness : 0.976825 Centerline is valid? [True, True] Translation: X:134.36, Y:129.44, Z:18.53 [[-7.26411896e-02 -9.97303071e-01 -1.04805862e-02 1.34361574e+02] [ 9.47220491e-01 -6.56958100e-02 -3.13779226e-01 1.29440415e+02] [ 3.12244455e-01 -3.27207222e-02 9.49438126e-01 1.85338898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310371743 meters Centerline goodness : 0.978722 Centerline is valid? [True, True] Translation: X:134.35, Y:129.46, Z:18.53 [[-7.86858428e-02 -9.96823518e-01 -1.23049358e-02 1.34351861e+02] [ 9.47298332e-01 -7.09201340e-02 -3.12403913e-01 1.29455404e+02] [ 3.10538900e-01 -3.62382103e-02 9.49869667e-01 1.85339029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.340371743 meters Centerline goodness : 0.978362 Centerline is valid? [True, True] Translation: X:134.35, Y:129.48, Z:18.55 [[-7.44315536e-02 -9.97222069e-01 2.84411029e-03 1.34347202e+02] [ 9.46727553e-01 -7.15581933e-02 -3.13984659e-01 1.29480156e+02] [ 3.13315951e-01 -2.06777684e-02 9.49423796e-01 1.85479063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370371743 meters Centerline goodness : 0.978137 Centerline is valid? [True, True] Translation: X:134.35, Y:129.51, Z:18.56 [[-7.24449888e-02 -9.97367611e-01 3.09384541e-03 1.34346216e+02] [ 9.46440671e-01 -6.97237886e-02 -3.15259653e-01 1.29505348e+02] [ 3.14645482e-01 -1.99108409e-02 9.49000411e-01 1.85576326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.400371743 meters Centerline goodness : 0.977617 Centerline is valid? [True, True] Translation: X:134.35, Y:129.54, Z:18.57 [[-6.19819428e-02 -9.98055846e-01 6.53960310e-03 1.34350470e+02] [ 9.46213307e-01 -6.08445255e-02 -3.17770863e-01 1.29538346e+02] [ 3.17550967e-01 -1.35081960e-02 9.48144985e-01 1.85745093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430371743 meters Centerline goodness : 0.979413 Centerline is valid? [True, True] Translation: X:134.35, Y:129.57, Z:18.58 [[-6.04879094e-02 -9.98106488e-01 -1.11647562e-02 1.34352390e+02] [ 9.46862864e-01 -5.38353477e-02 -3.17100098e-01 1.29567333e+02] [ 3.15898607e-01 -2.97522150e-02 9.48326355e-01 1.85802067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.460371743 meters Centerline goodness : 0.979182 Centerline is valid? [True, True] Translation: X:134.34, Y:129.58, Z:18.58 [[-6.11735159e-02 -9.98055537e-01 -1.19560258e-02 1.34340562e+02] [ 9.46902175e-01 -5.42417817e-02 -3.16913396e-01 1.29581562e+02] [ 3.15648653e-01 -3.07078936e-02 9.48379119e-01 1.85834028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490371743 meters Centerline goodness : 0.979748 Centerline is valid? [True, True] Translation: X:134.34, Y:129.61, Z:18.61 [[-5.39744801e-02 -9.98508405e-01 8.22930970e-03 1.34341086e+02] [ 9.45979561e-01 -5.37701691e-02 -3.19736517e-01 1.29614274e+02] [ 3.19702090e-01 -9.47285348e-03 9.47470759e-01 1.86058727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.520371743 meters Centerline goodness : 0.978579 Centerline is valid? [True, True] Translation: X:134.34, Y:129.64, Z:18.61 [[-5.12826192e-02 -9.98503081e-01 -1.90181571e-02 1.34344508e+02] [ 9.46022298e-01 -4.24674003e-02 -3.21307224e-01 1.29642113e+02] [ 3.20018601e-01 -3.44690766e-02 9.46784018e-01 1.86101549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550371743 meters Centerline goodness : 0.979290 Centerline is valid? [True, True] Translation: X:134.34, Y:129.66, Z:18.62 [[-4.83815883e-02 -9.98713746e-01 -1.51682191e-02 1.34335141e+02] [ 9.44582246e-01 -4.08121701e-02 -3.25728026e-01 1.29659498e+02] [ 3.24690009e-01 -3.00868697e-02 9.45341832e-01 1.86212301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.580371743 meters Centerline goodness : 0.982876 Centerline is valid? [True, True] Translation: X:134.32, Y:129.69, Z:18.63 [[-4.66429835e-02 -9.98910344e-01 -1.59896327e-03 1.34324855e+02] [ 9.45244675e-01 -4.36194021e-02 -3.23434463e-01 1.29689643e+02] [ 3.23012285e-01 -1.65973599e-02 9.46249223e-01 1.86345896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61037174300003 meters Centerline goodness : 0.981777 Centerline is valid? [True, True] Translation: X:134.32, Y:129.71, Z:18.64 [[-4.90606049e-02 -9.98667502e-01 -1.60086907e-02 1.34320736e+02] [ 9.45651441e-01 -4.12856330e-02 -3.22550537e-01 1.29711137e+02] [ 3.21459810e-01 -3.09631659e-02 9.46416860e-01 1.86370265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.640371743 meters Centerline goodness : 0.981777 Centerline is valid? [True, True] Translation: X:134.32, Y:129.74, Z:18.65 [[-4.89872681e-02 -9.98796193e-01 2.53233445e-03 1.34317422e+02] [ 9.45338729e-01 -4.71834403e-02 -3.22658349e-01 1.29735320e+02] [ 3.22389415e-01 -1.34122372e-02 9.46512111e-01 1.86514209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.670371743 meters Centerline goodness : 0.981748 Centerline is valid? [True, True] Translation: X:134.31, Y:129.77, Z:18.67 [[-4.28608067e-02 -9.98729415e-01 2.65048309e-02 1.34314475e+02] [ 9.46235511e-01 -4.90932230e-02 -3.19731471e-01 1.29765574e+02] [ 3.20626432e-01 1.13758635e-02 9.47137414e-01 1.86683100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.700371743 meters Centerline goodness : 0.982265 Centerline is valid? [True, True] Translation: X:134.32, Y:129.80, Z:18.67 [[-4.14014997e-02 -9.99072083e-01 -1.18696217e-02 1.34322538e+02] [ 9.45809331e-01 -3.53593208e-02 -3.22791618e-01 1.29796264e+02] [ 3.22072392e-01 -2.45904560e-02 9.46395627e-01 1.86699747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.730371743 meters Centerline goodness : 0.980980 Centerline is valid? [True, True] Translation: X:134.32, Y:129.82, Z:18.68 [[-4.22219564e-02 -9.99092238e-01 5.65739052e-03 1.34316421e+02] [ 9.45823803e-01 -4.17940324e-02 -3.21979180e-01 1.29820592e+02] [ 3.21923344e-01 -8.24369628e-03 9.46729846e-01 1.86820523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.760371743 meters Centerline goodness : 0.981990 Centerline is valid? [True, True] Translation: X:134.31, Y:129.85, Z:18.69 [[-4.57898566e-02 -9.98949014e-01 -2.03883240e-03 1.34313242e+02] [ 9.45664830e-01 -4.26895494e-02 -3.22328454e-01 1.29848974e+02] [ 3.21902655e-01 -1.66874258e-02 9.46625697e-01 1.86882797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.790371743 meters Centerline goodness : 0.982135 Centerline is valid? [True, True] Translation: X:134.31, Y:129.87, Z:18.70 [[-4.82973485e-02 -9.98805203e-01 -7.45208305e-03 1.34311169e+02] [ 9.45910627e-01 -4.33407701e-02 -3.21519306e-01 1.29873148e+02] [ 3.20812177e-01 -2.25775345e-02 9.46873699e-01 1.86952006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.820371743 meters Centerline goodness : 0.982982 Centerline is valid? [True, True] Translation: X:134.31, Y:129.90, Z:18.71 [[-5.21746092e-02 -9.98614143e-01 -6.89957022e-03 1.34308739e+02] [ 9.45392093e-01 -4.71656851e-02 -3.22504555e-01 1.29899867e+02] [ 3.21732187e-01 -2.33493483e-02 9.46542766e-01 1.87068416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.850371743 meters Centerline goodness : 0.982639 Centerline is valid? [True, True] Translation: X:134.30, Y:129.93, Z:18.72 [[-5.61121341e-02 -9.98424468e-01 -1.01673106e-04 1.34304646e+02] [ 9.45450115e-01 -5.31022092e-02 -3.21409762e-01 1.29926966e+02] [ 3.20897972e-01 -1.81311145e-02 9.46940206e-01 1.87173104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880371743 meters Centerline goodness : 0.982840 Centerline is valid? [True, True] Translation: X:134.30, Y:129.95, Z:18.73 [[-6.03128816e-02 -9.98151349e-01 -7.49933795e-03 1.34303791e+02] [ 9.45249969e-01 -5.46991034e-02 -3.21730484e-01 1.29952551e+02] [ 3.20725509e-01 -2.64932415e-02 9.46801593e-01 1.87257354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.910371743 meters Centerline goodness : 0.984905 Centerline is valid? [True, True] Translation: X:134.30, Y:129.98, Z:18.74 [[-6.59849368e-02 -9.97818512e-01 2.05091475e-03 1.34296742e+02] [ 9.45051585e-01 -6.31547983e-02 -3.20763110e-01 1.29980625e+02] [ 3.20192894e-01 -1.92273133e-02 9.47157231e-01 1.87355957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940371743 meters Centerline goodness : 0.984847 Centerline is valid? [True, True] Translation: X:134.29, Y:130.00, Z:18.74 [[-6.92204843e-02 -9.97563732e-01 -8.66746287e-03 1.34294257e+02] [ 9.44430521e-01 -6.27300349e-02 -3.22670007e-01 1.30003283e+02] [ 3.21340186e-01 -3.05211906e-02 9.46471839e-01 1.87411765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.970371743 meters Centerline goodness : 0.985386 Centerline is valid? [True, True] Translation: X:134.29, Y:130.03, Z:18.75 [[-7.19349933e-02 -9.97409168e-01 -5.55951869e-04 1.34288851e+02] [ 9.44332276e-01 -6.79275615e-02 -3.21904331e-01 1.30029282e+02] [ 3.21032566e-01 -2.36811892e-02 9.46772038e-01 1.87518960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000371743 meters Centerline goodness : 0.984357 Centerline is valid? [True, True] Translation: X:134.29, Y:130.06, Z:18.76 [[-6.58435749e-02 -9.97795066e-01 -8.34450107e-03 1.34294250e+02] [ 9.44004509e-01 -5.95801413e-02 -3.24508388e-01 1.30058659e+02] [ 3.23295701e-01 -2.92440390e-02 9.45846011e-01 1.87637121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.030371743 meters Centerline goodness : 0.984403 Centerline is valid? [True, True] Translation: X:134.29, Y:130.08, Z:18.77 [[-6.45362982e-02 -9.97912500e-01 -2.38929106e-03 1.34291138e+02] [ 9.44185291e-01 -6.02862960e-02 -3.23851353e-01 1.30083692e+02] [ 3.23031272e-01 -2.31561009e-02 9.46104959e-01 1.87741046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060371743 meters Centerline goodness : 0.985302 Centerline is valid? [True, True] Translation: X:134.28, Y:130.11, Z:18.78 [[-6.72829416e-02 -9.97733358e-01 -1.07296273e-03 1.34279969e+02] [ 9.44363007e-01 -6.33367852e-02 -3.22749069e-01 1.30108144e+02] [ 3.21949555e-01 -2.27287731e-02 9.46483960e-01 1.87810734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.090371743 meters Centerline goodness : 0.983893 Centerline is valid? [True, True] Translation: X:134.29, Y:130.14, Z:18.79 [[-5.65891319e-02 -9.98122810e-01 -2.34206274e-02 1.34292651e+02] [ 9.44079412e-01 -4.58635949e-02 -3.26512779e-01 1.30141082e+02] [ 3.24825698e-01 -4.05880068e-02 9.44902577e-01 1.87920081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120371743 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:134.28, Y:130.16, Z:18.80 [[-5.49290534e-02 -9.98440865e-01 9.93168757e-03 1.34275948e+02] [ 9.44913936e-01 -5.51935612e-02 -3.22631870e-01 1.30161989e+02] [ 3.22677009e-01 -8.33727323e-03 9.46472418e-01 1.88044512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.150371743 meters Centerline goodness : 0.987233 Centerline is valid? [True, True] Translation: X:134.27, Y:130.19, Z:18.81 [[-5.01150466e-02 -9.98728022e-01 -5.55161630e-03 1.34273183e+02] [ 9.45381601e-01 -4.56440940e-02 -3.22754155e-01 1.30190380e+02] [ 3.22090220e-01 -2.14232354e-02 9.46466553e-01 1.88087754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180371743 meters Centerline goodness : 0.986703 Centerline is valid? [True, True] Translation: X:134.27, Y:130.22, Z:18.82 [[-4.57236992e-02 -9.98929229e-01 7.05258723e-03 1.34270840e+02] [ 9.45613636e-01 -4.55572744e-02 -3.22085991e-01 1.30217908e+02] [ 3.22062407e-01 -8.05794030e-03 9.46684148e-01 1.88213267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.210371743 meters Centerline goodness : 0.987327 Centerline is valid? [True, True] Translation: X:134.27, Y:130.24, Z:18.82 [[-4.77147253e-02 -9.98790441e-01 -1.18726970e-02 1.34265271e+02] [ 9.45052271e-01 -4.12925279e-02 -3.24300990e-01 1.30237191e+02] [ 3.23418475e-01 -2.66942519e-02 9.45879436e-01 1.88222623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240371743 meters Centerline goodness : 0.987178 Centerline is valid? [True, True] Translation: X:134.26, Y:130.27, Z:18.84 [[-4.20784198e-02 -9.99113540e-01 1.24150037e-03 1.34264927e+02] [ 9.45860385e-01 -4.02358281e-02 -3.22070193e-01 1.30266390e+02] [ 3.21834644e-01 -1.23779188e-02 9.46714978e-01 1.88364960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.270371743 meters Centerline goodness : 0.986149 Centerline is valid? [True, True] Translation: X:134.27, Y:130.30, Z:18.84 [[-3.47833657e-02 -9.99391719e-01 -2.51200584e-03 1.34265045e+02] [ 9.46381513e-01 -3.21303960e-02 -3.21449325e-01 1.30296175e+02] [ 3.21173082e-01 -1.35584053e-02 9.46923451e-01 1.88447588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300371743 meters Centerline goodness : 0.986773 Centerline is valid? [True, True] Translation: X:134.26, Y:130.32, Z:18.86 [[-3.06836738e-02 -9.99517009e-01 -4.92559921e-03 1.34264239e+02] [ 9.46228251e-01 -2.74593421e-02 -3.22332252e-01 1.30323998e+02] [ 3.22041315e-01 -1.45510788e-02 9.46613785e-01 1.88550092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.330371743 meters Centerline goodness : 0.986331 Centerline is valid? [True, True] Translation: X:134.26, Y:130.35, Z:18.86 [[-3.37258807e-02 -9.99397752e-01 -8.16688902e-03 1.34259260e+02] [ 9.46132044e-01 -2.92933389e-02 -3.22453183e-01 1.30347200e+02] [ 3.22019751e-01 -1.86019730e-02 9.46550182e-01 1.88615390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36037174300003 meters Centerline goodness : 0.982747 Centerline is valid? [True, True] Translation: X:134.25, Y:130.36, Z:18.87 [[-3.65163910e-02 -9.99326033e-01 -3.74611286e-03 1.34252780e+02] [ 9.45940347e-01 -3.33562345e-02 -3.22620863e-01 1.30361449e+02] [ 3.22278471e-01 -1.53245489e-02 9.46520864e-01 1.88680730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.390371743 meters Centerline goodness : 0.986610 Centerline is valid? [True, True] Translation: X:134.26, Y:130.39, Z:18.89 [[-3.11451312e-02 -9.99442177e-01 1.20547110e-02 1.34255349e+02] [ 9.44433388e-01 -3.33750590e-02 -3.27004101e-01 1.30392162e+02] [ 3.27224017e-01 1.20028591e-03 9.44946031e-01 1.88885468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.420371743 meters Centerline goodness : 0.985528 Centerline is valid? [True, True] Translation: X:134.27, Y:130.43, Z:18.89 [[-2.33202612e-02 -9.99520684e-01 -2.03609469e-02 1.34273560e+02] [ 9.44566236e-01 -1.53572846e-02 -3.27961553e-01 1.30428990e+02] [ 3.27491667e-01 -2.68804120e-02 9.44471626e-01 1.88926915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.450371743 meters Centerline goodness : 0.986242 Centerline is valid? [True, True] Translation: X:134.26, Y:130.44, Z:18.91 [[-3.12503476e-02 -9.99508663e-01 2.41832620e-03 1.34261571e+02] [ 9.45279954e-01 -3.03408195e-02 -3.24846493e-01 1.30444090e+02] [ 3.24760258e-01 -7.86557055e-03 9.45763664e-01 1.89052553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.480371743 meters Centerline goodness : 0.986914 Centerline is valid? [True, True] Translation: X:134.27, Y:130.47, Z:18.91 [[-3.55631919e-02 -9.99202170e-01 -1.81736985e-02 1.34265088e+02] [ 9.46162377e-01 -2.78098050e-02 -3.22495536e-01 1.30474776e+02] [ 3.21732832e-01 -2.86642404e-02 9.46396506e-01 1.89064217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.510371743 meters Centerline goodness : 0.986595 Centerline is valid? [True, True] Translation: X:134.27, Y:130.50, Z:18.92 [[-3.84327082e-02 -9.99259091e-01 2.04845103e-03 1.34265415e+02] [ 9.45603089e-01 -3.70316006e-02 -3.23208074e-01 1.30497936e+02] [ 3.23044464e-01 -1.04847400e-02 9.46325708e-01 1.89233597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.540371743 meters Centerline goodness : 0.986746 Centerline is valid? [True, True] Translation: X:134.27, Y:130.53, Z:18.93 [[-4.06753564e-02 -9.99169475e-01 -2.42403726e-03 1.34268961e+02] [ 9.45974912e-01 -3.77285708e-02 -3.22037297e-01 1.30526608e+02] [ 3.21678382e-01 -1.53920603e-02 9.46723879e-01 1.89311467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.570371743 meters Centerline goodness : 0.987444 Centerline is valid? [True, True] Translation: X:134.27, Y:130.55, Z:18.94 [[-4.31009123e-02 -9.99069544e-01 1.53541327e-03 1.34274095e+02] [ 9.46065857e-01 -4.13081114e-02 -3.21330102e-01 1.30554257e+02] [ 3.21094543e-01 -1.23970185e-02 9.46966002e-01 1.89405193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.600371743 meters Centerline goodness : 0.986801 Centerline is valid? [True, True] Translation: X:134.27, Y:130.58, Z:18.95 [[-4.74501690e-02 -9.98839987e-01 8.19526951e-03 1.34271701e+02] [ 9.46257236e-01 -4.75768924e-02 -3.19896363e-01 1.30576774e+02] [ 3.19915185e-01 -7.42430341e-03 9.47417096e-01 1.89477735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630371743 meters Centerline goodness : 0.986758 Centerline is valid? [True, True] Translation: X:134.29, Y:130.61, Z:18.95 [[-4.60953730e-02 -9.98630840e-01 -2.47317856e-02 1.34290827e+02] [ 9.44926342e-01 -3.55590404e-02 -3.25345605e-01 1.30611750e+02] [ 3.24020717e-01 -3.83666428e-02 9.45271694e-01 1.89548025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.660371743 meters Centerline goodness : 0.986463 Centerline is valid? [True, True] Translation: X:134.28, Y:130.63, Z:18.97 [[-5.13096471e-02 -9.98550512e-01 1.62540939e-02 1.34280417e+02] [ 9.45379639e-01 -5.38107720e-02 -3.21499206e-01 1.30629306e+02] [ 3.21907842e-01 -1.12972134e-03 9.46770334e-01 1.89699051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690371743 meters Centerline goodness : 0.986163 Centerline is valid? [True, True] Translation: X:134.29, Y:130.66, Z:18.97 [[-5.59481042e-02 -9.98205026e-01 -2.13666960e-02 1.34286155e+02] [ 9.45982009e-01 -4.61517943e-02 -3.20917514e-01 1.30658106e+02] [ 3.19355365e-01 -3.81672365e-02 9.46866101e-01 1.89659476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.720371743 meters Centerline goodness : 0.984850 Centerline is valid? [True, True] Translation: X:134.29, Y:130.68, Z:18.99 [[-5.53434364e-02 -9.98317720e-01 1.72868100e-02 1.34286368e+02] [ 9.45424887e-01 -5.79634698e-02 -3.20643134e-01 1.30681413e+02] [ 3.21105726e-01 -1.40211251e-03 9.47042315e-01 1.89882193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750371743 meters Centerline goodness : 0.986140 Centerline is valid? [True, True] Translation: X:134.30, Y:130.71, Z:18.99 [[-5.79142655e-02 -9.98145975e-01 -1.87229822e-02 1.34295682e+02] [ 9.46037378e-01 -4.88817885e-02 -3.20349575e-01 1.30713012e+02] [ 3.18840426e-01 -3.62654513e-02 9.47114354e-01 1.89866500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.780371743 meters Centerline goodness : 0.985798 Centerline is valid? [True, True] Translation: X:134.29, Y:130.73, Z:19.00 [[-6.57556822e-02 -9.97834812e-01 1.37070386e-03 1.34288914e+02] [ 9.45028530e-01 -6.27166712e-02 -3.20916963e-01 1.30731364e+02] [ 3.20308083e-01 -1.98067596e-02 9.47106343e-01 1.89988848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810371743 meters Centerline goodness : 0.985570 Centerline is valid? [True, True] Translation: X:134.30, Y:130.76, Z:19.00 [[-6.50581021e-02 -9.97802785e-01 -1.25317622e-02 1.34296741e+02] [ 9.45782604e-01 -5.76518068e-02 -3.19642824e-01 1.30762587e+02] [ 3.18218021e-01 -3.26476781e-02 9.47455234e-01 1.90048568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.840371743 meters Centerline goodness : 0.985242 Centerline is valid? [True, True] Translation: X:134.29, Y:130.78, Z:19.02 [[-6.79923778e-02 -9.97638578e-01 9.71109126e-03 1.34291357e+02] [ 9.45236884e-01 -6.75293411e-02 -3.19322753e-01 1.30783844e+02] [ 3.19224481e-01 -1.25322316e-02 9.47596261e-01 1.90182825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870371743 meters Centerline goodness : 0.983896 Centerline is valid? [True, True] Translation: X:134.30, Y:130.81, Z:19.03 [[-6.23379967e-02 -9.97956286e-01 1.40437074e-02 1.34300633e+02] [ 9.44330840e-01 -6.35309112e-02 -3.22805030e-01 1.30811571e+02] [ 3.23037518e-01 -6.86111286e-03 9.46361288e-01 1.90332324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.900371743 meters Centerline goodness : 0.984922 Centerline is valid? [True, True] Translation: X:134.30, Y:130.84, Z:19.03 [[-6.85241732e-02 -9.97518642e-01 -1.61553935e-02 1.34300099e+02] [ 9.45685934e-01 -5.97884685e-02 -3.19536311e-01 1.30839847e+02] [ 3.17777521e-01 -3.71738899e-02 9.47436304e-01 1.90284469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930371743 meters Centerline goodness : 0.985166 Centerline is valid? [True, True] Translation: X:134.30, Y:130.86, Z:19.05 [[-6.62527530e-02 -9.97756065e-01 9.66477065e-03 1.34296115e+02] [ 9.44666591e-01 -6.58403418e-02 -3.21356625e-01 1.30860543e+02] [ 3.21271854e-01 -1.21607752e-02 9.46908925e-01 1.90459141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.960371743 meters Centerline goodness : 0.984054 Centerline is valid? [True, True] Translation: X:134.31, Y:130.90, Z:19.05 [[-5.71103456e-02 -9.98106555e-01 -2.28410635e-02 1.34314194e+02] [ 9.45540391e-01 -4.67307627e-02 -3.22132899e-01 1.30898549e+02] [ 3.20455578e-01 -3.99942693e-02 9.46418872e-01 1.90517521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990371743 meters Centerline goodness : 0.980968 Centerline is valid? [True, True] Translation: X:134.30, Y:130.91, Z:19.07 [[-6.13275579e-02 -9.98097323e-01 6.37690474e-03 1.34301905e+02] [ 9.45111605e-01 -6.01238436e-02 -3.21168457e-01 1.30913521e+02] [ 3.20940781e-01 -1.36695905e-02 9.47000611e-01 1.90655950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.020371743 meters Centerline goodness : 0.985702 Centerline is valid? [True, True] Translation: X:134.31, Y:130.95, Z:19.07 [[-5.25508294e-02 -9.98545240e-01 -1.20753336e-02 1.34312591e+02] [ 9.46286445e-01 -4.59302374e-02 -3.20050587e-01 1.30947675e+02] [ 3.19030367e-01 -2.82456483e-02 9.47323497e-01 1.90699178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050371743 meters Centerline goodness : 0.984535 Centerline is valid? [True, True] Translation: X:134.31, Y:130.97, Z:19.08 [[-5.17972569e-02 -9.98637299e-01 6.37094302e-03 1.34307827e+02] [ 9.46116110e-01 -5.11130966e-02 -3.19768288e-01 1.30970553e+02] [ 3.19658178e-01 -1.05354683e-02 9.47474355e-01 1.90823874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.080371743 meters Centerline goodness : 0.985261 Centerline is valid? [True, True] Translation: X:134.31, Y:131.00, Z:19.09 [[-4.88435152e-02 -9.98780100e-01 -7.25410969e-03 1.34310071e+02] [ 9.46654706e-01 -4.39758237e-02 -3.19235015e-01 1.30996612e+02] [ 3.18526575e-01 -2.24596974e-02 9.47647816e-01 1.90874332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11037174300003 meters Centerline goodness : 0.983518 Centerline is valid? [True, True] Translation: X:134.32, Y:131.03, Z:19.10 [[-4.24423385e-02 -9.99051088e-01 -9.77608997e-03 1.34316733e+02] [ 9.46703177e-01 -3.70874827e-02 -3.19965019e-01 1.31026643e+02] [ 3.19298829e-01 -2.28351191e-02 9.47378918e-01 1.90989289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.140371743 meters Centerline goodness : 0.985196 Centerline is valid? [True, True] Translation: X:134.31, Y:131.05, Z:19.10 [[-4.44679421e-02 -9.98938513e-01 -1.20187092e-02 1.34311012e+02] [ 9.47235906e-01 -3.83375361e-02 -3.18236345e-01 1.31049371e+02] [ 3.17437774e-01 -2.55358683e-02 9.47935219e-01 1.91049643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.170371743 meters Centerline goodness : 0.985165 Centerline is valid? [True, True] Translation: X:134.31, Y:131.07, Z:19.12 [[-4.30075918e-02 -9.99074120e-01 -1.11823713e-03 1.34308123e+02] [ 9.46844760e-01 -4.04020421e-02 -3.19143660e-01 1.31074303e+02] [ 3.18802992e-01 -1.47843972e-02 9.47705689e-01 1.91165277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.200371743 meters Centerline goodness : 0.985147 Centerline is valid? [True, True] Translation: X:134.30, Y:131.09, Z:19.12 [[-4.84083946e-02 -9.98760282e-01 1.15985793e-02 1.34295774e+02] [ 9.47252356e-01 -4.95888885e-02 -3.16628989e-01 1.31093759e+02] [ 3.16811619e-01 -4.34071947e-03 9.48478548e-01 1.91226793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.230371743 meters Centerline goodness : 0.985105 Centerline is valid? [True, True] Translation: X:134.31, Y:131.13, Z:19.13 [[-3.74557660e-02 -9.99242281e-01 -1.05796929e-02 1.34308785e+02] [ 9.47465840e-01 -3.21455605e-02 -3.18237560e-01 1.31129086e+02] [ 3.17656335e-01 -2.19437292e-02 9.47951964e-01 1.91298330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.260371743 meters Centerline goodness : 0.983312 Centerline is valid? [True, True] Translation: X:134.30, Y:131.15, Z:19.14 [[-3.49565873e-02 -9.99270611e-01 1.53714879e-02 1.34304004e+02] [ 9.47528953e-01 -3.80290247e-02 -3.17399868e-01 1.31151070e+02] [ 3.17752922e-01 3.46971368e-03 9.48167201e-01 1.91441507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.290371743 meters Centerline goodness : 0.983500 Centerline is valid? [True, True] Translation: X:134.30, Y:131.18, Z:19.15 [[-3.25640067e-02 -9.99467056e-01 -2.27809052e-03 1.34304296e+02] [ 9.47124418e-01 -3.01304906e-02 -3.19448729e-01 1.31177847e+02] [ 3.19209840e-01 -1.25601657e-02 9.47600823e-01 1.91507781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.320371743 meters Centerline goodness : 0.984134 Centerline is valid? [True, True] Translation: X:134.30, Y:131.21, Z:19.16 [[-3.07703781e-02 -9.99524158e-01 -2.15463919e-03 1.34303921e+02] [ 9.48381877e-01 -2.85151034e-02 -3.15846012e-01 1.31205452e+02] [ 3.15634280e-01 -1.17621220e-02 9.48808018e-01 1.91551036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.350371743 meters Centerline goodness : 0.985297 Centerline is valid? [True, True] Translation: X:134.30, Y:131.23, Z:19.17 [[-3.05017788e-02 -9.99532597e-01 -2.05632633e-03 1.34301904e+02] [ 9.47761611e-01 -2.82682825e-02 -3.17724461e-01 1.31231445e+02] [ 3.17517827e-01 -1.16400684e-02 9.48180857e-01 1.91655283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380371743 meters Centerline goodness : 0.984277 Centerline is valid? [True, True] Translation: X:134.30, Y:131.26, Z:19.18 [[-2.75863063e-02 -9.99617410e-01 -2.00756267e-03 1.34301714e+02] [ 9.46802351e-01 -2.54844936e-02 -3.20805003e-01 1.31255233e+02] [ 3.20631104e-01 -1.07505901e-02 9.47143136e-01 1.91778796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.410371743 meters Centerline goodness : 0.983405 Centerline is valid? [True, True] Translation: X:134.30, Y:131.28, Z:19.18 [[-2.59395483e-02 -9.99661700e-01 -1.90391190e-03 1.34301861e+02] [ 9.48226845e-01 -2.40017543e-02 -3.16685595e-01 1.31283342e+02] [ 3.16532764e-01 -1.00200217e-02 9.48528655e-01 1.91827699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440371743 meters Centerline goodness : 0.981555 Centerline is valid? [True, True] Translation: X:134.29, Y:131.30, Z:19.19 [[-3.46608730e-02 -9.99388854e-01 -4.53236766e-03 1.34291509e+02] [ 9.48223735e-01 -3.14530670e-02 -3.16041852e-01 1.31301871e+02] [ 3.15706147e-01 -1.52519851e-02 9.48734423e-01 1.91885535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.470371743 meters Centerline goodness : 0.983113 Centerline is valid? [True, True] Translation: X:134.30, Y:131.33, Z:19.20 [[-2.84218350e-02 -9.99544949e-01 1.01041281e-02 1.34295993e+02] [ 9.48590665e-01 -3.01578726e-02 -3.15065475e-01 1.31332206e+02] [ 3.15226823e-01 6.29942623e-04 9.49016150e-01 1.92041559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500371743 meters Centerline goodness : 0.985390 Centerline is valid? [True, True] Translation: X:134.30, Y:131.36, Z:19.21 [[-3.22052846e-02 -9.99330919e-01 -1.73359337e-02 1.34297368e+02] [ 9.48037904e-01 -2.50501581e-02 -3.17169707e-01 1.31361023e+02] [ 3.16523226e-01 -2.66496629e-02 9.48210337e-01 1.92073023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.530371743 meters Centerline goodness : 0.985390 Centerline is valid? [True, True] Translation: X:134.29, Y:131.39, Z:19.22 [[-3.24582065e-02 -9.99471981e-01 -1.49134933e-03 1.34294179e+02] [ 9.47938969e-01 -3.03116370e-02 -3.17006177e-01 1.31385246e+02] [ 3.16793586e-01 -1.17031601e-02 9.48422300e-01 1.92211828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560371743 meters Centerline goodness : 0.981864 Centerline is valid? [True, True] Translation: X:134.29, Y:131.40, Z:19.23 [[-3.92399659e-02 -9.99183131e-01 -9.65898196e-03 1.34288302e+02] [ 9.46937782e-01 -3.40986202e-02 -3.19603068e-01 1.31401940e+02] [ 3.19012636e-01 -2.16876685e-02 9.47502287e-01 1.92272377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.590371743 meters Centerline goodness : 0.984836 Centerline is valid? [True, True] Translation: X:134.29, Y:131.43, Z:19.25 [[-3.58081729e-02 -9.98866913e-01 3.13474858e-02 1.34285863e+02] [ 9.48161494e-01 -4.38681490e-02 -3.14746513e-01 1.31432262e+02] [ 3.15765034e-01 1.84519814e-02 9.48657983e-01 1.92471724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620371743 meters Centerline goodness : 0.984217 Centerline is valid? [True, True] Translation: X:134.30, Y:131.46, Z:19.25 [[-3.14680434e-02 -9.99489643e-01 5.49682717e-03 1.34296276e+02] [ 9.48836009e-01 -3.16011558e-02 -3.14184016e-01 1.31464557e+02] [ 3.14197376e-01 -4.67116868e-03 9.49346190e-01 1.92475961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.650371743 meters Centerline goodness : 0.985171 Centerline is valid? [True, True] Translation: X:134.30, Y:131.49, Z:19.25 [[-3.61791115e-02 -9.99245653e-01 -1.41136951e-02 1.34296677e+02] [ 9.48739066e-01 -2.99063303e-02 -3.14642330e-01 1.31488612e+02] [ 3.13982892e-01 -2.47736939e-02 9.49105372e-01 1.92489838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680371743 meters Centerline goodness : 0.985596 Centerline is valid? [True, True] Translation: X:134.30, Y:131.52, Z:19.27 [[-3.85241866e-02 -9.99237590e-01 6.33446018e-03 1.34295586e+02] [ 9.48311410e-01 -3.85576149e-02 -3.14990126e-01 1.31517190e+02] [ 3.14994216e-01 -6.12769752e-03 9.49073809e-01 1.92662995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.710371743 meters Centerline goodness : 0.985585 Centerline is valid? [True, True] Translation: X:134.29, Y:131.54, Z:19.27 [[-4.39669065e-02 -9.98988340e-01 -9.44499792e-03 1.34293538e+02] [ 9.47955147e-01 -3.87328497e-02 -3.16039248e-01 1.31537556e+02] [ 3.15353692e-01 -2.28487025e-02 9.48699102e-01 1.92685155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740371743 meters Centerline goodness : 0.984435 Centerline is valid? [True, True] Translation: X:134.30, Y:131.57, Z:19.28 [[-4.54472796e-02 -9.98963533e-01 -2.53074582e-03 1.34296358e+02] [ 9.48450899e-01 -4.23535513e-02 -3.14081309e-01 1.31566010e+02] [ 3.13648588e-01 -1.66744292e-02 9.49392715e-01 1.92805548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.770371743 meters Centerline goodness : 0.984682 Centerline is valid? [True, True] Translation: X:134.30, Y:131.59, Z:19.29 [[-4.74888819e-02 -9.98871240e-01 -1.02586799e-03 1.34295952e+02] [ 9.47186139e-01 -4.47055051e-02 -3.17552888e-01 1.31589714e+02] [ 3.17148585e-01 -1.60519195e-02 9.48240007e-01 1.92937992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800371743 meters Centerline goodness : 0.984444 Centerline is valid? [True, True] Translation: X:134.30, Y:131.62, Z:19.30 [[-4.82741110e-02 -9.98833703e-01 -9.18730178e-04 1.34299074e+02] [ 9.47485924e-01 -4.55012903e-02 -3.16543926e-01 1.31616209e+02] [ 3.16132938e-01 -1.61513605e-02 9.48577408e-01 1.93023637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.830371743 meters Centerline goodness : 0.984946 Centerline is valid? [True, True] Translation: X:134.31, Y:131.65, Z:19.31 [[-4.90682936e-02 -9.97915877e-01 -4.19070914e-02 1.34308990e+02] [ 9.46053071e-01 -3.29820918e-02 -3.22328664e-01 1.31646789e+02] [ 3.20274708e-01 -5.54624500e-02 9.45699756e-01 1.93086264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86037174300003 meters Centerline goodness : 0.985919 Centerline is valid? [True, True] Translation: X:134.29, Y:131.66, Z:19.33 [[-5.90199125e-02 -9.97644312e-01 3.49639206e-02 1.34286401e+02] [ 9.45837401e-01 -6.70869840e-02 -3.17633354e-01 1.31660604e+02] [ 3.19230733e-01 1.43234910e-02 9.47568772e-01 1.93315767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.890371743 meters Centerline goodness : 0.984642 Centerline is valid? [True, True] Translation: X:134.30, Y:131.69, Z:19.33 [[-5.67812953e-02 -9.98376657e-01 4.46482251e-03 1.34298318e+02] [ 9.45789897e-01 -5.52217859e-02 -3.20050036e-01 1.31692869e+02] [ 3.19777041e-01 -1.39500716e-02 9.47390120e-01 1.93341240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.920371743 meters Centerline goodness : 0.985294 Centerline is valid? [True, True] Translation: X:134.30, Y:131.72, Z:19.34 [[-6.04402663e-02 -9.98171725e-01 -4.26325264e-04 1.34297239e+02] [ 9.45769743e-01 -5.71306979e-02 -3.19774415e-01 1.31720095e+02] [ 3.19165424e-01 -1.97304564e-02 9.47493610e-01 1.93406612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.950371743 meters Centerline goodness : 0.985202 Centerline is valid? [True, True] Translation: X:134.30, Y:131.75, Z:19.35 [[-6.14829402e-02 -9.98108083e-01 -3.21441387e-04 1.34299303e+02] [ 9.46042182e-01 -5.81730447e-02 -3.18779057e-01 1.31746038e+02] [ 3.18157254e-01 -1.99035708e-02 9.47828998e-01 1.93468822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.980371743 meters Centerline goodness : 0.986097 Centerline is valid? [True, True] Translation: X:134.29, Y:131.77, Z:19.36 [[-6.66754418e-02 -9.97769794e-01 3.13420660e-03 1.34293797e+02] [ 9.45446522e-01 -6.41822460e-02 -3.19392412e-01 1.31771034e+02] [ 3.18881261e-01 -1.83324054e-02 9.47617362e-01 1.93569715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.010371743 meters Centerline goodness : 0.985734 Centerline is valid? [True, True] Translation: X:134.30, Y:131.80, Z:19.37 [[-6.71968634e-02 -9.97636410e-01 -1.43588222e-02 1.34298135e+02] [ 9.44834829e-01 -5.90031411e-02 -3.22189038e-01 1.31798785e+02] [ 3.20580299e-01 -3.52168080e-02 9.46566452e-01 1.93650466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.040371743 meters Centerline goodness : 0.985997 Centerline is valid? [True, True] Translation: X:134.29, Y:131.82, Z:19.38 [[-6.82106100e-02 -9.97566081e-01 1.44646928e-02 1.34292280e+02] [ 9.44233724e-01 -6.92316728e-02 -3.21915595e-01 1.31824971e+02] [ 3.22133494e-01 -8.30000841e-03 9.46657870e-01 1.93810564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.070371743 meters Centerline goodness : 0.987128 Centerline is valid? [True, True] Translation: X:134.29, Y:131.82, Z:19.38 [[-6.94154519e-02 -9.97587663e-01 -5.92170905e-04 1.34294155e+02] [ 9.44889351e-01 -6.55581255e-02 -3.20758862e-01 1.31824851e+02] [ 3.19946262e-01 -2.28251573e-02 9.47160705e-01 1.93757380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.100371743 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:134.29, Y:131.97, Z:19.43 [[-8.00794881e-02 -9.96787153e-01 -1.62693166e-03 1.34288563e+02] [ 9.43690892e-01 -7.52880601e-02 -3.22147806e-01 1.31970605e+02] [ 3.20990305e-01 -2.73327519e-02 9.46687987e-01 1.94261013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130371743 meters Centerline goodness : 0.985053 Centerline is valid? [True, True] Translation: X:134.29, Y:131.82, Z:19.38 [[-7.18108928e-02 -9.97415571e-01 2.31824906e-03 1.34292719e+02] [ 9.45016699e-01 -6.87814139e-02 -3.19706985e-01 1.31818453e+02] [ 3.19040177e-01 -2.07676599e-02 9.47513625e-01 1.93750743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.160371743 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:134.29, Y:131.84, Z:19.38 [[-7.22134898e-02 -9.97388731e-01 9.64774506e-04 1.34291018e+02] [ 9.44462292e-01 -6.86923323e-02 -3.21360145e-01 1.31844293e+02] [ 3.20587260e-01 -2.22953444e-02 9.46956560e-01 1.93844977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190371743 meters Centerline goodness : 0.987719 Centerline is valid? [True, True] Translation: X:134.29, Y:131.89, Z:19.40 [[-7.15146475e-02 -9.97439183e-01 8.54747969e-04 1.34288193e+02] [ 9.44519287e-01 -6.79957539e-02 -3.21340776e-01 1.31887131e+02] [ 3.20576001e-01 -2.21732464e-02 9.46963239e-01 1.93996225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.220371743 meters Centerline goodness : 0.986368 Centerline is valid? [True, True] Translation: X:134.29, Y:131.52, Z:19.27 [[-5.63082475e-02 -9.98378097e-01 -8.39979057e-03 1.34294275e+02] [ 9.42063400e-01 -5.03419183e-02 -3.31635708e-01 1.31516035e+02] [ 3.30674965e-01 -2.65869608e-02 9.43370129e-01 1.92746456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250371743 meters Centerline goodness : 0.987693 Centerline is valid? [True, True] Translation: X:134.29, Y:131.54, Z:19.28 [[-5.96301820e-02 -9.98220021e-01 1.01497890e-03 1.34286046e+02] [ 9.42543475e-01 -5.66390343e-02 -3.29247351e-01 1.31536349e+02] [ 3.28718785e-01 -1.86764177e-02 9.44243164e-01 1.92812486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.280371743 meters Centerline goodness : 0.985531 Centerline is valid? [True, True] Translation: X:134.29, Y:131.56, Z:19.29 [[-5.56125735e-02 -9.98452217e-01 6.42531420e-04 1.34286403e+02] [ 9.42323959e-01 -5.26990013e-02 -3.30527416e-01 1.31562976e+02] [ 3.30049691e-01 -1.77760075e-02 9.43796172e-01 1.92912178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310371743 meters Centerline goodness : 0.986776 Centerline is valid? [True, True] Translation: X:134.29, Y:131.59, Z:19.30 [[-5.52757884e-02 -9.98470775e-01 -8.36185387e-04 1.34285324e+02] [ 9.42630493e-01 -5.19082679e-02 -3.29777631e-01 1.31593153e+02] [ 3.29229921e-01 -1.90169324e-02 9.44058269e-01 1.92996270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.340371743 meters Centerline goodness : 0.986778 Centerline is valid? [True, True] Translation: X:134.28, Y:131.62, Z:19.31 [[-5.31599634e-02 -9.98582335e-01 2.70895603e-03 1.34281940e+02] [ 9.43669001e-01 -5.11234913e-02 -3.26917734e-01 1.31621810e+02] [ 3.26592765e-01 -1.48225769e-02 9.45048918e-01 1.93083298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370371743 meters Centerline goodness : 0.986885 Centerline is valid? [True, True] Translation: X:134.28, Y:131.65, Z:19.31 [[-5.11053398e-02 -9.98605033e-01 -1.32752677e-02 1.34284414e+02] [ 9.44119158e-01 -4.39744045e-02 -3.26657721e-01 1.31646915e+02] [ 3.25618272e-01 -2.92273884e-02 9.45049470e-01 1.93133837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.400371743 meters Centerline goodness : 0.986609 Centerline is valid? [True, True] Translation: X:134.28, Y:131.67, Z:19.33 [[-5.01273235e-02 -9.98742531e-01 7.80116680e-04 1.34280676e+02] [ 9.44451153e-01 -4.76564119e-02 -3.25178237e-01 1.31673252e+02] [ 3.24806513e-01 -1.55635326e-02 9.45652423e-01 1.93260966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430371743 meters Centerline goodness : 0.987931 Centerline is valid? [True, True] Translation: X:134.28, Y:131.70, Z:19.33 [[-4.94604697e-02 -9.98760426e-01 -5.59223111e-03 1.34279716e+02] [ 9.44768531e-01 -4.49689837e-02 -3.24638589e-01 1.31702166e+02] [ 3.23984698e-01 -2.13401411e-02 9.45821608e-01 1.93339225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.460371743 meters Centerline goodness : 0.985970 Centerline is valid? [True, True] Translation: X:134.28, Y:131.73, Z:19.34 [[-4.73532556e-02 -9.98878204e-01 5.19048724e-05 1.34278675e+02] [ 9.45511082e-01 -4.48400680e-02 -3.22487459e-01 1.31725996e+02] [ 3.22128022e-01 -1.52217545e-02 9.46573735e-01 1.93423517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490371743 meters Centerline goodness : 0.987789 Centerline is valid? [True, True] Translation: X:134.28, Y:131.76, Z:19.35 [[-4.90021068e-02 -9.98783574e-01 -5.49226251e-03 1.34278949e+02] [ 9.45410721e-01 -4.46084025e-02 -3.22813661e-01 1.31756989e+02] [ 3.22175981e-01 -2.10109933e-02 9.46446605e-01 1.93500283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.520371743 meters Centerline goodness : 0.987633 Centerline is valid? [True, True] Translation: X:134.28, Y:131.78, Z:19.36 [[-5.07256281e-02 -9.98709677e-01 -2.42744173e-03 1.34276527e+02] [ 9.45417460e-01 -4.72351873e-02 -3.22420012e-01 1.31781705e+02] [ 3.21889325e-01 -1.86499034e-02 9.46593600e-01 1.93582110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550371743 meters Centerline goodness : 0.987250 Centerline is valid? [True, True] Translation: X:134.28, Y:131.81, Z:19.37 [[-5.14738136e-02 -9.98652356e-01 -6.62706882e-03 1.34277534e+02] [ 9.45130551e-01 -4.65693257e-02 -3.23356676e-01 1.31809457e+02] [ 3.22612288e-01 -2.29078465e-02 9.46253952e-01 1.93674451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.580371743 meters Centerline goodness : 0.986829 Centerline is valid? [True, True] Translation: X:134.28, Y:131.84, Z:19.38 [[-5.34913175e-02 -9.98522879e-01 -9.52567625e-03 1.34278213e+02] [ 9.44428213e-01 -4.74904500e-02 -3.25269132e-01 1.31836484e+02] [ 3.24336292e-01 -2.63953918e-02 9.45573505e-01 1.93763948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61037174300003 meters Centerline goodness : 0.986516 Centerline is valid? [True, True] Translation: X:134.27, Y:131.86, Z:19.38 [[-6.00213806e-02 -9.98176025e-01 -6.48515599e-03 1.34271546e+02] [ 9.44408874e-01 -5.46820144e-02 -3.24194011e-01 1.31857203e+02] [ 3.23248068e-01 -2.55832110e-02 9.45968385e-01 1.93841475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.640371743 meters Centerline goodness : 0.985923 Centerline is valid? [True, True] Translation: X:134.28, Y:131.89, Z:19.40 [[-5.84200334e-02 -9.98286450e-01 -3.35616151e-03 1.34275080e+02] [ 9.44305953e-01 -5.41698667e-02 -3.24579564e-01 1.31887010e+02] [ 3.23841578e-01 -2.21311923e-02 9.45852442e-01 1.93962454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.670371743 meters Centerline goodness : 0.986899 Centerline is valid? [True, True] Translation: X:134.28, Y:131.91, Z:19.40 [[-5.96946606e-02 -9.98134931e-01 -1.27752149e-02 1.34276260e+02] [ 9.43965071e-01 -5.22840291e-02 -3.25877778e-01 1.31913466e+02] [ 3.24602054e-01 -3.15125200e-02 9.45325588e-01 1.94046416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.700371743 meters Centerline goodness : 0.984967 Centerline is valid? [True, True] Translation: X:134.27, Y:131.93, Z:19.42 [[-5.98530281e-02 -9.98193879e-01 -5.15707082e-03 1.34273687e+02] [ 9.42951211e-01 -5.48440479e-02 -3.28382618e-01 1.31933408e+02] [ 3.27506684e-01 -2.45175602e-02 9.44530709e-01 1.94170089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.730371743 meters Centerline goodness : 0.985170 Centerline is valid? [True, True] Translation: X:134.27, Y:131.96, Z:19.43 [[-5.98657121e-02 -9.98206265e-01 -5.90314165e-04 1.34271635e+02] [ 9.42639638e-01 -5.63386225e-02 -3.29023513e-01 1.31959139e+02] [ 3.28400074e-01 -2.02536804e-02 9.44321545e-01 1.94284271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.760371743 meters Centerline goodness : 0.986696 Centerline is valid? [True, True] Translation: X:134.27, Y:131.99, Z:19.44 [[-5.71105549e-02 -9.98298024e-01 1.18084389e-02 1.34267484e+02] [ 9.44171832e-01 -5.78505216e-02 -3.24334502e-01 1.31989150e+02] [ 3.24465617e-01 -7.37372795e-03 9.45868750e-01 1.94377964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.790371743 meters Centerline goodness : 0.985588 Centerline is valid? [True, True] Translation: X:134.27, Y:132.02, Z:19.44 [[-5.31921615e-02 -9.98540742e-01 -9.32638014e-03 1.34273367e+02] [ 9.44333236e-01 -4.72636337e-02 -3.25577776e-01 1.32019944e+02] [ 3.24661875e-01 -2.61253964e-02 9.45469265e-01 1.94427615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.820371743 meters Centerline goodness : 0.986932 Centerline is valid? [True, True] Translation: X:134.27, Y:132.03, Z:19.45 [[-5.32098526e-02 -9.98381520e-01 -2.00761526e-02 1.34273564e+02] [ 9.40645590e-01 -4.33639886e-02 -3.36608732e-01 1.32034806e+02] [ 3.35193356e-01 -3.67954455e-02 9.41430565e-01 1.94519709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.850371743 meters Centerline goodness : 0.986641 Centerline is valid? [True, True] Translation: X:134.26, Y:132.37, Z:19.58 [[-5.66286554e-02 -9.98357544e-01 8.68392071e-03 1.34259646e+02] [ 9.43300867e-01 -5.63511051e-02 -3.27120815e-01 1.32368177e+02] [ 3.27072882e-01 -1.03328620e-02 9.44942624e-01 1.95762948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880371743 meters Centerline goodness : 0.987384 Centerline is valid? [True, True] Translation: X:134.26, Y:132.38, Z:19.58 [[-5.54063564e-02 -9.98444914e-01 6.15549022e-03 1.34257528e+02] [ 9.44662806e-01 -5.44162358e-02 -3.23498155e-01 1.32384420e+02] [ 3.23330046e-01 -1.21089914e-02 9.46208779e-01 1.95785797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.910371743 meters Centerline goodness : 0.986519 Centerline is valid? [True, True] Translation: X:134.26, Y:132.33, Z:19.56 [[-4.42521446e-02 -9.99012006e-01 4.09390731e-03 1.34258464e+02] [ 9.46017017e-01 -4.32210381e-02 -3.21222269e-01 1.32328928e+02] [ 3.21081847e-01 -1.03418683e-02 9.46994981e-01 1.95578981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940371743 meters Centerline goodness : 0.986623 Centerline is valid? [True, True] Translation: X:134.26, Y:132.34, Z:19.56 [[-4.22747559e-02 -9.99105542e-01 9.80394465e-04 1.34257544e+02] [ 9.45814902e-01 -4.03360475e-02 -3.22191207e-01 1.32341284e+02] [ 3.21942566e-01 -1.26932829e-02 9.46674107e-01 1.95621520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.970371743 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:134.26, Y:132.34, Z:19.56 [[-3.79469014e-02 -9.99271005e-01 4.18233822e-03 1.34255106e+02] [ 9.47152052e-01 -3.73012080e-02 -3.18608867e-01 1.32337737e+02] [ 3.18532608e-01 -8.12890902e-03 9.47877048e-01 1.95593049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000371743 meters Centerline goodness : 0.987836 Centerline is valid? [True, True] Translation: X:134.26, Y:132.33, Z:19.56 [[-3.52021340e-02 -9.99361421e-01 -6.12859188e-03 1.34255758e+02] [ 9.45430117e-01 -3.13135488e-02 -3.24316753e-01 1.32333777e+02] [ 3.23917743e-01 -1.72107971e-02 9.45928689e-01 1.95569111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.030371743 meters Centerline goodness : 0.989220 Centerline is valid? [True, True] Translation: X:134.25, Y:132.33, Z:19.56 [[-3.46539367e-02 -9.99390474e-01 4.21721115e-03 1.34252932e+02] [ 9.46781150e-01 -3.41802802e-02 -3.20058062e-01 1.32331070e+02] [ 3.20007124e-01 -7.09849582e-03 9.47388543e-01 1.95568801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060371743 meters Centerline goodness : 0.985792 Centerline is valid? [True, True] Translation: X:134.26, Y:132.35, Z:19.57 [[-4.14167896e-02 -9.99133360e-01 -4.14481107e-03 1.34256017e+02] [ 9.44097086e-01 -3.77768003e-02 -3.27495964e-01 1.32346815e+02] [ 3.27055565e-01 -1.74769355e-02 9.44843487e-01 1.95651003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.090371743 meters Centerline goodness : 0.988020 Centerline is valid? [True, True] Translation: X:134.25, Y:132.35, Z:19.57 [[-3.79838533e-02 -9.99261148e-01 5.86380984e-03 1.34252671e+02] [ 9.45362288e-01 -3.78352692e-02 -3.23818834e-01 1.32353802e+02] [ 3.23801439e-01 -6.75646242e-03 9.46100935e-01 1.95665004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120371743 meters Centerline goodness : 0.987452 Centerline is valid? [True, True] Translation: X:134.25, Y:132.36, Z:19.57 [[-4.39118638e-02 -9.99035178e-01 6.79641027e-04 1.34253675e+02] [ 9.43787271e-01 -4.17065598e-02 -3.27911803e-01 1.32364650e+02] [ 3.27623772e-01 -1.37577819e-02 9.44708096e-01 1.95702514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.150371743 meters Centerline goodness : 0.988205 Centerline is valid? [True, True] Translation: X:134.25, Y:132.41, Z:19.59 [[-5.31250601e-02 -9.98587704e-01 -5.69956679e-04 1.34252020e+02] [ 9.43906156e-01 -5.00296930e-02 -3.26401897e-01 1.32414371e+02] [ 3.25912406e-01 -1.78781060e-02 9.45230912e-01 1.95860894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180371743 meters Centerline goodness : 0.987569 Centerline is valid? [True, True] Translation: X:134.25, Y:132.52, Z:19.63 [[-6.39048135e-02 -9.97955818e-01 5.99454353e-04 1.34246887e+02] [ 9.42203171e-01 -6.05325948e-02 -3.29528434e-01 1.32523785e+02] [ 3.28891105e-01 -2.04936453e-02 9.44145461e-01 1.96265424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.210371743 meters Centerline goodness : 0.987411 Centerline is valid? [True, True] Translation: X:134.25, Y:132.44, Z:19.60 [[-6.24245096e-02 -9.98013825e-01 8.46084705e-03 1.34251845e+02] [ 9.43000468e-01 -6.17557915e-02 -3.27011223e-01 1.32437259e+02] [ 3.26884228e-01 -1.24349325e-02 9.44982579e-01 1.95999003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240371743 meters Centerline goodness : 0.987784 Centerline is valid? [True, True] Translation: X:134.25, Y:132.46, Z:19.61 [[-6.52502349e-02 -9.97863888e-01 3.17305653e-03 1.34252864e+02] [ 9.42830620e-01 -6.26924506e-02 -3.27322591e-01 1.32459948e+02] [ 3.26822320e-01 -1.83662211e-02 9.44907325e-01 1.96058304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.270371743 meters Centerline goodness : 0.987279 Centerline is valid? [True, True] Translation: X:134.25, Y:132.47, Z:19.61 [[-6.93900761e-02 -9.97576897e-01 5.03516475e-03 1.34253203e+02] [ 9.42779789e-01 -6.72267837e-02 -3.26568262e-01 1.32465240e+02] [ 3.26115451e-01 -1.79135450e-02 9.45160207e-01 1.96070684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300371743 meters Centerline goodness : 0.987090 Centerline is valid? [True, True] Translation: X:134.26, Y:132.45, Z:19.60 [[-7.12275545e-02 -9.97460011e-01 4.01921087e-04 1.34255231e+02] [ 9.42701026e-01 -6.74489358e-02 -3.26749778e-01 1.32451659e+02] [ 3.25946946e-01 -2.28946961e-02 9.45110799e-01 1.95996851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.330371743 meters Centerline goodness : 0.987598 Centerline is valid? [True, True] Translation: X:134.25, Y:132.48, Z:19.61 [[-7.39885906e-02 -9.97255379e-01 2.71979868e-03 1.34252657e+02] [ 9.42799779e-01 -7.08368118e-02 -3.25746408e-01 1.32479859e+02] [ 3.25045019e-01 -2.15372920e-02 9.45453267e-01 1.96091366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36037174300003 meters Centerline goodness : 0.987386 Centerline is valid? [True, True] Translation: X:134.25, Y:132.40, Z:19.58 [[-6.65820147e-02 -9.97759896e-01 6.48270414e-03 1.34254406e+02] [ 9.44950107e-01 -6.51413802e-02 -3.20664772e-01 1.32403281e+02] [ 3.20368742e-01 -1.52246746e-02 9.47170565e-01 1.95814528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.390371743 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:134.25, Y:132.43, Z:19.58 [[-6.97675453e-02 -9.97531476e-01 -7.96517149e-03 1.34253244e+02] [ 9.45012418e-01 -6.35327710e-02 -3.20803862e-01 1.32427963e+02] [ 3.19505900e-01 -2.99088839e-02 9.47112157e-01 1.95843615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.420371743 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:134.26, Y:132.46, Z:19.60 [[-6.72862953e-02 -9.97730070e-01 -2.69466988e-03 1.34255015e+02] [ 9.44643665e-01 -6.28364566e-02 -3.22024729e-01 1.32457549e+02] [ 3.21124432e-01 -2.42133538e-02 9.46727423e-01 1.95980181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.450371743 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:134.26, Y:132.46, Z:19.60 [[-6.69342627e-02 -9.97752045e-01 -3.26505567e-03 1.34255018e+02] [ 9.44673499e-01 -6.23196451e-02 -3.22037640e-01 1.32460125e+02] [ 3.21110236e-01 -2.46397635e-02 9.46721236e-01 1.95986932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.480371743 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:134.24, Y:132.84, Z:19.73 [[-7.86232758e-02 -9.96902234e-01 -2.07777875e-03 1.34244993e+02] [ 9.44474935e-01 -7.38211232e-02 -3.20183602e-01 1.32842812e+02] [ 3.19038364e-01 -2.71362936e-02 9.47353231e-01 1.97318293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.510371743 meters Centerline goodness : 0.989357 Centerline is valid? [True, True] Translation: X:134.25, Y:132.46, Z:19.60 [[-6.49385528e-02 -9.97887129e-01 2.06469236e-03 1.34250469e+02] [ 9.45229618e-01 -6.21747998e-02 -3.20429810e-01 1.32462743e+02] [ 3.19881155e-01 -1.88566398e-02 9.47270011e-01 1.96001516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.540371743 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:134.25, Y:132.48, Z:19.60 [[-6.53323217e-02 -9.97786249e-01 -1.24212838e-02 1.34249489e+02] [ 9.44297766e-01 -5.77969003e-02 -3.23977232e-01 1.32483432e+02] [ 3.22542115e-01 -3.28955753e-02 9.45983332e-01 1.96029754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.570371743 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:134.24, Y:132.48, Z:19.61 [[-6.58299182e-02 -9.97819042e-01 4.85614088e-03 1.34244185e+02] [ 9.43515092e-01 -6.38295748e-02 -3.25123140e-01 1.32477393e+02] [ 3.24724026e-01 -1.68209875e-02 9.45659221e-01 1.96092761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.600371743 meters Centerline goodness : 0.989456 Centerline is valid? [True, True] Translation: X:134.25, Y:132.48, Z:19.60 [[-6.43861967e-02 -9.97858990e-01 -1.14827568e-02 1.34245343e+02] [ 9.44120268e-01 -5.71834085e-02 -3.24602800e-01 1.32479797e+02] [ 3.23251199e-01 -3.17410432e-02 9.45780719e-01 1.96036217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630371743 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:134.24, Y:132.50, Z:19.61 [[-6.73173541e-02 -9.97679938e-01 -1.01545903e-02 1.34239458e+02] [ 9.42187402e-01 -6.02180032e-02 -3.29631146e-01 1.32498087e+02] [ 3.28254892e-01 -3.17574236e-02 9.44055185e-01 1.96145495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.660371743 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:134.24, Y:132.49, Z:19.61 [[-6.47524892e-02 -9.97894398e-01 3.72624820e-03 1.34235245e+02] [ 9.43978386e-01 -6.24639344e-02 -3.24041764e-01 1.32485930e+02] [ 3.23592217e-01 -1.74650131e-02 9.46035438e-01 1.96127878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690371743 meters Centerline goodness : 0.989278 Centerline is valid? [True, True] Translation: X:134.23, Y:132.48, Z:19.61 [[-6.40627473e-02 -9.97945815e-01 3.38728969e-04 1.34234233e+02] [ 9.44519210e-01 -6.07426106e-02 -3.22790639e-01 1.32484672e+02] [ 3.22148143e-01 -2.03589191e-02 9.46470332e-01 1.96099695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.720371743 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:134.23, Y:132.50, Z:19.61 [[-6.71939488e-02 -9.97670616e-01 -1.17607437e-02 1.34232195e+02] [ 9.42732794e-01 -5.96252313e-02 -3.28176342e-01 1.32496423e+02] [ 3.26710656e-01 -3.31387031e-02 9.44543262e-01 1.96122723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750371743 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:134.23, Y:132.49, Z:19.61 [[-6.61959010e-02 -9.97806640e-01 1.09588285e-04 1.34227881e+02] [ 9.43053958e-01 -6.25994116e-02 -3.26696413e-01 1.32491188e+02] [ 3.25986711e-01 -2.15226158e-02 9.45129325e-01 1.96140675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.780371743 meters Centerline goodness : 0.989432 Centerline is valid? [True, True] Translation: X:134.22, Y:132.49, Z:19.61 [[-6.61856961e-02 -9.97796419e-01 4.66476251e-03 1.34222846e+02] [ 9.43629946e-01 -6.41108864e-02 -3.24734230e-01 1.32487572e+02] [ 3.24317713e-01 -1.70909514e-02 9.45793804e-01 1.96122856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810371743 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:134.22, Y:132.50, Z:19.61 [[-6.69870464e-02 -9.97710240e-01 -9.32802295e-03 1.34223391e+02] [ 9.43274479e-01 -6.02796352e-02 -3.26495978e-01 1.32495626e+02] [ 3.25186091e-01 -3.06698872e-02 9.45152562e-01 1.96104474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.840371743 meters Centerline goodness : 0.989973 Centerline is valid? [True, True] Translation: X:134.22, Y:132.49, Z:19.61 [[-6.70877258e-02 -9.97745512e-01 -1.76920588e-03 1.34217628e+02] [ 9.43730823e-01 -6.28800882e-02 -3.24681733e-01 1.32494013e+02] [ 3.23838494e-01 -2.34518132e-02 9.45821676e-01 1.96119876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870371743 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:134.21, Y:132.49, Z:19.61 [[-6.64315400e-02 -9.97788918e-01 2.03136731e-03 1.34214805e+02] [ 9.44765143e-01 -6.35558696e-02 -3.21526790e-01 1.32493019e+02] [ 3.20944973e-01 -1.94403548e-02 9.46898303e-01 1.96111241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.900371743 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:134.21, Y:132.51, Z:19.61 [[-6.90327479e-02 -9.97520029e-01 -1.37212378e-02 1.34214561e+02] [ 9.42979992e-01 -6.07567998e-02 -3.27257309e-01 1.32505776e+02] [ 3.25612062e-01 -3.55303240e-02 9.44835637e-01 1.96133667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930371743 meters Centerline goodness : 0.990445 Centerline is valid? [True, True] Translation: X:134.21, Y:132.51, Z:19.62 [[-6.83896498e-02 -9.97658382e-01 -7.79938507e-04 1.34206179e+02] [ 9.42699480e-01 -6.43662758e-02 -3.27375432e-01 1.32512693e+02] [ 3.26558642e-01 -2.31243388e-02 9.44894025e-01 1.96223694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.960371743 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:134.20, Y:132.51, Z:19.62 [[-6.64388082e-02 -9.97787660e-01 2.38134193e-03 1.34202976e+02] [ 9.43774071e-01 -6.36165028e-02 -3.24412459e-01 1.32514162e+02] [ 3.23846241e-01 -1.93061284e-02 9.45912726e-01 1.96224263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990371743 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:134.20, Y:132.53, Z:19.63 [[-6.34407075e-02 -9.97985609e-01 2.98301724e-05 1.34197963e+02] [ 9.43969544e-01 -6.00166736e-02 -3.24529657e-01 1.32528147e+02] [ 3.23877718e-01 -2.05602323e-02 9.45875521e-01 1.96259713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.020371743 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:134.20, Y:132.50, Z:19.62 [[-5.93518105e-02 -9.98230730e-01 3.57385563e-03 1.34195158e+02] [ 9.45328566e-01 -5.73557767e-02 -3.21036162e-01 1.32502889e+02] [ 3.20673144e-01 -1.56756096e-02 9.47060194e-01 1.96154067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050371743 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:134.20, Y:132.52, Z:19.62 [[-5.77989337e-02 -9.98234861e-01 -1.36545396e-02 1.34195014e+02] [ 9.44504029e-01 -5.02472890e-02 -3.24634178e-01 1.32521355e+02] [ 3.23375050e-01 -3.16602769e-02 9.45741087e-01 1.96154096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.080371743 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:134.19, Y:132.53, Z:19.63 [[-5.60761270e-02 -9.98414943e-01 -4.80310504e-03 1.34187415e+02] [ 9.42972314e-01 -5.13800212e-02 -3.28881907e-01 1.32534960e+02] [ 3.28113826e-01 -2.29716186e-02 9.44358842e-01 1.96272962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11037174300003 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:134.18, Y:132.53, Z:19.63 [[-5.22257937e-02 -9.98582569e-01 1.02625236e-02 1.34182155e+02] [ 9.44318298e-01 -5.27255844e-02 -3.24781410e-01 1.32526689e+02] [ 3.24862153e-01 -7.27087811e-03 9.45733428e-01 1.96292214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.140371743 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:134.18, Y:132.52, Z:19.62 [[-4.63079402e-02 -9.98897717e-01 -7.67630680e-03 1.34180946e+02] [ 9.45509749e-01 -4.13510704e-02 -3.22957279e-01 1.32522207e+02] [ 3.22283865e-01 -2.22135093e-02 9.46382412e-01 1.96180414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.170371743 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:134.18, Y:132.55, Z:19.63 [[-4.53630247e-02 -9.98881982e-01 -1.33034260e-02 1.34179150e+02] [ 9.45431446e-01 -3.86268468e-02 -3.23523333e-01 1.32548626e+02] [ 3.22647759e-01 -2.72534742e-02 9.46126668e-01 1.96262881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.200371743 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:134.17, Y:132.54, Z:19.63 [[-4.14686842e-02 -9.99135155e-01 3.04796324e-03 1.34174217e+02] [ 9.46281421e-01 -4.02537330e-02 -3.20828786e-01 1.32535078e+02] [ 3.20674011e-01 -1.04201166e-02 9.47132303e-01 1.96272426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.230371743 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:134.17, Y:132.56, Z:19.63 [[-3.40759359e-02 -9.99364804e-01 1.04316024e-02 1.34168957e+02] [ 9.46940093e-01 -3.56226634e-02 -3.19429938e-01 1.32559982e+02] [ 3.19598639e-01 -1.00677159e-03 9.47552477e-01 1.96340458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.260371743 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:134.17, Y:132.59, Z:19.63 [[-3.16401446e-02 -9.99425231e-01 -1.21699626e-02 1.34169410e+02] [ 9.47700198e-01 -2.61292395e-02 -3.18090551e-01 1.32592930e+02] [ 3.17589730e-01 -2.15979069e-02 9.47982222e-01 1.96340614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.290371743 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:134.16, Y:132.60, Z:19.64 [[-3.07869101e-02 -9.99519804e-01 3.51108636e-03 1.34164953e+02] [ 9.49324293e-01 -3.03397054e-02 -3.12830447e-01 1.32600102e+02] [ 3.12786753e-01 -6.29792326e-03 9.49802497e-01 1.96426102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.320371743 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:134.17, Y:132.59, Z:19.64 [[-2.96398462e-02 -9.99544702e-01 -5.64519591e-03 1.34165720e+02] [ 9.49230619e-01 -2.63774414e-02 -3.13473224e-01 1.32592448e+02] [ 3.13181594e-01 -1.46498910e-02 9.49580260e-01 1.96351918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.350371743 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:134.16, Y:132.62, Z:19.64 [[-3.12202020e-02 -9.99505903e-01 3.63982306e-03 1.34163970e+02] [ 9.49943500e-01 -3.08042671e-02 -3.10899411e-01 1.32623104e+02] [ 3.10857919e-01 -6.24871617e-03 9.50435852e-01 1.96447928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380371743 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:134.17, Y:132.63, Z:19.64 [[-3.34296940e-02 -9.99414845e-01 -7.24034536e-03 1.34165580e+02] [ 9.49588392e-01 -2.95019415e-02 -3.12108189e-01 1.32631317e+02] [ 3.11711953e-01 -1.73090292e-02 9.50018976e-01 1.96418674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.410371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:134.16, Y:132.63, Z:19.64 [[-3.75823793e-02 -9.99279657e-01 -5.26615917e-03 1.34164116e+02] [ 9.49095329e-01 -3.40447196e-02 -3.13143759e-01 1.32626035e+02] [ 3.12738903e-01 -1.67667746e-02 9.49691136e-01 1.96406097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:134.16, Y:132.65, Z:19.65 [[-3.97112429e-02 -9.99196853e-01 -5.35401484e-03 1.34162584e+02] [ 9.48834820e-01 -3.60287345e-02 -3.13710719e-01 1.32646911e+02] [ 3.13265865e-01 -1.75379183e-02 9.49503512e-01 1.96472152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.470371743 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:134.16, Y:132.65, Z:19.65 [[-4.65601554e-02 -9.98828084e-01 -1.32140432e-02 1.34163661e+02] [ 9.46960792e-01 -3.99240070e-02 -3.18859424e-01 1.32653402e+02] [ 3.17958190e-01 -2.73593251e-02 9.47709901e-01 1.96507842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500371743 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:134.16, Y:132.65, Z:19.65 [[-5.18354301e-02 -9.98655126e-01 1.01370143e-03 1.34160850e+02] [ 9.47710323e-01 -4.95111459e-02 -3.15267806e-01 1.32647240e+02] [ 3.14894000e-01 -1.53813470e-02 9.49002204e-01 1.96536328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.530371743 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:134.16, Y:132.65, Z:19.65 [[-5.63496947e-02 -9.98356319e-01 -1.04581625e-02 1.34162406e+02] [ 9.46445827e-01 -5.00785611e-02 -3.18955223e-01 1.32646339e+02] [ 3.17907232e-01 -2.78711137e-02 9.47712083e-01 1.96497502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:134.16, Y:132.65, Z:19.65 [[-6.34538163e-02 -9.97983811e-01 -1.38825017e-03 1.34159664e+02] [ 9.46483897e-01 -5.97381413e-02 -3.17174379e-01 1.32651031e+02] [ 3.16451964e-01 -2.14398812e-02 9.48366219e-01 1.96543734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.590371743 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:134.16, Y:132.68, Z:19.66 [[-6.92959829e-02 -9.97464104e-01 -1.62304481e-02 1.34160421e+02] [ 9.43470974e-01 -6.02414467e-02 -3.25934795e-01 1.32678462e+02] [ 3.24130512e-01 -3.78989286e-02 9.45252920e-01 1.96608780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620371743 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:134.16, Y:132.67, Z:19.67 [[-7.40771312e-02 -9.97245135e-01 3.83657057e-03 1.34155311e+02] [ 9.44253669e-01 -7.13772658e-02 -3.21388073e-01 1.32673630e+02] [ 3.20776537e-01 -2.01848107e-02 9.46939801e-01 1.96665862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.650371743 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:134.15, Y:132.70, Z:19.67 [[-7.59885827e-02 -9.97102347e-01 -3.55600028e-03 1.34154957e+02] [ 9.44301053e-01 -7.08185055e-02 -3.21372464e-01 1.32697222e+02] [ 3.20189408e-01 -2.77785729e-02 9.46946194e-01 1.96704488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680371743 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:134.15, Y:132.71, Z:19.67 [[-7.76960356e-02 -9.96968695e-01 -4.09231379e-03 1.34153997e+02] [ 9.43949694e-01 -7.22420554e-02 -3.22087040e-01 1.32708024e+02] [ 3.20815059e-01 -2.88878245e-02 9.46701216e-01 1.96738418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.710371743 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:134.15, Y:132.74, Z:19.68 [[-8.08488792e-02 -9.96687507e-01 -8.80177516e-03 1.34150543e+02] [ 9.43516441e-01 -7.36830956e-02 -3.23028679e-01 1.32741451e+02] [ 3.21310107e-01 -3.44211262e-02 9.46348245e-01 1.96846661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:134.15, Y:132.75, Z:19.69 [[-8.32396968e-02 -9.96454146e-01 -1.22591899e-02 1.34146769e+02] [ 9.41372865e-01 -7.45905752e-02 -3.29018807e-01 1.32754022e+02] [ 3.26937734e-01 -3.89278944e-02 9.44243791e-01 1.96918092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.770371743 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:134.14, Y:132.74, Z:19.69 [[-8.11438095e-02 -9.96702336e-01 -3.69603441e-04 1.34141741e+02] [ 9.41415649e-01 -7.65209954e-02 -3.28452605e-01 1.32741041e+02] [ 3.27341196e-01 -2.69998461e-02 9.44520381e-01 1.96919962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800371743 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:134.14, Y:132.76, Z:19.70 [[-8.00735396e-02 -9.96786971e-01 -1.99076849e-03 1.34138036e+02] [ 9.41632362e-01 -7.49874327e-02 -3.28184979e-01 1.32756854e+02] [ 3.26981229e-01 -2.81535050e-02 9.44611378e-01 1.96966000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.830371743 meters Centerline goodness : 0.996792 Centerline is valid? [True, True] Translation: X:134.13, Y:132.75, Z:19.69 [[-7.38800109e-02 -9.97262748e-01 -2.95893293e-03 1.34132246e+02] [ 9.42236698e-01 -6.88309293e-02 -3.27799190e-01 1.32745089e+02] [ 3.26698255e-01 -2.70058229e-02 9.44742788e-01 1.96906178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86037174300003 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:134.13, Y:132.76, Z:19.70 [[-7.24290632e-02 -9.97350133e-01 -6.83683728e-03 1.34129907e+02] [ 9.41346939e-01 -6.60936784e-02 -3.30904164e-01 1.32759305e+02] [ 3.29575440e-01 -3.04029144e-02 9.43639599e-01 1.96957427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.890371743 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:134.12, Y:132.73, Z:19.69 [[-6.26795757e-02 -9.98032416e-01 1.60260556e-03 1.34119808e+02] [ 9.42869233e-01 -5.97414646e-02 -3.27762972e-01 1.32731941e+02] [ 3.27213813e-01 -1.90329966e-02 9.44758628e-01 1.96894013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.920371743 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:134.11, Y:132.76, Z:19.71 [[-6.11139181e-02 -9.97978914e-01 1.74119618e-02 1.34112926e+02] [ 9.40011964e-01 -6.34123965e-02 -3.35196026e-01 1.32758669e+02] [ 3.35622700e-01 -4.11769006e-03 9.41987499e-01 1.97062089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.950371743 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:134.12, Y:132.79, Z:19.69 [[-5.46984410e-02 -9.97839592e-01 -3.63899475e-02 1.34120102e+02] [ 9.44160733e-01 -3.98281360e-02 -3.27069150e-01 1.32788138e+02] [ 3.24913204e-01 -5.22481321e-02 9.44299498e-01 1.96881531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.980371743 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:134.10, Y:132.81, Z:19.72 [[-5.37589470e-02 -9.98535028e-01 6.14608088e-03 1.34103601e+02] [ 9.39793288e-01 -5.26747472e-02 -3.37659514e-01 1.32809410e+02] [ 3.37488596e-01 -1.23761744e-02 9.41248255e-01 1.97225467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.010371743 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:134.10, Y:132.84, Z:19.73 [[-5.29224268e-02 -9.98595865e-01 -2.34839938e-03 1.34102027e+02] [ 9.40713988e-01 -4.90655606e-02 -3.35633376e-01 1.32842835e+02] [ 3.35046876e-01 -1.99717049e-02 9.41989767e-01 1.97286005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.040371743 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:134.10, Y:132.84, Z:19.73 [[-5.02204282e-02 -9.98728954e-01 -4.28788830e-03 1.34097000e+02] [ 9.41180582e-01 -4.58893481e-02 -3.34773474e-01 1.32842579e+02] [ 3.34151193e-01 -2.08481444e-02 9.42288881e-01 1.97256875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.070371743 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:134.10, Y:132.87, Z:19.73 [[-5.01081928e-02 -9.98636679e-01 -1.46270808e-02 1.34096360e+02] [ 9.41392922e-01 -4.23343362e-02 -3.34644842e-01 1.32868511e+02] [ 3.33569386e-01 -3.05382786e-02 9.42230799e-01 1.97303128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.100371743 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:134.09, Y:132.89, Z:19.74 [[-5.34517034e-02 -9.98526632e-01 -9.35315981e-03 1.34091484e+02] [ 9.40293510e-01 -4.71770426e-02 -3.37079282e-01 1.32893274e+02] [ 3.36141385e-01 -2.68121772e-02 9.41429804e-01 1.97444849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130371743 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:134.09, Y:132.91, Z:19.75 [[-5.61909407e-02 -9.98416889e-01 -2.50873675e-03 1.34086179e+02] [ 9.40389639e-01 -5.20806724e-02 -3.36087684e-01 1.32910938e+02] [ 3.35424963e-01 -2.12442732e-02 9.41827359e-01 1.97543292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.160371743 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:134.08, Y:132.93, Z:19.76 [[-6.16738619e-02 -9.98073615e-01 -6.73749221e-03 1.34083156e+02] [ 9.39222826e-01 -5.57505625e-02 -3.38751173e-01 1.32929119e+02] [ 3.37722989e-01 -2.72200995e-02 9.40851874e-01 1.97598165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190371743 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:134.08, Y:132.95, Z:19.77 [[-6.37646763e-02 -9.97964265e-01 -1.17943622e-03 1.34079926e+02] [ 9.39001643e-01 -5.95969732e-02 -3.38709485e-01 1.32952000e+02] [ 3.37949672e-01 -2.27051932e-02 9.40890267e-01 1.97710824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.220371743 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:134.08, Y:132.96, Z:19.77 [[-6.65056637e-02 -9.97783474e-01 -2.26602353e-03 1.34078335e+02] [ 9.38639351e-01 -6.17928923e-02 -3.39319624e-01 1.32955244e+02] [ 3.38427490e-01 -2.46936557e-02 9.40668410e-01 1.97720083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250371743 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:134.08, Y:132.97, Z:19.78 [[-6.84910024e-02 -9.97646387e-01 -3.26641250e-03 1.34076183e+02] [ 9.39100015e-01 -6.33658049e-02 -3.37751295e-01 1.32969357e+02] [ 3.36749381e-01 -2.62004128e-02 9.41229724e-01 1.97752921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.280371743 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:134.07, Y:132.98, Z:19.78 [[-7.48951755e-02 -9.97178512e-01 -5.07233347e-03 1.34070884e+02] [ 9.35000379e-01 -6.84551060e-02 -3.47977282e-01 1.32975794e+02] [ 3.46648241e-01 -3.08044534e-02 9.37489244e-01 1.97816943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310371743 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:134.07, Y:132.98, Z:19.79 [[-6.43256948e-02 -9.97887076e-01 9.14263285e-03 1.34068666e+02] [ 9.37576831e-01 -6.35706389e-02 -3.41918791e-01 1.32978351e+02] [ 3.41777546e-01 -1.34222431e-02 9.39685028e-01 1.97863018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.340371743 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:134.07, Y:132.98, Z:19.78 [[-6.38693409e-02 -9.97957098e-01 -1.52900324e-03 1.34070702e+02] [ 9.37810547e-01 -5.94959498e-02 -3.42011126e-01 1.32983815e+02] [ 3.41221462e-01 -2.32779406e-02 9.39694659e-01 1.97819108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370371743 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:134.07, Y:132.99, Z:19.78 [[-6.87517572e-02 -9.97599562e-01 -8.26493291e-03 1.34067500e+02] [ 9.35135945e-01 -6.15563621e-02 -3.48900528e-01 1.32986908e+02] [ 3.47554255e-01 -3.17163602e-02 9.37123318e-01 1.97840538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.400371743 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:134.07, Y:132.96, Z:19.78 [[-5.73595479e-02 -9.98235730e-01 1.53398389e-02 1.34065360e+02] [ 9.39608845e-01 -5.91709374e-02 -3.37096454e-01 1.32964467e+02] [ 3.37409397e-01 -4.92225187e-03 9.41345139e-01 1.97822013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430371743 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:134.07, Y:133.00, Z:19.78 [[-5.55445114e-02 -9.98450744e-01 -3.30438975e-03 1.34067339e+02] [ 9.40562562e-01 -5.12130244e-02 -3.35736939e-01 1.32997096e+02] [ 3.35047569e-01 -2.17563296e-02 9.41949993e-01 1.97804853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.460371743 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:134.06, Y:133.03, Z:19.79 [[-5.09519399e-02 -9.98680485e-01 6.41790386e-03 1.34064166e+02] [ 9.41381836e-01 -5.01723890e-02 -3.33591022e-01 1.33025314e+02] [ 3.33472845e-01 -1.09554115e-02 9.42696049e-01 1.97913539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490371743 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:134.07, Y:133.03, Z:19.78 [[-4.86155636e-02 -9.98783039e-01 -8.30467414e-03 1.34066265e+02] [ 9.41040170e-01 -4.30149208e-02 -3.35548975e-01 1.33025795e+02] [ 3.34783400e-01 -2.41279345e-02 9.41986156e-01 1.97837348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.520371743 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:134.06, Y:133.05, Z:19.80 [[-4.63758440e-02 -9.98921884e-01 2.08572664e-03 1.34063522e+02] [ 9.41685119e-01 -4.44150235e-02 -3.33551260e-01 1.33051385e+02] [ 3.33284291e-01 -1.35046235e-02 9.42729657e-01 1.97961963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550371743 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:134.06, Y:133.08, Z:19.80 [[-4.66644500e-02 -9.98848008e-01 -1.11842298e-02 1.34064728e+02] [ 9.39972632e-01 -4.01193745e-02 -3.38883293e-01 1.33079148e+02] [ 3.38044198e-01 -2.63266725e-02 9.40761939e-01 1.98010803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.580371743 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:134.06, Y:133.06, Z:19.80 [[-4.17436750e-02 -9.99107940e-01 6.38675094e-03 1.34061266e+02] [ 9.42660479e-01 -4.15021894e-02 -3.31162783e-01 1.33056461e+02] [ 3.31132430e-01 -7.80341390e-03 9.43552023e-01 1.97987374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61037174300003 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:134.06, Y:133.09, Z:19.80 [[-4.07807076e-02 -9.99160998e-01 3.77292076e-03 1.34062990e+02] [ 9.43383238e-01 -3.97476627e-02 -3.29314727e-01 1.33088940e+02] [ 3.29188396e-01 -9.87037737e-03 9.44212675e-01 1.98033842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.640371743 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:134.07, Y:133.14, Z:19.81 [[-6.07509749e-02 -9.96895494e-01 -5.00868602e-02 1.34066006e+02] [ 9.30674824e-01 -3.84359848e-02 -3.63822823e-01 1.33141482e+02] [ 3.60768195e-01 -6.87171710e-02 9.30120562e-01 1.98120835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.670371743 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:134.05, Y:133.09, Z:19.83 [[-4.40609276e-02 -9.98090071e-01 4.32994809e-02 1.34054212e+02] [ 9.41335815e-01 -5.59928684e-02 -3.32793754e-01 1.33088925e+02] [ 3.34582603e-01 2.60961506e-02 9.42005028e-01 1.98298773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.700371743 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:134.07, Y:133.10, Z:19.80 [[-4.01095786e-02 -9.99029121e-01 -1.82218652e-02 1.34068853e+02] [ 9.43838122e-01 -3.18953794e-02 -3.28865147e-01 1.33104981e+02] [ 3.27964666e-01 -3.03891335e-02 9.44201080e-01 1.97951437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.730371743 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:134.07, Y:133.12, Z:19.80 [[-4.83343517e-02 -9.97631053e-01 -4.89496970e-02 1.34065593e+02] [ 9.35836956e-01 -2.81030810e-02 -3.51310986e-01 1.33116763e+02] [ 3.49103111e-01 -6.27893241e-02 9.34978352e-01 1.98045763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.760371743 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:134.06, Y:133.13, Z:19.84 [[-4.73883857e-02 -9.98876533e-01 -1.08708379e-04 1.34056147e+02] [ 9.34807321e-01 -4.43104845e-02 -3.52380267e-01 1.33133358e+02] [ 3.51979563e-01 -1.68003534e-02 9.35856899e-01 1.98397013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.790371743 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:134.06, Y:133.16, Z:19.85 [[-4.66586578e-02 -9.98910892e-01 1.13655659e-06 1.34056665e+02] [ 9.34605860e-01 -4.36554016e-02 -3.52995881e-01 1.33158233e+02] [ 3.52611480e-01 -1.64692518e-02 9.35624876e-01 1.98487376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.820371743 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:134.06, Y:133.14, Z:19.85 [[-3.12129296e-02 -9.98939859e-01 3.38365349e-02 1.34057320e+02] [ 9.43872660e-01 -4.05958670e-02 -3.27805396e-01 1.33141979e+02] [ 3.28831500e-01 2.17056135e-02 9.44139138e-01 1.98455155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.850371743 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:134.07, Y:133.18, Z:19.82 [[-3.24428962e-02 -9.98865846e-01 -3.48494020e-02 1.34071032e+02] [ 9.42403429e-01 -1.89581658e-02 -3.33940661e-01 1.33175596e+02] [ 3.32901240e-01 -4.36761981e-02 9.41949656e-01 1.98240681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880371743 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:134.07, Y:133.20, Z:19.83 [[-3.33823180e-02 -9.98888351e-01 -3.32818795e-02 1.34070868e+02] [ 9.44807764e-01 -2.06806246e-02 -3.26971865e-01 1.33201772e+02] [ 3.25920096e-01 -4.23600569e-02 9.44447837e-01 1.98338117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.910371743 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:134.07, Y:133.22, Z:19.85 [[-3.57784891e-02 -9.99297251e-01 -1.11760178e-02 1.34066565e+02] [ 9.44231125e-01 -3.01397143e-02 -3.27901175e-01 1.33221703e+02] [ 3.27333901e-01 -2.22845525e-02 9.44645921e-01 1.98545614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940371743 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:134.06, Y:133.24, Z:19.88 [[-3.80200041e-02 -9.99179002e-01 1.39929267e-02 1.34062041e+02] [ 9.40732781e-01 -4.05116284e-02 -3.36720422e-01 1.33242800e+02] [ 3.37010851e-01 3.61493009e-04 9.41500693e-01 1.98784147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.970371743 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:134.07, Y:133.28, Z:19.86 [[-4.16065974e-02 -9.98332211e-01 -4.00210810e-02 1.34074820e+02] [ 9.44006908e-01 -2.61581253e-02 -3.28887077e-01 1.33275594e+02] [ 3.27291687e-01 -5.14640492e-02 9.43520855e-01 1.98609116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000371743 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:134.07, Y:133.30, Z:19.89 [[-4.43642720e-02 -9.98984787e-01 -7.82351520e-03 1.34067346e+02] [ 9.43491093e-01 -3.93228369e-02 -3.29056641e-01 1.33296764e+02] [ 3.28414935e-01 -2.19797752e-02 9.44277777e-01 1.98871815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.030371743 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:134.07, Y:133.32, Z:19.91 [[-4.46551103e-02 -9.98879219e-01 1.56915990e-02 1.34065160e+02] [ 9.44435777e-01 -4.73309444e-02 -3.25270418e-01 1.33324461e+02] [ 3.25648560e-01 2.94721059e-04 9.45490840e-01 1.99053139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060371743 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:134.08, Y:133.35, Z:19.89 [[-5.00145475e-02 -9.98247529e-01 -3.16293561e-02 1.34075708e+02] [ 9.44089320e-01 -3.69206203e-02 -3.27615969e-01 1.33352804e+02] [ 3.25874056e-01 -4.62465018e-02 9.44281399e-01 1.98928444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.090371743 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:134.07, Y:133.38, Z:19.92 [[-5.10790982e-02 -9.98611488e-01 1.28849323e-02 1.34068738e+02] [ 9.44570670e-01 -5.24965090e-02 -3.24083886e-01 1.33376296e+02] [ 3.24310306e-01 -4.38318348e-03 9.45940597e-01 1.99208367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120371743 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:134.08, Y:133.41, Z:19.92 [[-5.47806401e-02 -9.98275239e-01 -2.11099294e-02 1.34077759e+02] [ 9.44277155e-01 -4.49222400e-02 -3.26071536e-01 1.33406594e+02] [ 3.24560835e-01 -3.77960316e-02 9.45109372e-01 1.99150297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.150371743 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:134.07, Y:133.43, Z:19.94 [[-5.62048228e-02 -9.98411860e-01 3.84381794e-03 1.34073936e+02] [ 9.44404401e-01 -5.44128641e-02 -3.24252320e-01 1.33430858e+02] [ 3.23946515e-01 -1.45944256e-02 9.45962821e-01 1.99353261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180371743 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:134.08, Y:133.46, Z:19.94 [[-5.82466284e-02 -9.98204044e-01 -1.40005678e-02 1.34077928e+02] [ 9.44099563e-01 -5.05204353e-02 -3.25766329e-01 1.33458868e+02] [ 3.24473953e-01 -3.21927202e-02 9.45346647e-01 1.99367748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.210371743 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:134.08, Y:133.49, Z:19.95 [[-5.93011605e-02 -9.98226112e-01 5.29176169e-03 1.34075841e+02] [ 9.44104823e-01 -5.78064282e-02 -3.24537363e-01 1.33485225e+02] [ 3.24267567e-01 -1.42494645e-02 9.45858075e-01 1.99530324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240371743 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:134.08, Y:133.51, Z:19.95 [[-6.07979952e-02 -9.98087585e-01 -1.11703169e-02 1.34080901e+02] [ 9.44259077e-01 -5.38843981e-02 -3.24763402e-01 1.33514132e+02] [ 3.23540413e-01 -3.02926368e-02 9.45729326e-01 1.99537997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.270371743 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:134.08, Y:133.54, Z:19.97 [[-6.03216105e-02 -9.98177263e-01 -1.85876884e-03 1.34079789e+02] [ 9.44160187e-01 -5.64527782e-02 -3.24614579e-01 1.33539650e+02] [ 3.23917959e-01 -2.13362497e-02 9.45844554e-01 1.99661232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300371743 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:134.08, Y:133.57, Z:19.97 [[-6.12100581e-02 -9.98045509e-01 -1.25893468e-02 1.34081961e+02] [ 9.44103702e-01 -5.37993736e-02 -3.25228884e-01 1.33566648e+02] [ 3.23915928e-01 -3.17929278e-02 9.45551522e-01 1.99715737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.330371743 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:134.08, Y:133.59, Z:19.98 [[-6.13020903e-02 -9.98100235e-01 -6.16241886e-03 1.34080723e+02] [ 9.44172761e-01 -5.59854387e-02 -3.24658940e-01 1.33591643e+02] [ 3.23697158e-01 -2.57206597e-02 9.45811079e-01 1.99830918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36037174300003 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:134.08, Y:133.62, Z:19.99 [[-6.13201391e-02 -9.98107300e-01 -4.65390853e-03 1.34080789e+02] [ 9.44234457e-01 -5.64978374e-02 -3.24390636e-01 1.33618695e+02] [ 3.23513726e-01 -2.42860597e-02 9.45911759e-01 1.99930124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.390371743 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:134.08, Y:133.65, Z:20.00 [[-6.11987996e-02 -9.98088892e-01 -8.55988141e-03 1.34082473e+02] [ 9.43907350e-01 -5.50843125e-02 -3.25583528e-01 1.33645049e+02] [ 3.24489787e-01 -2.80050560e-02 9.45474534e-01 2.00009027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.420371743 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:134.08, Y:133.67, Z:20.01 [[-6.20901228e-02 -9.98063016e-01 -3.87716116e-03 1.34081146e+02] [ 9.43960000e-01 -5.74617419e-02 -3.25019487e-01 1.33671923e+02] [ 3.24167141e-01 -2.38403849e-02 9.45699371e-01 2.00120033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.450371743 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:134.08, Y:133.66, Z:20.01 [[-6.16191168e-02 -9.98089209e-01 -4.58417216e-03 1.34081622e+02] [ 9.43397649e-01 -5.67417632e-02 -3.26774003e-01 1.33655769e+02] [ 3.25889492e-01 -2.44602227e-02 9.45091391e-01 2.00072024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.480371743 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:134.08, Y:133.67, Z:20.02 [[-5.90690054e-02 -9.98184158e-01 1.17999436e-02 1.34081285e+02] [ 9.46456713e-01 -5.97583204e-02 -3.17251689e-01 1.33668002e+02] [ 3.17380755e-01 -7.57160586e-03 9.48267962e-01 2.00157561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.510371743 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:134.09, Y:133.70, Z:20.01 [[-6.18635638e-02 -9.97638352e-01 -2.98432313e-02 1.34087733e+02] [ 9.45576972e-01 -4.90123571e-02 -3.21686150e-01 1.33698704e+02] [ 3.19463753e-01 -4.81197240e-02 9.46375931e-01 2.00091235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.540371743 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:134.08, Y:133.72, Z:20.03 [[-6.23493029e-02 -9.98018296e-01 -8.48795557e-03 1.34084092e+02] [ 9.44896430e-01 -5.62878644e-02 -3.22494052e-01 1.33720240e+02] [ 3.21377195e-01 -2.81275182e-02 9.46533434e-01 2.00301768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.570371743 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:134.08, Y:133.69, Z:20.04 [[-5.73002072e-02 -9.97895026e-01 3.03678023e-02 1.34078125e+02] [ 9.47570587e-01 -6.39382664e-02 -3.13084462e-01 1.33693709e+02] [ 3.14367092e-01 1.08358317e-02 9.49239652e-01 2.00384300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.600371743 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:134.09, Y:133.73, Z:20.01 [[-5.76812890e-02 -9.97068292e-01 -5.02761378e-02 1.34094992e+02] [ 9.50641798e-01 -3.94765398e-02 -3.07769029e-01 1.33728523e+02] [ 3.04882013e-01 -6.55471123e-02 9.50131851e-01 2.00084911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630371743 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:134.09, Y:133.75, Z:20.04 [[-5.90179685e-02 -9.98165601e-01 -1.35023306e-02 1.34086830e+02] [ 9.49393418e-01 -5.19440161e-02 -3.09764357e-01 1.33746781e+02] [ 3.08494761e-01 -3.11006868e-02 9.50717482e-01 2.00372533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.660371743 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:134.08, Y:133.77, Z:20.05 [[-5.97885258e-02 -9.98200769e-01 4.53391893e-03 1.34083413e+02] [ 9.49251371e-01 -5.82604866e-02 -3.09075316e-01 1.33771273e+02] [ 3.08783367e-01 -1.41753288e-02 9.51026757e-01 2.00537388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690371743 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:134.09, Y:133.80, Z:20.05 [[-6.08441297e-02 -9.98045678e-01 -1.42413715e-02 1.34090486e+02] [ 9.49203359e-01 -5.34417613e-02 -3.10091861e-01 1.33798602e+02] [ 3.08724757e-01 -3.23852270e-02 9.50599927e-01 2.00544133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.720371743 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:134.09, Y:133.82, Z:20.07 [[-5.99638473e-02 -9.98197343e-01 2.53022671e-03 1.34089803e+02] [ 9.50209784e-01 -5.78572679e-02 -3.06192592e-01 1.33822007e+02] [ 3.05787024e-01 -1.59562397e-02 9.51966225e-01 2.00691717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750371743 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:134.09, Y:133.85, Z:20.07 [[-6.22849749e-02 -9.98036423e-01 -6.62423397e-03 1.34093319e+02] [ 9.50543146e-01 -5.72949307e-02 -3.05262213e-01 1.33851959e+02] [ 3.04283272e-01 -2.53098695e-02 9.52245295e-01 2.00735369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.780371743 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:134.09, Y:133.87, Z:20.09 [[-6.24024064e-02 -9.98016784e-01 8.27271260e-03 1.34091407e+02] [ 9.50419283e-01 -6.19523230e-02 -3.04737750e-01 1.33872391e+02] [ 3.04645903e-01 -1.11538234e-02 9.52400371e-01 2.00862907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810371743 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:134.10, Y:133.91, Z:20.09 [[-6.44395751e-02 -9.97767823e-01 -1.75189370e-02 1.34096741e+02] [ 9.50381588e-01 -5.60063461e-02 -3.06003476e-01 1.33906041e+02] [ 3.04339250e-01 -3.63684091e-02 9.51869192e-01 2.00856951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.840371743 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:134.10, Y:133.93, Z:20.10 [[-6.56834303e-02 -9.97835984e-01 -3.00588836e-03 1.34095054e+02] [ 9.50079751e-01 -6.16184530e-02 -3.05862115e-01 1.33931155e+02] [ 3.05015006e-01 -2.29459066e-02 9.52071075e-01 2.01002598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870371743 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:134.10, Y:133.96, Z:20.11 [[-6.43331053e-02 -9.97902579e-01 7.18993417e-03 1.34096651e+02] [ 9.50254085e-01 -6.34584149e-02 -3.04942952e-01 1.33956368e+02] [ 3.04759620e-01 -1.27856627e-02 9.52343478e-01 2.01117291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.900371743 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:134.10, Y:133.98, Z:20.11 [[-6.42610179e-02 -9.97860926e-01 -1.20039299e-02 1.34103020e+02] [ 9.50034450e-01 -5.74902891e-02 -3.06805166e-01 1.33982616e+02] [ 3.05458777e-01 -3.11197592e-02 9.51696641e-01 2.01128716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930371743 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:134.10, Y:134.01, Z:20.12 [[-6.56682555e-02 -9.97816985e-01 -6.99607006e-03 1.34100932e+02] [ 9.49987045e-01 -6.03722027e-02 -3.06398125e-01 1.34010969e+02] [ 3.05306885e-01 -2.67668063e-02 9.51877746e-01 2.01236671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.960371743 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:134.10, Y:134.04, Z:20.13 [[-6.38736741e-02 -9.97954704e-01 2.56168445e-03 1.34101533e+02] [ 9.50313437e-01 -6.16076826e-02 -3.05137453e-01 1.34036055e+02] [ 3.04671176e-01 -1.70558471e-02 9.52304874e-01 2.01348740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990371743 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:134.10, Y:134.07, Z:20.15 [[-6.66655381e-02 -9.97690731e-01 1.29966023e-02 1.34099017e+02] [ 9.46574285e-01 -6.73582069e-02 -3.15372788e-01 1.34065119e+02] [ 3.15519935e-01 -8.72224713e-03 9.48878861e-01 2.01530504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.020371743 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:134.11, Y:134.09, Z:20.14 [[-6.11980393e-02 -9.97896191e-01 -2.14007693e-02 1.34108522e+02] [ 9.51254994e-01 -5.18176683e-02 -3.04021160e-01 1.34094966e+02] [ 3.02272619e-01 -3.89630875e-02 9.52424875e-01 2.01387772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050371743 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:134.10, Y:134.12, Z:20.16 [[-5.43828921e-02 -9.98452345e-01 1.16368415e-02 1.34103234e+02] [ 9.51969299e-01 -5.53609252e-02 -3.01147178e-01 1.34116223e+02] [ 3.01325332e-01 -5.29933860e-03 9.53506666e-01 2.01583795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.080371743 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:134.10, Y:134.15, Z:20.17 [[-5.99129822e-02 -9.98194587e-01 4.24271921e-03 1.34104234e+02] [ 9.48292361e-01 -5.82439417e-02 -3.12008398e-01 1.34149028e+02] [ 3.11692207e-01 -1.46700154e-02 9.50069871e-01 2.01709220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11037174300003 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:134.11, Y:134.14, Z:20.15 [[-5.81296959e-02 -9.98138008e-01 -1.84785378e-02 1.34110908e+02] [ 9.49968692e-01 -4.96153759e-02 -3.08379309e-01 1.34143725e+02] [ 3.06888290e-01 -3.54800278e-02 9.51083984e-01 2.01536887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.140371743 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:134.11, Y:134.11, Z:20.15 [[-5.21615070e-02 -9.98616894e-01 6.59360591e-03 1.34107052e+02] [ 9.51580683e-01 -5.17053870e-02 -3.03019400e-01 1.34107220e+02] [ 3.02941217e-01 -9.53160057e-03 9.52961577e-01 2.01511051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.170371743 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:134.11, Y:134.10, Z:20.14 [[-4.91961706e-02 -9.98783536e-01 -3.34451366e-03 1.34110819e+02] [ 9.51809747e-01 -4.58670004e-02 -3.03239877e-01 1.34104559e+02] [ 3.02717594e-01 -1.81015815e-02 9.52908385e-01 2.01439733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.200371743 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:134.11, Y:134.11, Z:20.15 [[-5.14435450e-02 -9.98580323e-01 -1.38166884e-02 1.34113376e+02] [ 9.49250253e-01 -4.45943599e-02 -3.11344344e-01 1.34114442e+02] [ 3.10286189e-01 -2.91321517e-02 9.50196716e-01 2.01451359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.230371743 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:134.11, Y:134.09, Z:20.15 [[-4.81168707e-02 -9.98659827e-01 1.90608667e-02 1.34106611e+02] [ 9.49591798e-01 -5.16543119e-02 -3.09204220e-01 1.34086684e+02] [ 3.09774409e-01 3.22210324e-03 9.50804624e-01 2.01518659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.260371743 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:134.11, Y:134.12, Z:20.15 [[-4.87325493e-02 -9.98732951e-01 -1.25551569e-02 1.34113555e+02] [ 9.49932142e-01 -4.24598658e-02 -3.09557888e-01 1.34119287e+02] [ 3.08632572e-01 -2.70120921e-02 9.50797708e-01 2.01458671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.290371743 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:134.12, Y:134.14, Z:20.15 [[-5.12579090e-02 -9.98509498e-01 -1.87459250e-02 1.34115833e+02] [ 9.48794937e-01 -4.28300650e-02 -3.12975642e-01 1.34144616e+02] [ 3.11706262e-01 -3.38285158e-02 9.49576136e-01 2.01543451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.320371743 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:134.11, Y:134.16, Z:20.16 [[-5.89283770e-02 -9.97799987e-01 -3.03748756e-02 1.34109113e+02] [ 9.46669039e-01 -4.62014351e-02 -3.18877968e-01 1.34159440e+02] [ 3.16773070e-01 -4.75459154e-02 9.47308930e-01 2.01628955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.350371743 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:134.11, Y:134.19, Z:20.19 [[-5.58535270e-02 -9.98047405e-01 2.79600004e-02 1.34109759e+02] [ 9.48375128e-01 -6.17883629e-02 -3.11073649e-01 1.34192031e+02] [ 3.12193851e-01 9.14200852e-03 9.49974433e-01 2.01918527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380371743 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:134.11, Y:134.24, Z:20.20 [[-5.26535757e-02 -9.98054913e-01 3.33765094e-02 1.34112091e+02] [ 9.55216201e-01 -6.00830844e-02 -2.89744771e-01 1.34237368e+02] [ 2.91186556e-01 1.66256843e-02 9.56521812e-01 2.01974141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.410371743 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:134.14, Y:134.27, Z:20.16 [[-5.26358959e-02 -9.95766622e-01 -7.53544789e-02 1.34138314e+02] [ 9.56345248e-01 -2.85426718e-02 -2.90842023e-01 1.34267318e+02] [ 2.87459960e-01 -8.73736283e-02 9.53799046e-01 2.01616474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440371743 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:134.12, Y:134.28, Z:20.20 [[-5.99676199e-02 -9.98171452e-01 -7.59187517e-03 1.34124996e+02] [ 9.54702159e-01 -5.51320794e-02 -2.92411082e-01 1.34284246e+02] [ 2.91457839e-01 -2.47831762e-02 9.56262580e-01 2.02021328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.470371743 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:134.13, Y:134.31, Z:20.21 [[-6.34234831e-02 -9.97975400e-01 4.75008813e-03 1.34125278e+02] [ 9.54994502e-01 -6.20725414e-02 -2.90056031e-01 1.34314032e+02] [ 2.89763633e-01 -1.38600557e-02 9.56997877e-01 2.02137052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500371743 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:134.13, Y:134.34, Z:20.22 [[-6.74313839e-02 -9.97722320e-01 1.78319632e-03 1.34130730e+02] [ 9.54965758e-01 -6.50590739e-02 -2.89495628e-01 1.34342276e+02] [ 2.88952263e-01 -1.78181994e-02 9.57177675e-01 2.02167612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.530371743 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:134.14, Y:134.37, Z:20.22 [[-7.01274734e-02 -9.97477137e-01 -1.10226904e-02 1.34135262e+02] [ 9.54880604e-01 -6.39277557e-02 -2.90028056e-01 1.34369891e+02] [ 2.88591699e-01 -3.08642881e-02 9.56954663e-01 2.02195881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560371743 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:134.14, Y:134.40, Z:20.23 [[-7.39324971e-02 -9.97262921e-01 8.08130466e-04 1.34137382e+02] [ 9.54676229e-01 -7.10095479e-02 -2.89051797e-01 1.34398187e+02] [ 2.88318024e-01 -2.05988182e-02 9.57313118e-01 2.02315896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.590371743 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:134.14, Y:134.41, Z:20.23 [[-7.44494206e-02 -9.97224626e-01 -5.74117160e-04 1.34139991e+02] [ 9.55318570e-01 -7.11556918e-02 -2.86885511e-01 1.34406044e+02] [ 2.86048445e-01 -2.19069249e-02 9.57964704e-01 2.02320069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620371743 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:134.14, Y:134.42, Z:20.23 [[-7.38852462e-02 -9.97266742e-01 1.21830814e-04 1.34141485e+02] [ 9.56064631e-01 -7.08674258e-02 -2.84461295e-01 1.34416514e+02] [ 2.83692423e-01 -2.09010147e-02 9.58687518e-01 2.02336539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.650371743 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:134.15, Y:134.45, Z:20.24 [[-7.43987554e-02 -9.97227659e-01 1.34955809e-03 1.34145176e+02] [ 9.56256228e-01 -7.17258575e-02 -2.83600824e-01 1.34446483e+02] [ 2.82911384e-01 -1.98090250e-02 9.58941474e-01 2.02417612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680371743 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:134.15, Y:134.44, Z:20.24 [[-7.26933457e-02 -9.97353118e-01 -1.56032575e-03 1.34147152e+02] [ 9.57173618e-01 -6.93250529e-02 -2.81091981e-01 1.34444152e+02] [ 2.80239794e-01 -2.19270192e-02 9.59679563e-01 2.02380789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.710371743 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:134.15, Y:134.43, Z:20.23 [[-6.90712125e-02 -9.97588422e-01 -6.81967307e-03 1.34151936e+02] [ 9.58547579e-01 -6.44707680e-02 -2.77542894e-01 1.34429083e+02] [ 2.76433909e-01 -2.57072053e-02 9.60689041e-01 2.02280487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740371743 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:134.15, Y:134.46, Z:20.24 [[-7.02771090e-02 -9.97463899e-01 1.12649423e-02 1.34148984e+02] [ 9.57954313e-01 -7.06340690e-02 -2.78090566e-01 1.34460614e+02] [ 2.78180989e-01 -8.75210095e-03 9.60488802e-01 2.02432944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.770371743 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:134.16, Y:134.44, Z:20.22 [[-6.85547859e-02 -9.97528630e-01 -1.53907342e-02 1.34158342e+02] [ 9.58509997e-01 -6.15789558e-02 -2.78328256e-01 1.34436066e+02] [ 2.76692659e-01 -3.38329066e-02 9.60362696e-01 2.02216246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800371743 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:134.16, Y:134.43, Z:20.22 [[-6.77700995e-02 -9.97683655e-01 -5.87693278e-03 1.34159777e+02] [ 9.58717136e-01 -6.34904355e-02 -2.77183006e-01 1.34427322e+02] [ 2.76167825e-01 -2.44190360e-02 9.60799169e-01 2.02192979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.830371743 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:134.16, Y:134.44, Z:20.22 [[-6.77341377e-02 -9.97662723e-01 -9.00989194e-03 1.34161975e+02] [ 9.58599298e-01 -6.25732138e-02 -2.77798450e-01 1.34435269e+02] [ 2.76585380e-01 -2.74533145e-02 9.60597128e-01 2.02196568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86037174300003 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:134.15, Y:134.91, Z:20.39 [[-9.16137825e-02 -9.95658124e-01 -1.64868237e-02 1.34149659e+02] [ 9.48257402e-01 -8.21739846e-02 -3.06684423e-01 1.34908361e+02] [ 3.03998050e-01 -4.37302727e-02 9.51668455e-01 2.03894600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.890371743 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:134.14, Y:134.94, Z:20.41 [[-9.48151302e-02 -9.95487246e-01 3.90297853e-03 1.34144063e+02] [ 9.47108626e-01 -9.14133802e-02 -3.07618017e-01 1.34937788e+02] [ 3.06586598e-01 -2.54702977e-02 9.51501930e-01 2.04101098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.920371743 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:134.15, Y:134.97, Z:20.42 [[-9.63098918e-02 -9.95350081e-01 1.61907000e-03 1.34145572e+02] [ 9.45835714e-01 -9.20253100e-02 -3.11329639e-01 1.34968166e+02] [ 3.10030977e-01 -2.84527496e-02 9.50300602e-01 2.04207787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.950371743 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:134.92, Y:134.68, Z:20.08 [[ 3.67849241e-02 8.52952676e-02 -9.95676447e-01 1.34920372e+02] [ 9.36232064e-01 3.45470649e-01 6.41837387e-02 1.34675502e+02] [ 3.49451558e-01 -9.34545209e-01 -6.71480528e-02 2.00784682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.980371743 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:134.15, Y:134.61, Z:20.26 [[-7.65041881e-02 -9.94196282e-01 7.56363856e-02 1.34146365e+02] [ 9.13133978e-01 -1.00326397e-01 -3.95121441e-01 1.34610807e+02] [ 4.00416593e-01 3.88377086e-02 9.15509795e-01 2.02638432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.010371743 meters Centerline goodness : 0.179008 Centerline is valid? [True, False] Translation: X:135.05, Y:133.36, Z:19.62 [[ 1.07153817e-01 9.75395116e-01 1.92671813e-01 1.35045858e+02] [-9.13166971e-01 1.73198250e-01 -3.68955890e-01 1.33361207e+02] [-3.93248194e-01 -1.36406504e-01 9.09257457e-01 1.96165412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.040371743 meters Centerline goodness : 0.983616 Centerline is valid? [False, True] Translation: X:135.04, Y:133.47, Z:19.66 [[ 1.09335863e-01 9.73315373e-01 2.01749484e-01 1.35042489e+02] [-9.12821430e-01 1.78654867e-01 -3.67204951e-01 1.33471572e+02] [-3.93449751e-01 -1.44012582e-01 9.07996514e-01 1.96578454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.070371743 meters Centerline goodness : 0.987957 Centerline is valid? [True, True] Translation: X:135.09, Y:133.40, Z:19.73 [[ 1.06722411e-01 9.94251416e-01 -8.62839191e-03 1.35091971e+02] [-9.20765322e-01 9.55520318e-02 -3.78234095e-01 1.33402737e+02] [-3.75235324e-01 4.83107785e-02 9.25669769e-01 1.97289236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.100371743 meters Centerline goodness : 0.986086 Centerline is valid? [True, True] Translation: X:135.09, Y:133.38, Z:19.71 [[ 1.05991704e-01 9.94323968e-01 9.25227125e-03 1.35086815e+02] [-9.21090065e-01 1.01682408e-01 -3.75837439e-01 1.33377242e+02] [-3.74644967e-01 3.13134754e-02 9.26639420e-01 1.97137393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130371743 meters Centerline goodness : 0.985343 Centerline is valid? [True, True] Translation: X:135.09, Y:133.35, Z:19.71 [[ 1.08523426e-01 9.94084885e-01 -4.23174754e-03 1.35094819e+02] [-9.20187092e-01 9.88435620e-02 -3.78795018e-01 1.33353943e+02] [-3.76136121e-01 4.50021326e-02 9.25470922e-01 1.97075267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.160371743 meters Centerline goodness : 0.981880 Centerline is valid? [True, True] Translation: X:135.10, Y:133.33, Z:19.69 [[ 1.09960046e-01 9.93903557e-01 8.03169597e-03 1.35095998e+02] [-9.18879401e-01 1.04733648e-01 -3.80383372e-01 1.33333903e+02] [-3.78905575e-01 3.44468132e-02 9.24794021e-01 1.96921899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190371743 meters Centerline goodness : 0.695185 Centerline is valid? [True, False] Translation: X:135.10, Y:133.49, Z:19.75 [[ 1.12340638e-01 9.93589140e-01 1.26570703e-02 1.35096327e+02] [-9.16724922e-01 1.08547869e-01 -3.84490282e-01 1.33485763e+02] [-3.83399267e-01 3.15908320e-02 9.23042264e-01 1.97471515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.220371743 meters Centerline goodness : 0.149888 Centerline is valid? [False, False] Translation: X:135.09, Y:133.64, Z:19.80 [[ 1.13488605e-01 9.93187576e-01 2.64343793e-02 1.35093059e+02] [-9.14224937e-01 1.14808698e-01 -3.88602275e-01 1.33640690e+02] [-3.88989848e-01 1.99349613e-02 9.21026327e-01 1.97973776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250371743 meters Centerline goodness : 0.149720 Centerline is valid? [False, False] Translation: X:135.09, Y:133.77, Z:19.84 [[ 1.14705427e-01 9.92712521e-01 3.69393473e-02 1.35090100e+02] [-9.12016980e-01 1.19975702e-01 -3.92212772e-01 1.33773334e+02] [-3.93786354e-01 1.12996218e-02 9.19132540e-01 1.98415091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.280371743 meters Centerline goodness : 0.149779 Centerline is valid? [False, False] Translation: X:135.09, Y:133.91, Z:19.89 [[ 1.16216968e-01 9.92413513e-01 4.01127872e-02 1.35088265e+02] [-9.09666605e-01 1.22567008e-01 -3.96842534e-01 1.33907720e+02] [-3.98748397e-01 9.63057316e-03 9.17009797e-01 1.98896373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310371743 meters Centerline goodness : 0.148981 Centerline is valid? [False, False] Translation: X:135.08, Y:134.05, Z:19.94 [[ 1.16953720e-01 9.91923905e-01 4.90794760e-02 1.35084543e+02] [-9.07160926e-01 1.26811677e-01 -4.01220453e-01 1.34048890e+02] [-4.04204009e-01 2.40124145e-03 9.14665706e-01 1.99389610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.340371743 meters Centerline goodness : 0.150881 Centerline is valid? [False, False] Translation: X:135.08, Y:134.19, Z:19.99 [[ 1.16988779e-01 9.91688433e-01 5.35506955e-02 1.35080852e+02] [-9.04915379e-01 1.28658670e-01 -4.05678571e-01 1.34188761e+02] [-4.09196508e-01 -9.99007275e-04 9.12445735e-01 1.99906865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370371743 meters Centerline goodness : 0.151501 Centerline is valid? [False, False] Translation: X:135.08, Y:134.33, Z:20.04 [[ 1.17848197e-01 9.90940220e-01 6.44149329e-02 1.35075623e+02] [-9.02138379e-01 1.33947242e-01 -4.10127397e-01 1.34331167e+02] [-4.15039935e-01 -9.77840904e-03 9.09750644e-01 2.00396163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.400371743 meters Centerline goodness : 0.151820 Centerline is valid? [False, False] Translation: X:135.07, Y:134.46, Z:20.09 [[ 1.18275866e-01 9.90470293e-01 7.05649952e-02 1.35070937e+02] [-9.00000889e-01 1.36954293e-01 -4.13813873e-01 1.34462525e+02] [-4.19534527e-01 -1.45643644e-02 9.07622532e-01 2.00884398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430371743 meters Centerline goodness : 0.151860 Centerline is valid? [False, False] Translation: X:135.07, Y:134.59, Z:20.14 [[ 1.18047151e-01 9.90475458e-01 7.08748026e-02 1.35066402e+02] [-8.97737736e-01 1.36955144e-01 -4.18700664e-01 1.34591570e+02] [-4.24419400e-01 -1.42005645e-02 9.05354360e-01 2.01390057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.460371743 meters Centerline goodness : 0.149851 Centerline is valid? [False, False] Translation: X:135.06, Y:134.73, Z:20.19 [[ 1.17880801e-01 9.89787320e-01 8.01572101e-02 1.35061428e+02] [-8.95816196e-01 1.40825828e-01 -4.21522751e-01 1.34725491e+02] [-4.28506079e-01 -2.21166874e-02 9.03268173e-01 2.01896518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490371743 meters Centerline goodness : 0.152388 Centerline is valid? [False, False] Translation: X:135.06, Y:134.84, Z:20.24 [[ 1.16968212e-01 9.89387577e-01 8.62012779e-02 1.35055933e+02] [-8.94444090e-01 1.42668602e-01 -4.23810618e-01 1.34844123e+02] [-4.31611177e-01 -2.75298534e-02 9.01639562e-01 2.02361972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.520371743 meters Centerline goodness : 0.215148 Centerline is valid? [False, False] Translation: X:135.06, Y:134.96, Z:20.29 [[ 1.16726876e-01 9.90238492e-01 7.61745750e-02 1.35055163e+02] [-8.92990221e-01 1.38212898e-01 -4.28328916e-01 1.34959915e+02] [-4.34676089e-01 -1.80256544e-02 9.00406449e-01 2.02877423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550371743 meters Centerline goodness : 0.237535 Centerline is valid? [False, False] Translation: X:135.05, Y:135.08, Z:20.34 [[ 1.17401939e-01 9.89813719e-01 8.05331350e-02 1.35050845e+02] [-8.90894064e-01 1.40804035e-01 -4.31835606e-01 1.35080879e+02] [-4.38776198e-01 -2.10481544e-02 8.98349834e-01 2.03365468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.580371743 meters Centerline goodness : 0.217667 Centerline is valid? [False, False] Translation: X:135.05, Y:135.19, Z:20.38 [[ 1.18156707e-01 9.89379797e-01 8.46558288e-02 1.35047380e+02] [-8.89332913e-01 1.43361212e-01 -4.34205634e-01 1.35190892e+02] [-4.41730644e-01 -2.39829069e-02 8.96827106e-01 2.03822396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61037174300003 meters Centerline goodness : 0.219961 Centerline is valid? [False, False] Translation: X:135.05, Y:135.29, Z:20.43 [[ 1.20748081e-01 9.90006649e-01 7.28473473e-02 1.35048377e+02] [-8.88111011e-01 1.40521543e-01 -4.37621443e-01 1.35293283e+02] [-4.43484760e-01 -1.18545816e-02 8.96203513e-01 2.04324881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.640371743 meters Centerline goodness : 0.210441 Centerline is valid? [False, False] Translation: X:135.04, Y:135.41, Z:20.48 [[ 1.22599763e-01 9.88879187e-01 8.41858207e-02 1.35043259e+02] [-8.86134061e-01 1.47269385e-01 -4.39406593e-01 1.35410288e+02] [-4.46918028e-01 -2.07287793e-02 8.94334721e-01 2.04779024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.670371743 meters Centerline goodness : 0.199777 Centerline is valid? [False, False] Translation: X:135.04, Y:135.51, Z:20.52 [[ 1.24903307e-01 9.88776116e-01 8.19814326e-02 1.35043314e+02] [-8.84375844e-01 1.48408422e-01 -4.42554298e-01 1.35506381e+02] [-4.49753855e-01 -1.72259032e-02 8.92986416e-01 2.05192677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.700371743 meters Centerline goodness : 0.190668 Centerline is valid? [False, False] Translation: X:135.04, Y:135.60, Z:20.56 [[ 1.28066978e-01 9.88119824e-01 8.49591853e-02 1.35042885e+02] [-8.82613200e-01 1.52622615e-01 -4.44634992e-01 1.35598305e+02] [-4.52319343e-01 -1.80430389e-02 8.91673517e-01 2.05581102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.730371743 meters Centerline goodness : 0.188190 Centerline is valid? [False, False] Translation: X:135.05, Y:135.68, Z:20.60 [[ 1.30887326e-01 9.88344397e-01 7.77422761e-02 1.35045067e+02] [-8.81373942e-01 1.51907698e-01 -4.47329885e-01 1.35678059e+02] [-4.53925635e-01 -9.97020397e-03 8.90983789e-01 2.05959677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.760371743 meters Centerline goodness : 0.188897 Centerline is valid? [False, False] Translation: X:135.05, Y:135.77, Z:20.64 [[ 1.33572108e-01 9.88299601e-01 7.36368889e-02 1.35047328e+02] [-8.79818919e-01 1.52454073e-01 -4.50195986e-01 1.35765942e+02] [-4.56154757e-01 -4.65350101e-03 8.89888298e-01 2.06369863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.790371743 meters Centerline goodness : 0.187755 Centerline is valid? [False, False] Translation: X:135.05, Y:135.85, Z:20.68 [[ 1.36394702e-01 9.88716818e-01 6.19317275e-02 1.35051015e+02] [-8.78591502e-01 1.49611484e-01 -4.53534317e-01 1.35852393e+02] [-4.57682705e-01 7.44698874e-03 8.89084408e-01 2.06814420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.820371743 meters Centerline goodness : 0.187069 Centerline is valid? [False, False] Translation: X:135.05, Y:135.94, Z:20.72 [[ 1.38406987e-01 9.87719085e-01 7.24880406e-02 1.35050383e+02] [-8.76600710e-01 1.56239273e-01 -4.55148859e-01 1.35944318e+02] [-4.60884693e-01 -5.47285739e-04 8.87459858e-01 2.07171716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.850371743 meters Centerline goodness : 0.186537 Centerline is valid? [False, False] Translation: X:135.05, Y:136.03, Z:20.76 [[ 1.42168091e-01 9.87628839e-01 6.61627604e-02 1.35053048e+02] [-8.75450001e-01 1.56649789e-01 -4.57217825e-01 1.36028508e+02] [-4.61925892e-01 7.07959669e-03 8.86890269e-01 2.07589080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880371743 meters Centerline goodness : 0.189756 Centerline is valid? [False, False] Translation: X:135.05, Y:136.10, Z:20.79 [[ 1.43822851e-01 9.87096317e-01 7.03977866e-02 1.35052040e+02] [-8.74484392e-01 1.60070111e-01 -4.57880561e-01 1.36101648e+02] [-4.63240797e-01 4.29192216e-03 8.86222062e-01 2.07906457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10483.40 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%| | 0/12797 [00:00